H1: Manual and handwheel travel
3.11 Special features relating to manual and handwheel travel
Extended Functions
210 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Application
Manual movements for which transformations and frames have to be active. The geometry
axes are traversed in the most recently valid coordinate system. The special features of
geometry-axis manual travel are described below.
Simultaneous travel
Only one geometry axis can be traversed continuously or incrementally at one time using the
traversing keys. Where an attempt is made to traverse more than one geometry axis, alarm
20062 "Axis already active" is output. However, three geometry axes can be traversed
simultaneously using handwheels 1 to 3. Alarm 20060 is output if only one axis is not defined
as a geometry axis.
PLC interface
For geometry/orientation axes, there is a separate PLC interface that contains the same
signals as the axis-specific PLC interface:
● Geometry axes:
DB21, ... DBB12-23 and
DB21, ... DBB40-56
● Orientation axes:
DB21, ... DBB320-331 and
DB21, ... DBB332-343
Feedrate/rapid traverse override
The channel-specific feedrate-override switch and rapid-traverse-override switch are active
for geometry-axis manual travel in rapid traverse override.
Acceleration and jerk
For the manual travel of geometry axes/orientation, the acceleration and jerk can be limited
for specific channels. This enables better handling of the kinematics that generate Cartesian
motions entirely via rotary axes (robots).
Geometry axes
The maximum acceleration when manually traversing geometry axes can be specified for
each channel via the machine data:
MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
The maximum jerk when manually traversing geometry axes in the SOFT acceleration mode
(acceleration with jerk limitation) can be specified for each channel via the machine data:
MD21168 $MC_JOG_JERK_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
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