ECODRIVE03-FL*-04VRS Writing the User Program 6-51
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
PSI - Positioning, Incremental with In-Position
or
Feedrate in ‰ (001 to 999) of the maximum velocity given in the
parameter (Parameter A106)
Feed length in IU
Direction of movement (+ = forward / - = back)
Axis 1
This command corresponds to the 'POI' command. However, the program
proceeds to the next instruction only after the positioning procedure has
been completed (position acknowledgement). This procedure is
completed as soon as the drive unit has traversed the programmed feed
length within the ‘Switching threshold’ (Parameter A111). Adjustment for
the highest accuracy takes place even after the program has gone on to
the next instruction.
The size of the ‘Positioning window’ is stipulated in parameter A111
(Switching threshold).
Example:
0000 PSI 1 +000100.000 999
0001 WAI 00.500
0002 AEA Q0.00.6 1
0003 JSR 0666
0004 JMP 0000
First, Axis 1 is started up. Once the final position has been reached and
an additional waiting time of 0.5 seconds has elapsed, output Q0.00.6 is
activated.
PSI 1 + V600 V601
PSI 1 +123456.789 999
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