July 2013 6.3 PLC positioning 645
Positioning auxiliary axes:
Axes with automatic reduction (modulo value in MP810.x) are always
moved to the target position in the direction of the shortest traverse, unless
the target position was given as an incremental value.
The axis must be stationary. Any positioning movement must be interrupted
beforehand with Module 9121.
The feed-rate override is not offset.
If the axis was in the "search for reference mark" state before, this state is
canceled. The positioning movement always starts from the current counter
value.
If Modules 9120, 9227 (Start Auxiliary Axis), 9121 (Stop Auxiliary Axis) and
9122 (Pass over Reference in Auxiliary Axis) are called several times for the
same axis during a PLC scan, only the latest command is followed.
The system checks for limit switch overshoot!
Error codes 3 and 4 not possible
Call:
PS B/W/D/K <Target position/Increment>
in [0.0001 mm], ref system
PS B/W/D/K <Feed rate>
in [mm/min]
PS
B/W/D/K
<Acceleration>
in [mm/s2]
0: Value from MP1060 is used
PS B/W/D/K <Jerk>
in [mm/s3]
0: Value from MP1088 is used
PS B/W/D/K <Mode>
NC and auxiliary axes:
Bit 0 = 0: Absolute positioning
Bit 0 = 1: Incremental positioning
Bit 1 = 1, software limit switch active (now also for auxiliary
axes)
Only for NC axes,
to be programmed for PLC axes = 0:
Bit 2 = 1: Rapid traverse override effective
Bit 3 = 1: DCM collision monitoring is deactivated
CM 9227
PL B/W/D <Status>
0: Function performed
1: Invalid axis was programmed
2: Invalid mode, feed rate, acceleration or jerk programmed
3: Axis has not traversed the reference mark
4: Program run, no NC-strobe output
5: Axis is not in a closed loop (Module 9155)
6: Axis is already being positioned
7: Absolute position is outside of modulo range (W1022 = 2)
(error code possible only for auxiliary axes)
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