Table of contents Table of contents 1 Foreword.................................................................................................................................................... 5 1.1 Notes on the documentation ............................................................................................................. 5 1.2 For your safety .................................................................................................................................. 6 1.3 Notes on information security............................................................................................................
7 2 Overview .................................................................................................................................................... 8 3 Safety functions ...................................................................................................................................... 10 4 TwinCAT NC Axes................................................................................................................................... 12 4.1 Axis control loop..............................................................................................................................
13 4.2 High/low speed axes ....................................................................................................................... 14 4.3 Stepper motor axes......................................................................................................................... 21 4.4 "Low Cost" stepper motor axes with digital control (24V / 2A) ........................................................ 26 5 TwinCAT NC Axis components..............................................................................................................
31 5.1 Encoder........................................................................................................................................... 31 5.2 Drive................................................................................................................................................ 34 5.3 Controller......................................................................................................................................... 36 5.4 Set value generators .......................................................................................................................
40 5.5 Input/Output .................................................................................................................................... 41 5.6 Process image of an NC axis.......................................................................................................... 43 5.7 Cyclic NC/PLC interfaces................................................................................................................ 46 5.7.1 NC->PLC axis interface (128 bytes) ................................................................................ 46 5.7.2 Description of StateDWord...............................................................................................
51 5.7.3 TYPE PLCTONC_AXLESTRUCT.................................................................................... 53 5.7.4 Discrete high/low speed axis (two speed)........................................................................ 54 5.7.5 Drive interface for high/low speed axes NC->IO (12 bytes)............................................. 55 5.7.6 "Low Cost" stepper motor axis with digital control (stepper)............................................ 55 6 Axis commissioning ...............................................................................................................................
57 6.1 General ........................................................................................................................................... 57 6.2 Encoders and actual values ............................................................................................................ 59 6.3 Drive and voltage output ................................................................................................................. 61 6.4 Position control and reduction of the following error .......................................................................
62 6.5 Axis parameters, axis monitoring and axis calibration .................................................................... 64 7 Samples ................................................................................................................................................... 67 Numerical Control (NC) Basics 3 Version: 1.2