K1: Mode group, channel, program operation, reset response
9.14 System settings for power-up, RESET/part-program end and part-program start
Basic Functions
634 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Example
Orientation transformation and orientation axes with incremental encoders.
Event-controlled user program (…/_N_CMA_DIR/_N_PROG_EVENT_SPF):
The WAITENC command essentially corresponds to the following NC program sequence (example for 5-axis
machine with AB kinematics):
Configuration: Meaning:
MD10720 $MN_OPERATING_MODE_DEFAULT [ 0 ] = 6 Power-up in JOG mode
MD30240 $MA_ENC_TYPE [ 0, <axis>] = 1 Incremental measuring system
MD34210 $MA_ENC_REFP_STATE [ 0, <axis>] = 3 Enable the restoration of axis positions for
incremental encoders.
MD20108 $MC_PROG_EVENT_MASK = ’H9’ Activate event-controlled using program
PROG_EVENT during power-up and at the start
of the part program.
MD20152 $MC_GCODE_RESET_MODE [ 52 ] = 1 Obtain TOFRAME via reset.
MD20110 $MC_RESET_MODE_MASK = ’HC1’ Obtain transformation and tool offset via reset.
MD20144 $MC_TRAFO_MODE_MASK = ’H02’ Obtain transformation via POWER OFF.
Program code Comment
;
Example with activation of the frame, which aligns the WCS in the tool direction, when powering-up
and resetting with part program start.
IF $P_PROG_EVENT == 4 ; Powering-up.
IF $P_TRAFO <> 0 ; Transformation has been selected.
WAITENC
; Wait for valid axis positions of the orientation axes.
TOROTZ ; Rotate the Z axis of the WCS towards the tool axis.
ENDIF
M17
ENDIF
IF $P_PROG_EVENT == 1 ; Start of the part program.
TOROTOF ; Reset the tool frame.
RET
ENDIF
Program code Comment
WHILE TRUE ; Wait for a measuring system.
IF (($AA_ENC_ACTIVE[X]==TRUE) AND ($AA_ENC_ACTIVE[Y]==TRUE) AND ($AA_ENC_ACTIVE[Z]==TRUE) AND
($AA_ENC_ACTIVE[A]==TRUE) AND ($AA_ENC_ACTIVE[B]==TRUE)) GOTOF GET_LABEL
ENDIF
G4 F0.5 ; 0.5 s wait time
ENDWHILE
:Position synchronization
GET_LABEL: GET(X,Y,Z,A,B,)
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