Lenze ETC Motion Control - Manual (Page 161)

CNC programming
G functions
G functions individual descriptions
3
3.2
3.2.2
l
161 EDSTCXN EN 2.0
3.2.2.74 G209 Set the geometry counter
G209 is used to initialize the geometry counter to a user−specific value.
G209 E
E New value of the geometry counter (default = 0).
The geometry counter is needed in the DIN display of the ETC−MMI for the
synchronization of the progress display with the program processing in the
NC control. It is set by the control to 0 at the start of the program and
increased by 1 with every new geometry block.
In some cases, it might be useful to manipulate this geometry counter from
the NC program. With G209, the geometry counter of the current NC
channel can be set to a defined value.
The current value of the geometry counter is shown in the parameter field,
namely in P565 for channel 0 and in P597 for channel 1.
P2000=P565 flag current value of the geometry counter
... Traverse blocks, which should not also be counted
G209 E=P2000 restore old value
3.2.2.75 G211 Transformation for two−axle articulated robot kinematics
G211 is used for switching on or off a transformation for a simple two−axle
articulated robot kinematics (A,B) with support for an optional third axis (C)
for the tool orientation.
G211 E I J
E For switching the optional third axis "on"
0: without third axis
1: with third axis for tool orientation
I Lever length L1, default value from P760 (MK_TECHNOLOGIEDATEN1[0])
J Lever length L2, default value from P761 (MK_TECHNOLOGIEDATEN1[1])
Syntax
Meaning of the addresses
Explanation
Example
Syntax
Meaning of the addresses