Fagor CNC 8070, Programming Manual, Page: 433 / 556

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Programming manual
CNC 8070
CNC VARI
ABLES
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These variables are read/write (R/W) synchronous and are evaluated during execution. They
correspond to linear and rotary axes and to the spindle.
The PLC reading of TORQUE comes in tenths (x10) Ver "Access to numeric values from the PLC"
en la página 358.
These variables are read/write (R/W) synchronous and are evaluated during block execution.
They are valid for linear and rotary axes and for the spindle.
In order for the feed-forward and the AC-forward defined this way to be taken into account, they must
be active by machine parameter; i.e. by means of machine parameter
FFWTYPE
if it is an analog drive
or a simulated drive or parameter
OPMODEP
if it is a Sercos drive.
The values defined by these variables prevail over the ones defined by machine parameters or by
program. Setting the variables with a negative value cancels their effect ("0" is a valid value). These
variables are initialized neither by a reset nor when validating the parameters.
The PLC will read them in the following units. Ver "Access to numeric values from the PLC" en la
página 358.
The PLC reading of PLCACFGAIN comes in tenths (x10)
The PLC reading of PLCFFGAIN comes in hundredths (x100)
These variables are read-only (R) synchronous and are evaluated in the execution.
RELATED TO THE TANDEM AXIS
PRG PLC INT
(V.)[n].A.TPIIN.Xn Input of the PI of the master axis of the tandem (in rpm) R R R
(V.)[n].A.TPIOUT.Xn Output of the PI of the master axis of the tandem (in rpm) R R R
(V.)[n].A.TFILTOUT.Xn Output of the pre-load filter R R R
(V.)[n].A.PRELOAD.Xn Preload R/W R/W R/W
(V.)[n].A.FTEO.Xn Velocity command for Sercos R R R
(V.)[n].A.TORQUE.Xn Current torque in Sercos R R R
VARIABLES TO BE SET VIA PLC PRG PLC INT
(V.)[n].A.PLCFFGAIN.Xn % of feed-forward programmed from the PLC R R/W R
(V.)[n].A.PLCACFGAIN.Xn % of AC-forward programmed from the PLC R R/W R
(V.)[n].A.PLCPROGAIN.Xn Proportional gain programmed from the PLC R R/W R
To set the Z axis variable to ·99.1· from the PLC:
()=MOV 991 R1
()=CNCWR(R1,A.PLCACFGAIN.Z,M1000)
To set the X axis variable to ·99.12· from the PLC:
()=MOV 9912 R1
()=CNCWR(R1,A.PLCFFGAIN.X,M1000)
VARIABLES FOR ADJUSTING THE POSITION
PRG PLC INT
(V.)[n].A.POSINC.Xn Real position increment of the current sampling period R R R
(V.)[n].A.TPOSINC.Xn Theoretical position increment of the current sampling period R R R
(V.)[n].A.PREVPOSINC.Xn Real position increment of the previous sampling period R R R
FINE ADJUSTMENT VARIABLES
PRG PLC INT
(V.)[n].A.FEED.Xn Real instantaneous feedrate value R R R
(V.)[n].A.TFEED.Xn Theoretical instantaneous feedrate value R R R
(V.)[n].A.ACCEL.Xn Real instantaneous acceleration value R R R
(V.)[n].A.TACCEL.Xn Theoretical instantaneous acceleration value R R R
(V.)[n].A.JERK.Xn Real instantaneous jerk value R R R
(V.)[n].A.TJERK.Xn Theoretical instantaneous jerk value R R R