Beckhoff TF5200 Funktionsbeschreibung Seite 17

Beschreibung
Control Unit
TYPE HLI_COORDINATE_SYSTEM_INT :
STRUCT
translation : ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT;
fill_up_2 : DINT;
rotation : ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT;
fill_up_1 : DINT;
END_STRUCT
END_TYPE
TYPE HLI_DYN_CS_STATE :
STRUCT
actual_state : UDINT;
fill_up_1 : DINT;
END_STRUCT
END_TYPE
TYPE HLI_DYN_CS_TRANSITION :
STRUCT
command : DINT;
filter_max_ticks : UDINT;
option : UDINT;
f_wait : BOOL;
f_set_zero : BOOL;
f_kin_base : BOOL;
f_rot_trans : BOOL;
kinematic_base_cs : HLI_COORDINATE_SYSTEM_INT;
END_STRUCT
END_TYPE
TYPE MC_CONTROL_DYN_CS_UNIT :
STRUCT
enable_w : BOOL; (* MC <-- PLC takes care *)
request_semaphor_rw : BOOL; (* Valid semaphore *)
command_semaphor_rw : BOOL; (* Valid semaphore *)
fill_up_1 : BOOL;
fill_up_2 : DINT;
request_r : HLI_COORDINATE_SYSTEM_INT;
command_w : HLI_COORDINATE_SYSTEM_INT;
transition_w : HLI_DYN_CS_TRANSITION;
state_r : HLI_DYN_CS_STATE;
END_STRUCT
END_TYPE
TF5200 | TwinCAT 3 CNC Version: 1.03 17
Dynamisches Koordinatensystem