K2: Axis Types, Coordinate Systems, Frames
10.2 Axes
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
699
10.2.7
Path axes
Meaning
Path axes are interpolated together (all the path axes of a channel have a common path interpolator).
All the path axes of one channel have the same acceleration phase, constant travel phase and delay phase.
The feedrate programmed under address
F
(path feedrate) applies to all the path axes programmed in a block,
with the following exceptions:
• An axis has been programmed that has been defined as having no control over the path velocity with
instruction
FGROUP
.
• Axes programmed with instructions
POS
or
POSA
have an individual feedrate setting (axis interpolator).
Application
Path axes are used to machine the workpiece with the programmed contour.
10.2.8
Positioning axes
Significance
Positioning axes are interpolated separately (each positioning axis has its own axis interpolator). Each
positioning axis has its own feedrate and acceleration characteristic. Positioning axes can be programmed in
addition to path axes (even in the same block). Path axis interpolation (path interpolator) is not affected by the
positioning axes. Path axes and the individual positioning axes do not necessarily reach their block end points at
the same time.
Instructions
POS
and
POSA
are used to program positioning axes and define block change criteria:
•
POS
Block change takes place when the path axes and positioning axes have reached their block end points.
•
POSA
Block change takes place when the path axes have reached their end of block position. Positioning axes
continue to traverse beyond block limits to their block end point.
Concurrent positioning axes differ from positioning axes in that they:
• Only receive their block end points from the PLC
• Can be started at any time (not at block limits)
• Do not affect the execution of current part programs.
