July 2013 6.3 PLC positioning 641
Module 9221 Start a PLC positioning movement
Starts a PLC positioning movement in one axis.
With module 9221, you can deactivate collision monitoring for a specific PLC
positioning movement. This means that it is also possible to position an axis
when DCM is active and the reference marks have not yet been traversed in
all axes.
A PLC positioning command can only be executed if collision monitoring is
deactivated for all axes involved in the positioning movement. The
deactivation of collision monitoring for the PLC positioning movement does
not affect the status information provided by Module 9064.
Call:
0 to 17 represent axes 1 to 18
PS B/W/D/K <Target position>
Input unit: 0.0001 mm
PS B/W/D/K <Feed rate>
Input unit: mm/min
PS B/W/D/K <Mode>
Bit 0 – Definition of the target position
0: Absolute, i.e. relative to the machine datum
1: Incremental
Bit 1 – Software limit switches
0: Inactive
1: Active
Bit 2 – Reserved
Bit 3 – PLC positioning with collision monitoring deactivated
CM 9221
PL B/W/D <Error code>
0: Positioning is being started
1: Axis is not in a closed loop or is an auxiliary axis
2: Inadmissible values for the feed rate
3: Axis has not traversed the reference mark
4: No M/S/T/Q strobe during started part program
5: Programmed axis not in closed loop
6: PLC positioning already started
Error code:
Marker Value Meaning
M4203 0 No error
1 Axis does not exist or status interrogation faulty
W1022 2 Positioning will be started; open-loop axis programmed
or impermissible values programmed for the feed rate
9 PLC positioning already started
21 No M/S/T/Q strobe during started NC program
33 Axis has not traversed the reference mark
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