Axis Positions In The Transformation Chain - Siemens SINUMERIK 840D sl Function Manual

M1: Kinematic transformation
7.5 Chained transformations
7.5.5

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
REAL
REAL
REAL
REAL
REAL
REAL
The following must be observed with reference to the control system responses:
● POWER ON
● RESET
558
System variable
$AA_ITR[ax,n]
$AA_IBC[ax]
$VA_ITR[ax,n]
$VA_IBC[ax]
$VA_IW[ax]
$VA_IB[ax]
The encoder position has the value 0 for not-referenced axes. The encoder actual values
are inverse-transformed accordingly for the $VA variables.
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.
Description
Current setpoint value at output of the nth transformation
Current setpoint value of a cartesian axis
Current actual value at output of the nth transformation
Current cartesian BCS encoder position of an axis
Current WCS actual value of an axis
Current BCS encoder position of an axis
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions