Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS - Page 122

6-58 Writing the User Program ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Axis is not homed:
• Modes 0 and 1:
The axis cannot be homed using the SAC command. Beforehand, the
axis must be homed using the HOM command.
The error message "F- 03 05 - n. referenced" is issued.
See also Section 8, Functions/Homing.
• Mode 9 :
No function. The program proceeds to the next instruction.
Axis is homed:
Parameters "A103, Negative travel limit" and "A104, Positive travel
limit" are valid. They remain in the initial coordinate system.
• Mode 0 :
The target position is offset by the value in the SAC command.
(referenced to the initial coordinate system)
• Mode 1 :
The target position is set to the value found in the SAC command.
• Mode 9 :
No function. The program proceeds to the next instruction.
Sac_FLx1_AE.WMF
Fig. 6-27: How the SAC command works (linear)
Motion Type = 1
(linear)