You can select and control the manual mode from the debug screen, but also via an application program, from a panel or an operator or supervisor dialog desk.
In this case, the dialog is programmed in Ladder, Instruction List or Structured Text language, using basic commands (movements, reference points, etc.)
This is done by assigning the value 2 to the word MODE_SEL (%QWr.m.c.0).
The switch from the mode in use to manual mode forces the moving part to stop if a movement is in progress. Manual mode is effective as soon as the moving part has stopped.
When the command to switch into manual mode has been recognized, the IN_MANU bit (%Ir.m.c.22) bit is set to 1.
Executing manual commands
The basic commands associated with manual mode and accessible via command bits %Qr.m.c.j are as follows:
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Visual movement in the + direction JOG_P (%Qr.m.c.1).
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Visual movement in the - direction JOG_M (%Qr.m.c.2).
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Incremental movement in the + direction INC_P (%Qr.m.c.3).
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Incremental movement in – direction INC_M (%Qr.m.c.4).
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Manual reference point SET_RP (%Qr.m.c.5).
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Forced reference point RP_HERE (%Qr.m.c.6).
These commands are equivalent to those accessible from the debug screen of the TSX CFY module.
Manual commands:
General conditions for executing commands in manual mode
The following conditions must be fulfilled in order to execute commands in manual mode:
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Target position within in the software limits.
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Axis without blocking fault (AX_OK bit = 1: %Ir.m.c.3).
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No command being executed (DONE bit = 1: %Ir.m.c.1).
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STOP command (%Qr.m.c.8) inactive and confirmation bit of the translator relay ENABLE (%Qxy.i.10) set to 1.
NOTE: Except, in the case of a software limit fault, for commands JOG_P and JOG_M and after fault acknowledgement.
A movement may be stopped by:
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The appearance of the STOP command (%Qr.m.c.8) or the setting to 0 of the ENABLE bit (%Qr.m.c.10) or the STOP input.
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The appearance of a blocking fault.
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Changing the operating mode.
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Receiving a configuration.
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The switch to plus (or minus) end of run limit during a movement in the plus (or minus) direction.
