3/30/2022 1:32 PM | |
Joined: 11/4/2011 Last visit: 2/19/2025 Posts: 257 Rating:
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Hi there, regarding the Done-bit in the TO's StatusWord see here: https://support.industry.siemens.com/cs/de/en/view/109781849/126754107147 Long story short: your understanding of the bit is correct. About the MC-instructions Done-bit: I'm not that sure about when exactly this gets set then. The meaning of this bit is basically the same, so technically I guess it gets set at the same time. But of course technically "same time" does not exist (as long as you don't call the instruction in OB MC-PostServo, which I would not recommend). So from a practical point of view this should get set in the next call of the OB the instruction is in. But again: haven't looked at the timing of ít this closely yet. if you really want ot be sure, then check the instruction's done bit, as well as the one in the statusword. Regarding a status bit for end of setpoint interpolation: I don't know any bit for this. For positioning commands you could evaluate this yourself, e.g. based on StatusPositioning.Distance (https://support.industry.siemens.com/cs/de/en/view/109781849/120403182219). This is setpoint based, so you basically just have to compare to zero, best within MC-PostServo to ensure consistent and up-to-date data. But then you'd still need some solution for non-positioning commands, and for this I'm missing a good idea at the moment (simple compare of <TO>.Velocity to zero is not sufficient, just think of direction changes which will shortly result in zero velocity). Perhaps anyone else has an idea... Regards, |
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