Specifications

A - 36 Parameters, Variables and Commands Ver. 0002
PP57 O (S57) PositionWindow
Function: It indicates the maximum difference allowed between the real position and the final
position PV58 -S258- TargetPosition to consider that the drive is in position. Then,
the Drive will activate parameter PV136 -S336- InPosition.
While executing the command.
Valid values: 0 .. 214 m
Default value: 0.1 mm
PP58 Os (S58) Backlash
Function: Leadscrew backlash. It is only useful with motor feedback. It is used for the Position
Drive to compensate for that backlash when reversing the movement of the axis, thus
making a load movement more similar to the position command. Both the Drive and
the CNC offer parameters determining the value of the leadscrew backlash. This
value must only be registered at one these units. The other parameter must be set to
"0".
Valid values: -3.2 .. 3.2 m (in linear movements), -3.2 .. 3.2° (in rotary over 360°)
Default value: 0
PP76 (S76) PositionDataScalingType
Function: 16-bit register configuring the position measurement scales. All of them must be "0"
except bit 6 (1) and bit 7 which determines the activation or cancellation of the
module format in the received commands
Bit Meaning
————————————————————————————-
15 (MSB), 14, 13, 12, 11, 10, 9, 8 (reserved)
= 0
7, Format
= 0 Absolute format (by default)
= 1 Module format. See PP103 and PP243.
Watch for the CNC to define this axis the same way (module
or linear format).
6, = 1 (by default)
5, 4, 3, 2, (reserved)
1, 0 (LSB) Scaling method
= 00 no scaling
= 01 linear scaling (by default)
= 10 rotational scaling
#INCLUDE "C:\Fagor\MyFiles\MCFiles\fagor.inc"
; Modify the path if necessary
PROGRAM
PROG_OFFSET = 0 ; Eliminate programmable position offset
WHILE(1) ; Endless loop
WAIT(!JOG_POS AND !JOG_NEG) ; Wait for Jog+ & Jog- to be zero
WAIT(JOG_POS OR JOG_NEG) ; Wait for either one to be activated
IF(JOG_POS AND !JOG_NEG) ; If Jog+ is activated but not Jog-
IF(K_MAN_SUBMODE) ; If incremental Jog ...
MOVE D=JOG_INC_POS V=JOG_VEL L=NULL
ELSE ; If continuous Jog ...
MOVE P=(LIM_POS-1) V=JOG_VEL
ENDIF
ELSEIF(JOG_NEG AND !JOG_POS) ; If Jog- is on but not Jog+
IF(K_MAN_SUBMODE) ; If incremental Jog ...
MOVE D=-JOG_INC_POS V=JOG_VEL L=NULL
ELSE ; If continuous Jog ...
MOVE P=(LIM_NEG+1) V=JOG_VEL
ENDIF
ENDIF
ENDWHILE
END
manual.mc