Motion synchronous actions
10.4 Actions in synchronized actions
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
587
NOTICE
The loop gain of the higher-level control loop depends on the setting of the interpolation
cycle.
Remedy: Read-in the MD for IPO clock cycle and take this into account.
Note
Limiting of the velocity of the higher-level interpolator using MD32020 JOG_VELO for a 12
ms Ipo cycle.
Formula for the speed:
9
P
P9
PV
PP

PLQ




Example
Subprogram "AON": Clearance control on
Program code Comment
PROC AON
$AA_OFF_LIMIT[Z]=1 ; Specifies limit value.
FCTDEF(1, -10, +10, 0, 0.6, 0.12) ; Polynomial definition
ID=1 DO SYNFCT(1,$AA_OFF[Z],$A_INA[3]) ; Clearance control active.
ID=2 WHENEVER $AA_OFF_LIMIT[Z]<>0
DO $AA_OVR[X] = 0
; Inhibit axis X when the limit
range is exceeded.
RET
ENDPROC
Subprogram "AOFF": Clearance control off
Program code Comment
PROC AOFF
CANCEL(1) ; Delete synchronized action, clearance control
CANCEL(2) ; Cancel limit range check
RET
ENDPROC
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