6.1 PlcAxis

INCON-M86/M86R have two PLC axes and two spindles that can be PLC axis, one of PLC axis is using if relatives LagError, cmdData0, cmdData1, Position, servoOn and posLoopOn were setting at plcOpen. A cmdFlag is using to send a command to NC and NC will clear it when done command.

For example:

First PLC axis is using, that program at plcOpen as following:

plc.axisPmyServo.cmdFlag = PLC_AXIS_SET_PARA；
plc.axisPmyServo.stsLagError = paPmyLagError； // set lag error
plc.axisPmyServo.cmdData0 = paPmyGain； // loop gain
plc.axisPmyServo.cmdData1 = paPmyAccDec； // Acceleration
plc.axisPmyServo.stsPosition = paPmyPosition； // set position
plc.axisPmyServo.state.servoOn = 1； // servo on
plc.axisPmyServo.state.posLoopOn = 1； // loop control on

To move the PLC axis, set this axial movement mode (incremental, absolute), travel distance, and travel speed in PlcRun:

plc.axisPmyServo.cmdFlag = PLCAXIS_CMD_REL_MOVE；
plc.axisPmyServo.cmdData0 = rel_position；
plc.axisPmyServo.cmdData1 = move_speed；

If you want to stop the axial movement during the movement of the PLC axis, the following commands can be issued in PlcRun to stop the movement of the PLC axis:

plc.axisPmyServo.cmdFlag = PLCAXIS_CMD_STOP；

The below table shows out all commands that for PLC axis:

Command	Value	Description
PLCAXIS_CMD_NONE	0	Null or NC command finished
PLCAXIS_CMD_STOP	1	Stop current motion
PLCAXIS_CMD_SET_PARA	2	Set PLC axis parameter
PLCAXIS_CMD_SET_STATE	3	Set PLC axis state
PLCAXIS_CMD_REL_MOVE	4	PLC axis moves a distance
PLCAXIS_CMD_ABS_MOVE	5	PLC axis moves to absolute position
PLCAXIS_CMD_JOG_POSITIVE	6	PLC axis jog to positive direction
PLCAXIS_CMD_JOG_NEGATIVE	7	PLC axis jog to negative direction

Each PLC axis has an ID to identify itself:

ID	Value	Description
PLCAXIS_ID_NONE	0	Null
PLCAXIS_ID_PMY_SPINDLE	1	Primary spindle
PLCAXIS_ID_2ND_SPINDLE	2	Sub spindle
PLCAXIS_ID_PMY_SERVO	3	First PLC axis
PLCAXIS_ID_2ND_SERVO	4	Second PLC axis

The relevant signals of the positive and sub spindles and the two PLC axes are as follows:

Signal name	Description
plc.axisPmySpindle.cmdFlag	Command for primary spindle
plc.axisPmySpindle.cmdData0	Command data 0 for primary spindle
plc.axisPmySpindle.cmdData1	Command data 1 for primary spindle
plc.axisPmySpindle.state.inPosition	Primary spindle in position
plc.axisPmySpindle.state.servoOn	Primary spindle servo on
plc.axisPmySpindle.state.posLoopOn	Primary spindle position loop on
plc.axisPmySpindle.state.posLoopFail	Primary spindle position loop fail
plc.axisPmySpindle.state.jogPositive	Primary spindle jog positive direction
plc.axisPmySpindle.state.jogNegative	Primary spindle jog negative direction
plc.axisPmySpindle.state.reserved	Reserved
plc.axisPmySpindle.stsPosition	Primary spindle current position
plc.axisPmySpindle.stsLagError	Primary spindle current lag error
plc.axisPmySpindle.id	Primary spindle ID
plc.axisPmySpindle.encoder	Primary spindle encoder current count
plc.axisPmySpindle.da	Primary spindle VCMD (DA)
plc.axisPmySpindle.index	Primary encoder index signal
plc.axis2ndSpindle.cmdFlag	Command for sub spindle
plc.axis2ndSpindle.cmdData0	Command data 0 for sub spindle
plc.axis2ndSpindle.cmdData1	Command data 1 for sub spindle
plc.axis2ndSpindle.state.inPosition	Sub spindle in position
plc.axis2ndSpindle.state.servoOn	Sub spindle servo on
plc.axis2ndSpindle.state.posLoopOn	Sub spindle position loop on
plc.axis2ndSpindle.state.posLoopFail	Sub spindle position loop fail
plc.axis2ndSpindle.state.jogPositive	Sub spindle jog positive direction
plc.axis2ndSpindle.state.jogNegative	Sub spindle jog negative direction
plc.axis2ndSpindle.state.reserved	Reserved
plc.axis2ndSpindle.stsPosition	Sub spindle current position
plc.axis2ndSpindle.stsLagError	Sub spindle current lag error
plc.axis2ndSpindle.id	Sub spindle ID
plc.axis2ndSpindle.encoder	Sub spindle encoder current count
plc.axis2ndSpindle.da	Sub spindle VCMD (DA)
plc.axisPmyServo.cmdFlag	Command for first PLC axis
plc.axisPmyServo.cmdData0	Command data 0 for first PLC axis
plc.axisPmyServo.cmdData1	Command data 1 for first PLC axis
plc.axisPmyServo.state.inPosition	First PLC axis in position
plc.axisPmyServo.state.servoOn	First PLC axis servo on
plc.axisPmyServo.state.posLoopOn	First PLC axis position loop on
plc.axisPmyServo.state.posLoopFail	First PLC axis position loop fail
plc.axisPmyServo.state.jogPositive	First PLC axis jog positive direction
plc.axisPmyServo.state.jogNegative	First PLC axis jog negative direction
plc.axisPmyServo.stsPosition	First PLC axis current position
plc.axisPmyServo.stsLagError	First PLC axis current lag error
plc.axisPmyServo.id	First PLC axis ID
plc.axisPmyServo.encoder	First PLC axis encoder current count
plc.axisPmyServo.da	First PLC axis VCMD (DA)
plc.axisPmyServo.index	First PLC axis encoder index signal
plc.axis2ndServo.cmdFlag	Command for second PLC axis
plc.axis2ndServo.cmdData0	Command data 0 for second PLC axis
plc.axis2ndServo.cmdData1	Command data 1 for second PLC axis
plc.axis2ndServo.state.inPosition	Second PLC axis in position
plc.axis2ndServo.state.servoOn	Second PLC axis servo on
plc.axis2ndServo.state.posLoopOn	Second PLC axis position loop on
plc.axis2ndServo.state.posLoopFail	Second PLC axis position loop fail
plc.axis2ndServo.state.jogPositive	Second PLC axis jog positive direction
plc.axis2ndServo.state.jogNegative	Second PLC axis jog negative direction
plc.axis2ndServo.stsPosition	Second PLC axis current position
plc.axis2ndServo.stsLagError	Second PLC axis current lag error
plc.axis2ndServo.id	Second PLC axis ID
plc.axis2ndServo.encoder	Second PLC axis encoder current count
plc.axis2ndServo.da	Second PLC axis VCMD (DA)
plc.axis2ndServo.index	Second PLC axis encoder index signal

Note:

There are many statements defined in plc.h, which are defined by the PLC program. Not all statements are listed in this manual, please refer to your plc.h.