January 2012 6.16 The Control Loop 849
Clamping the axes After running an NC block you can clamp the axes.
The MANUALplus 620 considers an axis to be clamped as soon as position
control is switched off, i.e. as soon as
NN_AxPosControl
decreases towards 0.
The PLC uses the signal NN_AxInPosition to determine whether an axis
movement is pending.
The following figure shows the procedure for clamping the axes as well as for
unclamping them.
If NN_AxInPosition is set, no further movement of the respective axis is
pending. The PLC must initiate a clamping operation if
PP_AxClampModeRequest is set.
As illustrated in the figure, first the axis is clamped, then position control is
switched off, and finally the drive is switched off. The MANUALplus 620
resumes NC program run as soon as position control is switched off.
If NN_AxInPosition decreases, the axis should be moved. The PLC initiates
the unclamping operation for the respective axis. As illustrated in the figure,
first the drive is switched on, then the clamping is released, and then position
control is activated. The MANUALplus 620 resumes NC program run as soon
as position control is switched on.
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