M1: Kinematic transformation
6.5 Chained transformations
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
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6.5.5 Axis positions in the transformation chain
Function
System variables having the following content are provided for machines with system or
OEM transformations, especially for chained transformations (
TRACON):
Type System variable Meaning
REAL $AA_ITR[ax,n] Current setpoint value at output of the nth transformation
REAL $AA_IBC[ax] Current setpoint value of a cartesian axis
REAL $VA_ITR[ax,n] Current actual value at output of the nth transformation
REAL $VA_IBC[ax] Current cartesian BCS encoder position of an axis
REAL $VA_IW[ax] Current WCS actual value of an axis
REAL $VA_IB[ax] Current BCS encoder position of an axis
The following must be observed with reference to the control system responses:
● POWER ON
The encoder position has the value 0 for not-referenced axes. The encoder actual values
are inverse-transformed accordingly for the $VA variables.
● RESET
An active transformation can change in RESET, which has a direct influence on the
values of the system variables. An active transformation which is active again after
RESET, is deactivated for a short duration and then reactivated. This has a direct
influence on the position variables. The values of variables can change.
Via the variable:
$AC_STAT == 0
this status can be queried in synchronous actions.
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