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The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
$ASYNC_EX_AX_DECOUPLE can only be set in the brake control mode “Individual
external axis brake control” (bit 3 of $BRK_MODE is set).
Invalid assignments will be rejected and a corresponding error message will be generated.
Bit no.
1
0
Meaning
E2
E1
1= axis decoupled
0= axis coupled
Example
All external axes are coupled:
ASYNC_EX_AX_DECOUPLE=’B0000’
2.2.4.1 Interaction with system variables
$ASYNC_EX_AX_DECOUPLE changes or influences other KRL system variables:
$ASYNC_AXIS:
If a bit is set in $ASYNC_EX_AX_DECOUPLE, the corresponding bit is also set in
$ASYNC_AXIS, i.e. the axis is switched to asynchronous mode. The status message for the
asynchronous axis is not displayed.
If a bit is deleted in $ASYNC_EX_AX_DECOUPLE, $ASYNC_AXIS remains unchanged, i.e.
the axis remains asynchronous. The status message for the asynchronous axis is displayed.
An attempt to switch a decoupled axis to synchronous mode by means of a direct value
assignment to $ASYNC_AXIS will be rejected with an error message.
$AXIS_ACT:
In the case of a decoupled axis, it is possible to assign a value to the corresponding entry
in the variable $AXIS_ACT which is otherwise write--protected. This allows the axis to be
mastered in the KRL program.
$AXIS_JUS:
If a bit is set in $ASYNC_EX_AX_DECOUPLE, the mastering of the corresponding axis is
deleted and the corresponding entry in $AXIS_JUS is set to FALSE.
