Control of lower-level axes
To obtain information about the status of lower-level axes that use the MOVIKIT® Gearing or the MOVIKIT® MultiAxisController, no access and therefore no change of access control is necessary.
Simultaneous operation of a single axis via the MOVIKIT® Gearing or the MOVIKIT® MultiAxisController and via the MOVIKIT® Robotics is not possible. If the access authorization (GetAccessControl) of the lower-level axis is activated, but at the same time the robot is enabled, the robot reports an error because it cannot access the single axis.
The exact process data word on which the signals described below are located can be viewed in the "Module configuration" > "Fieldbus interface" configuration menu or in the MOVIKIT® fieldbus monitor.
Proceed as follows to control lower-level axes:
- The lower-level axes have been started up as described in chapter Configuring subordinate nodes.
- To switch from the robot to the lower-level axis, deactivate the enable on the robot and wait until the robot is in a safe state.
- Request the access authorization on the software module of the lower-level axis via "GetAccessControl" and wait for the "ControlActive" status to be confirmed.
- Enable the software module of the lower-level axis and control it as required.
