640 HEIDENHAIN Technical Manual iTNC 530 HSCI
6.3 PLC positioning
You can position the axes directly through the PLC. For PLC positioning of the
main spindle, see page 944.
Prerequisites The following constraints apply to a PLC positioning command:
It is possible in the Manual and Handwheel modes only while there is no
positioning movement.
Possible in the other modes of operation only with an M/S/T/Q strobe or if
no part program is started.
If the NC is positioning an axis, you can position additional axes only if they
have already been defined as PLC axes. “PLC axes" on page 630.
Programming You start a PLC positioning movement with Module 9221 or 9227, interrogate
the status with Module 9222, and stop it ahead of time with Module 9224.
After Module 9221 or 9227 has been called, markers M4120 to M4128 are set.
If you reset these markers directly or program Module 9224 accordingly,
positioning is canceled at the desired point in time. This is necessary if you
would like to change a parameter, such as the feed rate, during positioning.
The following conditions apply to a PLC positioning command:
If more than one axis is moved simultaneously, the axes will be interpolated.
If you start another axis during a PLC positioning movement,
• the first positioning command will be canceled and
• the resulting positioning movement will be executed in all axes.
Tool compensation is not included. Before a PLC positioning command you
must end any tool compensation.
A PLC positioning movement is not displayed in the test graphics.
PLC positioning is done without nominal position value filter.
The NC cancels a PLC positioning movement under the following conditions:
If in the Manual or Handwheel modes there is an NC STOP
If in the automatic operating modes there is an NC STOP and "internal stop"
If there is an emergency stop
An error message that results in a STOP
A reset of Markers M4120 to M4128
Stopping of the positioning with Module 9224 (all axes)
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