HEIDENHAIN MANUALPLUS 620 - 6.11.4 Finding;activating kinematics through the PLC

744 HEIDENHAIN Technical Manual MANUALplus 620
6.11.4 Finding/activating kinematics through the PLC
Module 9097 Activate kinematics configuration
With Module 9097, the PLC activates a kinematic configuration. The kinematic
model must be entered under CfgKinComposModel in the machine
configuration. It must also be in CfgKinList of the NC machining channel.
Constraints:
 The module is not executable in the cyclic PLC program.
 While the module is being executed you must not abort the submit job with
a CAN command.
 Selection is not possible with a running NC program.
Call:
PS B/W/D/K <>Index from CfgKinList>
PS B/W/D/K <>Mode setting>
0: Parameter currently has no function
(Mode must be 0)
CM 9097
PL B/W/D <>Error condition>
0: Kinematic configuration was activated
1: Invalid mode setting was transferred
2: Axis does not exist in CfgKinList
6: Call was not from a submit/spawn job
7: Call during running program without strobe
8: Configuration datum CfgKinList is not defined
12: No NC channel defined, or more than one defined
13: Names of collision objects not unique
Error recognition:
Marker Value Meaning
M4203 or
NN_GenApiModule
Error
0 Kinematic configuration was activated
1 Error code in NN_GenApiModuleError
W1022 or
NN_GenApiModule
ErrorCode
2 Invalid mode setting programmed.
Index in CfgKinList does not exist.
Configuration datum CfgKinList is missing
20 Module was not called in a spawn or
submit job
21 Call during already started PGM without
strobe