346
Manual – IPOSplus®
23
Set commands
Assembler – Commands
ACT. POSI-
TION
Sets the motor encoder actual position ACTPOS.MOT (H511)
SPLINE
MULTIAXIS
Internal drive calculation of an analytical cam disk. The function is only available in MDX B
with SD version -15C.
The spline calculation is initialized via the system function after up to 20 curve points (x-y =
value pairs, x = master position, y = slave position) have been specified in a master encoder
range. The calculation is then started using h+0 SplineMode and either a complete cam
disk or one segment of a selected cam disk is filled. Currently, a spline 0 procedure (for opti-
mum running) and a spline 1 procedure (for section-by-section movements and straight sec-
tions) are available. The calculation is complete after ≤ 200 ms.
– H+0 = SplineMode: (Value range: 0 ... 3)
• = 0: Interpolation not active, or calculation is finished
• = 1: Start interpolation, enter interpolated values from index 0 starting with the
electronic cam (in ascending order, from index 0 to 512).
• = 2: Start interpolation, enter interpolated values from index 512 starting with the
electronic cam (in descending order, from index 512 to 0).
• = 3: Preparatory parameter calculation for interpolation concluded; start entering
interpolated values in the electronic cam.
– H+1 = SplineModeControl:
Reserved
– H+2 = SplineDest: (Value range: 0 ... 5)
Number of the electronic cam in which the interpolated values are to be entered.
– H+3 = SplineNUser: (Value range: 2 ... 10)
Number of curve points to be used for interpolation and the calculation process (bit 7 = 0
spline 0, bit 7 = 1 spline 1)
– H+4 = SplineX0User: (Only a value >= 0 can be entered here!)
X value of the first curve point
– H+5 = SplineY0User: (Value range: long = -2
31
... 0 ... (2
31
-1))
Y value (= position value) of the first curve point
– ...
– H+42 = SplineX19User: (Only a value <= 512 can be entered here!)
X value of the 20th curve point
– H+43 = SplineY19User: (Value range: long = -2
31
... 0 ... (2
31
-1))
Y value of the 20th curve point
SS_MULTIAXIS: Total drive calculation of a trajectory.
Only available on request. Also refer to the addendum to the "Special Design SK-0C for
Caluculated Curves" operating instructions.
1) Applies if parameter P101 is set to "RS485", "Fieldbus" or "SBus".
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