Interpreter. SIMOTION Interpreter. Preface 1. Structure of a command 2. Commands for program control of the Interpreter 3. Motion control commands 4

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1 Preface 1 Structure of a command 2 Commands for program control of the 3 SIMOTION Parameter Manual Motion control commands 4 Commands for transition conditions 5 Commands for program branches 6 Other commands 7 A Contact 06/2013 Entry ID:

2 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: Trademarks WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. All names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Industry Sector Postfach NÜRNBERG GERMANY Entry ID: P 06/2013 Technical data subject to change Copyright Siemens AG All rights reserved

3 Table of contents 1 Preface General information About this document Structure of a command Commands for program control of the CMD_START_PROGRAM CMD_STOP_PROGRAM CMD_NEXT_STEP Motion control commands CMD_POWER_ON CMD_POWER_OFF CMD_POS_ABS CMD_POS_REL CMD_POS_SUPERIMPOSED CMD_MOVE CMD_STOP CMD_ESTOP CMD_HOMING CMD_RESET_AXIS CMD_GEAR_IN CMD_GEAR_OUT CMD_CAM_IN_LEADING_OFFSET CMD_CAM_IN_FOLLOWING_OFFSET CMD_CAM_OUT CMD_PHASING CMD_SET_ACCEL_OVERRIDE CMD_ENABLE_OUTPUT_CAM CMD_DISABLE_OUTPUT_CAM Commands for transition conditions CMD_WAIT_TIME CMD_WAIT_FOR_CONDITION Parameter Manual, 06/2013, Entry ID:

4 Table of contents 5.3 CMD_WAIT_FOR_AXIS_STATE CMD_WAIT_FOR_POS Commands for program branches CMD_JUMP CMD_JUMP_CMP_CONDITION CMD_JUMP_CMP_POS CMD_JUMP_CMP_VARIABLE CMD_JUMP_CMP_STATE CMD_LOOP CMD_END_LOOP CMD_START_PARALLEL_SEQUENCE CMD_STOP_SEQUENCE Other commands CMD_NONE CMD_NOP CMD_SET_CONDITION CMD_SET_VARIABLE CMD_INC_VARIABLE CMD_CALC_VARIABLE...56 A Contact A.1 Contacts...57 A.2 Internet addresses...58 Index Parameter Manual, 06/2013, Entry ID:

5 Preface General information Note The standard applications are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. The standard applications do not represent specific customer solutions, but are only intended to provide support for typical tasks. You are responsible for the proper operation of the described products. These standard applications do not relieve you of your responsibility regarding the safe handling when using, installing operating and maintaining the equipment. By using these standard applications, you agree that Siemens cannot be made liable for possible damage beyond the mentioned liability clause. We reserve the right to make changes and revisions to these standard applications at any time without prior notice. In the case of any differences between the suggestions made in these standard applications and other publications from Siemens, such as catalogs, the contents of the other documentation have priority. Warranty conditions, liability, and support If the application has been made available free of charge, the following applies: We do not provide a warranty for any of the information contained in this document. All other rights and claims against Siemens AG irrespective of legal basis are excluded. In particular claims for damages against Siemens AG in the case of product outage, downtime, loss of profit, either directly, indirectly or consequential damage are excluded. This does not apply when liability is compulsory by law, e. g. in the case of the Product Liability Act, premeditation, an act of gross negligence by superiors and managerial staff of Siemens AG or in cases of fraudulent concealment of defects. This limitation of liability also applies to sub-contractors, suppliers, delegates, superiors and managerial staff of Siemens AG. German law shall apply to this agreement for customers with head offices in Germany; Swiss law for customers with head offices outside Germany. Application of the United Nations Convention on Contracts for the International Sale of Goods as of (CISG) is excluded. Parameter Manual, 06/2013, Entry ID:

6 Preface 1.1 General information If the application has been made available against payment, the appropriate alternative applies for the respective business transaction: Alternative 1: (Internal business) If nothing else has been negotiated, then the "Conditions for the supply and services in Siemens internal business" applies in the version that is valid at the time that the equipment is purchased. Alternative 2: (Domestic business of Siemens AG) If nothing else was negotiated, the "General License Conditions for Software for Automation and Drives for Customers with a Registered Office in Germany" valid at the time of sale are applicable. Alternative 3: (Direct export business of Siemens AG) If nothing else has been negotiated, then the "General License Conditions for Software Products for Automation and Drives for Customers with a Seat or Registered Office outside Germany", valid at the time of sale, are applicable. It is not permitted to distribute or duplicate these application examples in any form including excerpts thereof without the express consent of Siemens Industry Sector. Notice regarding export identification codes AL: N ECCN: N 6 Parameter Manual, 06/2013, Entry ID:

7 Preface 1.2 About this document 1.2 About this document Objective This List Manual describes all commands for the application. The description is structured according to the tasks of the commands. A command is selected from an enumerator (enum). All commands are prefixed with CMD. The is an addition to the SIMOTION motion control system. For engineering system details and the SIMOTION SCOUT functions, refer to the SIMOTION SCOUT standard documentation. Further descriptions and information about the application can be found in the Application Manual. The manual is an addition to the SIMOTION standard documentation. Note This document does not claim to contain all details on devices in any version or to take all conceivable operational cases and applications into account. Should you require further information or encounter specific problems not covered in enough detail for your field of application, please contact your local Siemens office. Target group This document is intended for programmers. Siemens Industry Online Support This article originates from the Siemens Industry Online Support. The following link takes you directly to the download page for this document: Parameter Manual, 06/2013, Entry ID:

8 Preface 1.2 About this document 8 Parameter Manual, 06/2013, Entry ID:

9 Structure of a command 2 All commands have the same structure. This structure is shown below. Figure 2-1 Structure of a command A command contains the following components: Command: The command is specified using an enumerator (enum). A list of names can be found in the dpublic unit. TO index: Technology objects (TO) for the are transferred with their own arrays. The TO can then be addressed via the corresponding array index. The TO index specifies the TO, e.g. the axis or the output cam, on which the command should be applied. It is possible to select for some commands whether they should be executed for a specific TO or all TOs (specified as -1). An external encoder is also permitted for some commands, e.g. as a leading axis for a synchronous operation. This must then also be entered in the array of the axes and is addressed using the associated array index. Because different axis types are combined in the axis array (drive axes, position axes, following axes, path axes, external encoders), the provides in its output interface an array with the associated axis types. This array can be evaluated, for example, from an HMI. Parameters 1 through 6: As many as six parameters for further specifications can be specified for a command. If a parameter is programmed incorrectly, the associated program will be aborted with an error message. An entry will be written in the diagnostic structure of the. In some exceptional cases, a default configuration is used or the corresponding command is ignored. This is described explicitly for the individual commands. (See also List Manual) Mode: The mode parameter can be used to select whether SIMOTION should use parameters 1 through 6 absolutely or indirectly via a pointer to a REAL array (in/out variable of the ) or the user default values. Indirect specification using a variable means that the corresponding parameter does not specify directly the required value but rather the index to a specific variable in the variables array that then contains the actual value. Where: A bit in the mode variable is used for each parameter: Bit 0 represents parameter 1. The TRUE value specifies an indirect value. Bit 7 is used when UserDefault values of the system variables of the technology object are used. However, this is currently used only for the CMD_ENABLE_OUTPUT_CAM command. If bit 7 is set, bits 0 to 5 are ignored. Bit 6 has no meaning and is ignored by the. Parameter Manual, 06/2013, Entry ID:

10 Structure of a command TimeOut: With the exception of CMD_WAIT_TIME, a time can be defined for motion control commands and wait commands that specifies the latest time after which the command processing must have completed. If the specified time is exceeded, the associated processing will be aborted with an error. This time is useful only when the transition must wait until the command has been executed successfully. The 0 ms default value disables this monitoring. Transition condition: It can be selected for all commands whether the next command is processed immediately or only when the current command has been executed and completed successfully. This parameter can also bracket several commands; this means they will be executed in the same interpreter cycle. An application example for this is the calculation of stacking positions that should not be interrupted by other commands. Because this functionality increases the performance load, this is only possible up to a maximum value of commands specified by the LMCIPR_NUMBER_OF_COMMANDS_PER_CYCLE constant in the cpublic unit. This means there are three different transition conditions: WHEN_COMMAND_DONE (WCD) IMMEDIATELY (IM) IMMEDIATELY_AND_NEXT_COMMAND (IM_NC) If an incorrect value is specified, WCD will be used as the default configuration and a corresponding entry made in the diagnostic structure. Note With some commands, certain values for the transition condition do not make sense. They can be programmed, but are ignored by the application. Example: Jump instructions with transition condition WCD programmed. Jumps are always executed within an interpreter cycle and therefore as if the transition condition IM were programmed. 10 Parameter Manual, 06/2013, Entry ID:

11 Commands for program control of the CMD_START_PROGRAM Start program This command can be executed only in program operation or in single-step mode. When this command is issued, the execution of the specified traversing block program starts at the specified traversing block. Any program that is currently running (including all existing sequences running in parallel) is canceled. Running commands such as MOVE, however, remain active. In single-step mode, only the 1st traversing block is executed. Enumerator: CMD_START_PROGRAM := 4010 i32indexto - r32parameter1 - r32parameter2 Traversing block program r32parameter3 Traversing block r32parameter4 - b8mode - Indicates which parameters are specified indirectly u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

12 Commands for program control of the 3.2 CMD_STOP_PROGRAM 3.2 CMD_STOP_PROGRAM Stop program This command can be executed only in program operation or in single-step mode. When this command is issued, the processing of the traversing block program and any parallel sequences will be stopped. If the Stop program command should execute certain actions, such as stop axes, deactivate synchronous operation groups or output cams, this must be parameterized and executed in a separate program. Such a program can be configured in the configuration file of the. When the stop command is issued, any active motion commands will always be completed. Enumerator: CMD_STOP_PROGRAM := 4020 i32indexto - r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode Indicates which parameters are specified indirectly. u16timeout - enextcommand - 12 Parameter Manual, 06/2013, Entry ID:

13 Commands for program control of the 3.3 CMD_NEXT_STEP 3.3 CMD_NEXT_STEP Process the next step This command can be executed only in single-step mode. When issued, the next traversing block (including all parallel sequences) of a running program that was started via CMD_START_PROGRAM will be executed. Any transition condition will be observed. Only when this condition is fulfilled, the next command can be performed with CMD_NEXT_STEP. As long as the value of the programstate output variable of the is SINGLESTEP_ACTIVE, not all commands have been completed yet and CMD_NEXT_STEP is ignored. The command will be ignored if a command is still active in a sequence, e.g. a positioning programmed with WCD has not yet completed. Enumerator: CMD_NEXT_STEP := 4040 i32indexto - r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

14 Commands for program control of the 3.3 CMD_NEXT_STEP 14 Parameter Manual, 06/2013, Entry ID:

15 Motion control commands 4 The following applies to all motion commands: The dynamic response values can be configured axis-specific with the axisconfigdata parameter of the. For information about the structure of a command, refer to the Structure of a command (Page 9) section. With commands for positioning, for speed specification as well as stopping, the internal override is also taken into account for the acceleration and deceleration. The CMD_SET_ACCEL_OVERRIDE command is used to write the internal override. Important information on Motion Control can be found in the standard SIMOTION documentation in the manual SIMOTION Motion Control TO Axis Electric/Hydraulic, External Encoder (Achse_Technologie_Funktionen.pdf). 4.1 CMD_POWER_ON Specify axis enable This command can be used to enable all or individual axes as well as external encoders. Enumerator: CMD_POWER_ON := 10 i32indexto -1 All axes or external encoders 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis or external encoder, index to axisconfigdata.toaxis array r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - u16timeout [ms] Monitoring time for the command enextcommand WCD Transition if axis or external encoder is enabled Parameter Manual, 06/2013, Entry ID:

16 Motion control commands 4.2 CMD_POWER_OFF IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle 4.2 CMD_POWER_OFF Cancel axis enable This command can be used to revoke the enable for all or individual axes as well as external encoders. Enumerator: CMD_POWER_OFF := 20 i32indexto -1: All axes or external encoders 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis or external encoder, index in axisconfigdata.toaxis array r32parameter1 - r32parameter2 - r32parameter4 - u16timeout [ms] Monitoring time for the command enextcommand WCD Transition if the axis is no longer in closed-loop control IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle 16 Parameter Manual, 06/2013, Entry ID:

17 Motion control commands 4.3 CMD_POS_ABS 4.3 CMD_POS_ABS Absolute positioning This command is used for the absolute positioning of a single axis. Enumerator: CMD_POS_ABS := 30 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 Command position r32parameter2 Velocity Only positive values and -1.0 are permitted -1.0: Use of default value of the system r32parameter3 r32parameter4 - b8mode Direction 0: Positive 1: Negative 2: Shortest path 3: Effectively, the last programmed direction 9: User default Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD IM IM_NC Transition once positioning has been completed Transition to next traversing block in next cycle Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

18 Motion control commands 4.4 CMD_POS_REL 4.4 CMD_POS_REL Relative positioning This command is used for the relative positioning of a single axis. Enumerator: CMD_POS_REL := 40 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 Distance The sign defines the direction r32parameter2 Velocity Only positive values and -1.0 are permitted -1.0: Use of default value of the system r32parameter3 - r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition once positioning has been completed IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle 18 Parameter Manual, 06/2013, Entry ID:

19 Motion control commands 4.5 CMD_POS_SUPERIMPOSED 4.5 CMD_POS_SUPERIMPOSED Superimposed positioning This command is used for the superimposed positioning of a single axis. Enumerator: CMD_POS_SUPERIMPOSED := 50 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 Distance The sign defines the direction r32parameter2 Velocity Only positive values and -1.0 are permitted -1.0: Use of default value of the system r32parameter3 - r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition once positioning has been completed IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

20 Motion control commands 4.6 CMD_MOVE 4.6 CMD_MOVE Speed preset This command is used to specify the speed for a single axis. The speed- or position-controlled traversing of an axis can be configured for a specific axis (axisconfigdata). Enumerator: CMD_MOVE := 60 i32indexto r32parameter1-0..lmcipr_number_of_axes -1: Selected axis r32parameter2 Velocity Only positive values and -1.0 are permitted -1.0: Use of default value of the system r32parameter3 r32parameter4 - b8mode Direction: 0: Positive 1: Negative 2: Shortest path 3: Effectively, the last programmed direction 9: User default Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition when the speed setpoint is reached IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle 20 Parameter Manual, 06/2013, Entry ID:

21 Motion control commands 4.7 CMD_STOP 4.7 CMD_STOP Stop axis This command is used to stop all axes or a single axis. Enumerator: CMD_STOP := 70 i32indexto -1: All axes r32parameter1 r32parameter2 - r32parameter3 - r32parameter4 - b8mode 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis Motion to be stopped: 0: ALL (default) 1: Basic 2: Superimposed Specifies which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition, if axis is at standstill IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

22 Motion control commands 4.8 CMD_ESTOP 4.8 CMD_ESTOP Emergency stop of the axis This command is used to perform an emergency stop of all axes or a single axis. This command ignores the override for acceleration and deceleration (see CMD_SET_ACCEL_OVERRIDE (Page 31)). The stop is performed with the dynamics specified in the configuration structure. Note The default setting (stop with maximum deceleration) is used when EStop settings = 2 and a stop time <= 0 is specified. Enumerator: CMD_ESTOP := 80 i32indexto -1: All axes 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 EStop mode: 0: Emergency stop (default) 1: Stop without abort 2: Stop with abort r32parameter2 EStop settings: Relevant only if P1 = 0 0: Stop with maximum deceleration (default) 1: Stop with setpoint 0 2: Stop within a defined time using a ramp 3: Stop with configured dynamics r32parameter3 Stop time [s] Relevant only if P2 = 2 r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition, if axis is at standstill IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle 22 Parameter Manual, 06/2013, Entry ID:

23 Motion control commands 4.9 CMD_HOMING 4.9 CMD_HOMING Homing This command can be used to home a single axis or an external encoder. Because an absolute encoder adjustment is performed automatically, no homing mode needs to be specified for absolute encoders. The same applies to virtual axes. Irrespective of parameter 2, direct homing is always performed. This means the homing mode is relevant only for the following cases: Real axes and external encoders with incremental encoder (all versions are possible) Specification of redefineposition (this is possible for all types of axes and external encoders) Note Homing mode 3 redefineposition does not supply the state signal axishomed to the involved axis / involved external encoder. Enumerator: CMD_HOMING := 90 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis or external encoder r32parameter1 Homing position r32parameter2 0: Active homing 1: Passive homing 2: Direct homing 3: Set the coordinate system of a TO r32parameter3 Relevant only if P2 = 3 Specifies the assignment type for the new position (EnumRedefineSpecification) 0: COMMAND_VALUE setpoint 1: ACTUAL_VALUE actual value 2: COMMAND_VALUE_BASIC_MOT ION basic motion setpoint 3: COMMAND_VALUE_SUPERIMP OSED_MOTION superimposed motion setpoint r32parameter4 Relevant only if P2 = 3 Specifies the assignment type for the new position (EnumRedefineMode) 0: ABSOLUTE, specified absolute value 1: RELATIVE, specified relative value Parameter Manual, 06/2013, Entry ID:

24 Motion control commands 4.10 CMD_RESET_AXIS b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Axis is homed or set to position IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle 4.10 CMD_RESET_AXIS Reset axes This command can be used to reset all axes or an individual axis or external encoders. Any pending TO alarms on the axis (and to any existing lower-level objects) are acknowledged. Enumerator: CMD_RESET_AXIS := 100 i32indexto -1: All axes or external encoders r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis or external encoder u16timeout [ms] Monitoring time for the command enextcommand WCD Alarms are acknowledged IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle 24 Parameter Manual, 06/2013, Entry ID:

25 Motion control commands 4.11 CMD_GEAR_IN 4.11 CMD_GEAR_IN Activate gearing This command can be used to synchronize a following axis to a leading axis (axis or external encoder) in the gearing mode. Note The velocity for the synchronization operation is taken from the default data (see SCOUT: following object, default). All other axis dynamic response values are taken from the configuration data of the. If a counter gearing should be implemented, this is only currently possible using the appropriate configuration for the default values of the following object in SIMOTION SCOUT. Enumerator: CMD_GEAR_IN := 110 i32indexto 0..LMCIPR_NUMBER_OF_AXES - Selected axis 1: r32parameter1 Numerator 0 not permitted r32parameter2 Denominator 0 not permitted r32parameter3 Offset / phase offset r32parameter4 Mode 0: Absolute 1: Relative r32parameter5 Synchronization 0: USER_DEFAULT (default) 1: IMMEDIATELY_BY_TIME_PROFIL E r32parameter6 Specification of the leading axis using the index of the axis array b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition when synchronous IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

26 Motion control commands 4.12 CMD_GEAR_OUT 4.12 CMD_GEAR_OUT Deactivate gearing This command can be used to desynchronize a following axis running in gearing mode. The dynamic values are taken from the UserDefault values of the axis. No check is performed whether gearing is active. Enumerator: CMD_GEAR_OUT := 120 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - u16timeout [ms] Monitoring time for the command enextcommand WCD Transition, if axis is at standstill IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle 4.13 CMD_CAM_IN_LEADING_OFFSET Activate camming with offset to the leading axis This command can be used to synchronize a following axis to a leading axis (axis or external encoder) in the camming mode. An offset to the position of the leading axis can be specified. Note The dynamic response values for synchronization of the axes are taken from the preassignment data of the axis. Enumerator: CMD_CAM_IN_LEADING_OFFSET := Parameter Manual, 06/2013, Entry ID:

27 Motion control commands 4.13 CMD_CAM_IN_LEADING_OFFSET i32indexto 0..LMCIPR_NUMBER_OF_AXES - 1: r32parameter1 r32parameter2 r32parameter3 r32parameter4 r32parameter5 r32parameter6 b8mode Index of cam in the cam array Mode: 0: Cyclic 1: Once Leading axis offset Mode: Selected axis 0: Absolute leading axis and following axis 1: Relative leading axis and following axis 2: Absolute leading axis and relative following axis 3: Relative leading axis and absolute following axis Synchronization: 0: USER_DEFAULT (default) 1: IMMEDIATELY_BY_TIME_PROFIL E Specification of the leading axis using the index of the axis array Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition when synchronous IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

28 Motion control commands 4.14 CMD_CAM_IN_FOLLOWING_OFFSET 4.14 CMD_CAM_IN_FOLLOWING_OFFSET Activate camming with offset of the following axis With this command, a following axis can be synchronized to a leading value in the camming mode. An offset to the position of the following axis can be specified. In principle, the behavior corresponds to the command for camming, with offset to the leading axis. Enumerator: CMD_CAM_IN_FOLLOWING_OFFSET := 140 I32IndexTO 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis i32parameter1 Index of cam in the cam array r32parameter2 Mode: 0: Cyclic 1: Once r32parameter3 Following axis offset r32parameter4 Mode: 0: Absolute leading axis and following axis 1: Relative leading axis and following axis 2: Absolute leading axis and relative following axis 3: Relative leading axis and absolute following axis r32parameter5 Synchronization: 0: USER_DEFAULT (default) 1: IMMEDIATELY_BY_TIME_PROFI LE r32parameter6 Specification of the leading value using the index of the axis array b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition when synchronous IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle 28 Parameter Manual, 06/2013, Entry ID:

29 Motion control commands 4.15 CMD_CAM_OUT 4.15 CMD_CAM_OUT Deactivate camming This command can be used to desynchronize a following axis in camming. The dynamic values are taken from the user default values of the axis. No check is performed as to whether camming is active. Enumerator: CMD_CAM_OUT := 150 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter2 - r32parameter3 - r32parameter4 - u16timeout [ms] Monitoring time for the command enextcommand WCD Transition if the axis is no longer synchronous IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

30 Motion control commands 4.16 CMD_PHASING 4.16 CMD_PHASING Set phase shift This command is used to move the phase of the following axis with respect to the leading value in the active synchronous operation. The command can be used for gearing and camming. Enumerator: CMD_Phasing := 160 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 - r32parameter2 Velocity -1.0: Use default value of the system r32parameter3 Phase offset r32parameter4 Type of phase shift: 0: Absolute 1: Relative b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition as soon as offset is applied IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle 30 Parameter Manual, 06/2013, Entry ID:

31 Motion control commands 4.17 CMD_SET_ACCEL_OVERRIDE 4.17 CMD_SET_ACCEL_OVERRIDE Set the override for acceleration and deceleration This command can be used to specify an override as a percentage for the acceleration and deceleration of axes. The 100% value for acceleration and deceleration is displayed in the configuration structure specified for each axis. The specified override is limited to the values 1% to 1000%. The command will be ignored if (for indirect programming) an incorrect variable index outside the array limits has been specified. Enumerator: CMD_SET_ACCEL_OVERRIDE := 170 i32indexto -1: All axes 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 - r32parameter2 Override for acceleration and deceleration Minimum = 1 % Maximum = 1000 % r32parameter3 - r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout - enextcommand WCD Does not make sense in this command, as this command is always processed in one cycle. IM Transition to next traversing block in next cycle IM_NC Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

32 Motion control commands 4.18 CMD_ENABLE_OUTPUT_CAM 4.18 CMD_ENABLE_OUTPUT_CAM Activation of an output cam This command can be used to activate an output cam. Enumerator: CMD_ENABLE_OUTPUT_CAM := 300 i32indexto r32parameter1 0..LMCIPR_NUMBER_OF_OUTPUT_ CAMS -1: Selected output cam Switch-on position r32parameter2 ON time: Switch-off position Depending on the output cam type r32parameter3 Delay time: Switch on Default: Value from the user default data r32parameter4 Delay time, switch-off Default: Value from the user default data r32parameter5 r32parameter6 Effective direction 0: Positive 1: Negative 2: Both directions 9: User default Inversion of the output 0: No 1: Yes 2: No change b8mode Bit 7: If bit 7 is set, it takes precedence over bits 0 to 5. This means, if several bits are set (such as bits 7 and 0), parameters 1 to 5 from the user default data are used rather than from indirect addressing. u16timeout - Bit 0 to 5: enextcommand WCD IM IM_NC Indicates which parameters are specified indirectly Does not make sense in this command, as this command is always processed in one cycle. Transition to next traversing block in next cycle Immediate transition in the same cycle 32 Parameter Manual, 06/2013, Entry ID:

33 Motion control commands 4.19 CMD_DISABLE_OUTPUT_CAM 4.19 CMD_DISABLE_OUTPUT_CAM Deactivation of an output cam This command can be used to deactivate one or all output cams. Enumerator: CMD_DISABLE_OUTPUT_CAM := 310 i32indexto -1: All output cams r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - u16timeout - enextcommand WCD 0..LMCIPR_NUMBER_OF_OUTPUT_ CAMS -1: IM IM_NC Selected output cam Does not make sense in this command, as this command is always processed in one cycle. Transition to next traversing block in next cycle Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID:

34 Motion control commands 4.19 CMD_DISABLE_OUTPUT_CAM 34 Parameter Manual, 06/2013, Entry ID:

35 Commands for transition conditions 5 The following commands are not permitted in service mode. 5.1 CMD_WAIT_TIME Wait a period This command is used to wait until the transferred time has expired. If 0 ms is transferred as the time, the waiting period is one cycle. Enumerator: CMD_WAIT_TIME:= 1010 i32indexto - r32parameter1 Wait time [ms] Default: 0 r32parameter2 - r32parameter3 - r32parameter4 - b8mode Specifies which parameters are specified indirectly u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

36 Commands for transition conditions 5.2 CMD_WAIT_FOR_CONDITION 5.2 CMD_WAIT_FOR_CONDITION Wait for Boolean condition This command is used to wait for the occurrence of a Boolean condition. The Boolean conditions are provided with the conditions in/out variable. Enumerator: CMD_WAIT_FOR_CONDITION:= 1030 i32indexto - r32parameter1 Index of bit in the conditions array r32parameter2 - r32parameter3 - r32parameter4 1: Transition if TRUE 0: Transition if FALSE r32parameter5 0: The condition is retained 1: Condition is inverted b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition takes place as soon as condition is fulfilled. IM Is not useful in this command IM_NC Only if the condition has already been fulfilled when called 36 Parameter Manual, 06/2013, Entry ID:

37 Commands for transition conditions 5.3 CMD_WAIT_FOR_AXIS_STATE 5.3 CMD_WAIT_FOR_AXIS_STATE Wait for axis state This command is used to wait until one or all axes have a specific state. This command can also be used for external encoders if appropriate with regard to the state. If the state is already active, the next command in the same cycle will be processed provided IM_NC is configured and the maximum of commands for an cycle has not yet been reached. Note The axis state is read from the feedback of the integrated axis FB. If for some reason the specified axis is influenced outside the, the resulting changes of the axis state in the will not be detected. Note The feedback signals of the axes are defined such that they deliver TRUE for an unachievable state; e.g. a speed-controlled axis always has the axishomed state. Enumerator: CMD_WAIT_FOR_AXIS_STATE:= 1040 i32indexto -1: All axes 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 Axis state: 0: Axis enabled 1: Axis homed Homing via redefine position does not deliver the axis homed state (axishomed) 2: Axis synchronized 3: Position within the position window 4: Programmed velocity reached 5: Axis standstill 6: Axis not enabled r32parameter2 - r32parameter3 - r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command Parameter Manual, 06/2013, Entry ID:

38 Commands for transition conditions 5.3 CMD_WAIT_FOR_AXIS_STATE enextcommand WCD IM IM_NC Transition takes place as soon as the axis state is reached. Does not make sense with this command Only if the condition has already been fulfilled when called 38 Parameter Manual, 06/2013, Entry ID:

39 Commands for transition conditions 5.4 CMD_WAIT_FOR_POS 5.4 CMD_WAIT_FOR_POS Wait until an axis position is reached This command is used to wait until an axis has reached a certain position. A tolerance can be specified for evaluating the position comparison. This only applies for the comparison type equal to. If the tolerance cannot be read (indirect programming and the variable is outside the array limits), the comparison is performed with default values (linear axis: 1 mm, rotary axis: 36 ). The IM_NC transition condition has an effect only if the condition is already fulfilled when this command is started. If this is not the case, a wait is always made regardless of which transition condition has been configured. Note The modulo transition for configured modulo axes is taken into account. Enumerator: CMD_WAIT_FOR_POS:= 1050 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 Comparison position r32parameter2 - r32parameter3 - r32parameter4 0: Comparison for greater than Axis position > comparison position 2: Comparison for equal to Axis position = comparison position 4: Comparison for less than Axis position < comparison position r32parameter5 Tolerance Default: 1 mm or 36 Maximum distance between position and comparison position b8mode Indicates which parameters are specified indirectly u16timeout [ms] Monitoring time for the command enextcommand WCD Transition takes place as soon as comparison is true. IM Does not make sense with this command IM_NC Only if the condition has already been fulfilled when called Parameter Manual, 06/2013, Entry ID:

40 Commands for transition conditions 5.4 CMD_WAIT_FOR_POS See also CMD_JUMP_CMP_POS (Page 43) 40 Parameter Manual, 06/2013, Entry ID:

41 Commands for program branches 6 The following commands are not permitted in service mode. If necessary, the specifications for the traversing program and the traversing block may be rounded (input for values with decimal places). Note For all jump instructions, the following applies: The subsequent command is executed in the same cycle. 6.1 CMD_JUMP Unconditional jump This command performs an unconditional jump to the command of the specified traversing block and traversing program. Enumerator: CMD_JUMP := 3010 i32indexto - r32parameter1 - r32parameter2 Traversing block program r32parameter3 Traversing block r32parameter4 - b8mode u16timeout - enextcommand - Specifies which parameters are specified indirectly Parameter Manual, 06/2013, Entry ID:

42 Commands for program branches 6.2 CMD_JUMP_CMP_CONDITION 6.2 CMD_JUMP_CMP_CONDITION Conditional jump This command performs a conditional jump to the command of the specified traversing block and traversing program. The condition is a variable of the BOOL type in the conditions array. Enumerator: CMD_JUMP_CMP_CONDITION := 3020 i32indexto - r32parameter1 Index of bit in the conditions array r32parameter2 Traversing block program r32parameter3 Traversing block r32parameter4 1: Jump if TRUE 0: Jump if FALSE r32parameter5 0: The condition is retained 1: The condition is inverted in the conditions array b8mode Indicates which parameters are specified indirectly u16timeout - enextcommand - 42 Parameter Manual, 06/2013, Entry ID:

43 Commands for program branches 6.3 CMD_JUMP_CMP_POS 6.3 CMD_JUMP_CMP_POS Jump for position comparison This command performs a conditional jump when the comparison of the axis position with a specified position is true. A parameter is used to set how the comparison is made. The tolerance is only used for a comparison of equal to. Note The modulo transition for configured modulo axes is taken into account. Enumerator: CMD_JUMP_CMP_POS := 3030 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 Position for comparison r32parameter2 Traversing block program r32parameter3 Traversing block r32parameter4 0: Comparison for greater than Axis position > comparison position 2: Comparison for equal to Axis position = comparison position 4: Comparison for less than Axis position < comparison position r32parameter5 Tolerance Default: 1 mm or 36 Maximum distance between position and comparison position b8mode Indicates which parameters are specified indirectly u16timeout - enextcommand - See also CMD_WAIT_FOR_POS (Page 39) Parameter Manual, 06/2013, Entry ID:

44 Commands for program branches 6.4 CMD_JUMP_CMP_VARIABLE 6.4 CMD_JUMP_CMP_VARIABLE Jump for value comparison This command performs a conditional jump when the comparison of the value in the variables in/out array with the value in parameter 5 is true. Enumerator: CMD_JUMP_CMP_VARIABLE := 3040 i32indexto - r32parameter1 r32parameter2 r32parameter3 Index of REAL value in the variables array Traversing block program Traversing block r32parameter4 0: Comparison for greater than Axis position > comparison position r32parameter5 b8mode u16timeout - enextcommand - 1: Comparison for greater than or equal Axis position >= comparison position 2: Comparison for equal to Axis position = comparison position 3: Comparison for less than or equal to Axis position <= comparison position 4: Comparison for less than Axis position < comparison position Comparison value Indicates which parameters are specified indirectly 44 Parameter Manual, 06/2013, Entry ID:

45 Commands for program branches 6.5 CMD_JUMP_CMP_STATE 6.5 CMD_JUMP_CMP_STATE Jump because of states With this command, a conditional jump is made as a result of an axis state. This command can also be used for external encoders if appropriate with regard to the state. Note The axis state is read from the feedback of the integrated axis FB. If for some reason the specified axis is influenced outside the, the resulting changes of the axis state in the will not be detected. Enumerator: CMD_JUMP_CMP_STATE:= 3050 i32indexto 0..LMCIPR_NUMBER_OF_AXES -1: Selected axis r32parameter1 State: 0: Axis enabled 1: Axis homed Not for redefineposition 2: Axis synchronized 3: Position within position window 4: Programmed velocity reached 5: Axis standstill 6: Axis not enabled 7: Error class 4 is present r32parameter2 Traversing block program r32parameter3 Traversing block r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

46 Commands for program branches 6.6 CMD_LOOP 6.6 CMD_LOOP Loop This command performs a jump to the command of the specified traversing block and traversing program. The value of the number of loop executions is decremented by 1 with each pass. When the value is 0, no jump is performed but rather the command that follows the LOOP command will be executed. Nested loops are possible. A loop iteration is defined by the traversing block/traversing block program in the loop command (start) and the CMD_END_LOOP command (end). All commands are permitted in between. If an empty loop is programmed or parameter 1 has the value 0, a switch will be made to the next traversing block. The value set in the cpublic unit specifies the maximum number of nested loops (constant: LMCIPR_NUMBER_OF_LOOPS_PER_SEQUENCE). Enumerator: CMD_LOOP := 3200 Parameter Value Description i32indexto - r32parameter1 Number of loop executions r32parameter2 Traversing block program For loop start r32parameter3 Traversing block For loop start r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout - enextcommand - 46 Parameter Manual, 06/2013, Entry ID:

47 Commands for program branches 6.7 CMD_END_LOOP 6.7 CMD_END_LOOP End identifier for a loop The end of loop is characterized with this command. The command is ignored if no loop is active; at the same time, a corresponding entry is made in the diagnostic buffer. The value set in the cpublic unit specifies the maximum number of nested loops (constant: LMCIPR_NUMBER_OF_LOOPS_PER_SEQUENCE). Enumerator: CMD_END_LOOP := 3210 Parameter Value Description i32indexto - r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

48 Commands for program branches 6.8 CMD_START_PARALLEL_SEQUENCE 6.8 CMD_START_PARALLEL_SEQUENCE Start of a parallel sequence This command starts a new parallel sequence. The LMCIPR_NUMBER_OF_PARALLEL_SEQUENCES constant in the cpublic unit specifies the maximum number of sequences. Enumerator: CMD_START_PARALLEL_SEQUENCE := 3300 Parameter Value Description i32indexto - r32parameter1 - r32parameter2 Traversing block program r32parameter3 Traversing block r32parameter4 - b8mode u16timeout - enextcommand - Indicates which parameters are specified indirectly 48 Parameter Manual, 06/2013, Entry ID:

49 Commands for program branches 6.9 CMD_STOP_SEQUENCE 6.9 CMD_STOP_SEQUENCE Stop parallel sequences This command stops either a specific sequence or all active sequences (except an error program). The sequence number must be specified. Value -1 means: all sequences. The sequence number can only be determined by inspecting the current program data because it cannot necessarily be predicted in which sequence which program is running. The always uses the CMD_START_PARALLEL_SEQUENCE command for the first free sequence that is found. Note If this command is not used in an error program but in a sequence, the specification of -1 in parameter 2 also causes the sequence with the stop command itself to be terminated. Enumerator: CMD_STOP_SEQUENCE := 3310 Parameter Value Description i32indexto - r32parameter1 - r32parameter2 Sequence number Index in the actualprogramdata array to be stopped -1.0: all active sequences r32parameter3 - r32parameter4 - b8mode Indicates which parameters are specified indirectly u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

50 Commands for program branches 6.9 CMD_STOP_SEQUENCE 50 Parameter Manual, 06/2013, Entry ID:

51 Other commands CMD_NONE No command This command signals in program operation that a traversing block program has completed. In the default state, the traversing block table is assigned this command. No further action is associated. Note The command is ignored without any error message in service mode. Enumerator: CMD_NONE := 0 i32indexto - r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - u16timeout - enextcommand - Parameter Manual, 06/2013, Entry ID:

52 Other commands 7.2 CMD_NOP 7.2 CMD_NOP No operation This command does not have any associated action; it can, for example, be used for test purposes to temporarily hide certain program lines without moving the program lines. This also allows all parameters to be retained; only the command itself needs to be overwritten. Note The command is ignored without any error message in service mode. Enumerator: CMD_NOP := 1 i32indexto - r32parameter1 - r32parameter2 - r32parameter3 - r32parameter4 - b8mode - u16timeout - enextcommand - 52 Parameter Manual, 06/2013, Entry ID:

53 Other commands 7.3 CMD_SET_CONDITION 7.3 CMD_SET_CONDITION Set a Boolean output This command sets a bit in the conditions in/out variables array. Enumerator: CMD_SET_CONDITION := 2010 i32indexto - r32parameter1 Index of bit in the conditions array r32parameter2 1: Set to TRUE r32parameter3 - r32parameter4 - b8mode u16timeout - 0: Set to FALSE 2: Invert Indicates which parameters are specified indirectly enextcommand WCD Does not make sense with this command IM IM_NC Transition to next traversing block in next cycle Immediate transition in the same cycle Parameter Manual, 06/2013, Entry ID: