December 2001 The Control Loop 6 – 131
Clamping the axes After running an NC block you can clamp the axes:
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7 Wait until “axis in position” is set in W1026.
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7 Clamp the axis or axes.
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7 Open the position control loop with W1040.
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7 With Module 9161, switch the drive off.
A waiting period is necessary between “axis clamping” and “position control
loop opening.”
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7 In W1038, set the bit for the corresponding axis.
The next NC block is not run until the positioning window has been reached
and the position control loop has been opened with W1040.
If the position control loop is opened, the axis release in W1024 is canceled.
You can link switching off the drives via Module 9161 with W1024.
If a clamped axis is to be repositioned, the NC cancels the “axis in position”
message in W1026:
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7 With Module 9161, switch the drive on.
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7 Release the clamping.
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7 Close the position control loop with W1040.
Feed-rate enable To move the axis, you must first enable the feed rate through the PLC. Until
“feed-rate enable” is set, the nominal velocity value zero is output. In the
status display, “F” is highlighted.
Feed-rate enable for all axes:
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7 Set M4563.
Axis-specific feed-rate enable:
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7 Reset M4563.
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7 In W1060, set the corresponding bits.
Set Reset
W1038 Preparing opening of the position
control loop
Bits 0 to 8 correspond to axes 1 to 9
0: Not active
1: Active
PLC PLC
W1040 Axis-specific opening of the position
control loop
Bits 0 to 8 correspond to axes 1 to 9
0: Do not open the position control loop
1: Open the position control loop
PLC PLC
Set Reset
M4563 Feed-rate enable for all axes PLC PLC
W1060 Axis-specific feed-rate enable
Bits 0 to 8 correspond to axes 1 to 9
0: No feed-rate enable
1: Feed-rate enable
PLC PLC
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