ACU-RITE MILLPWR G2, Technical Manual

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282 ACU-RITE Technical Manual MILLPWR
G2
Module 9221 Start PLC positioning movement
The module positions an axis. The target position and feed rate are transferred
in the module call. Limit switch interrogation can be activated in a separate
transfer parameter.
The axis is positioned regardless of any other processes in the control. In par-
ticular, there is no interpolation with other axes.
Constraints:

The module may only be called if no NC program is running, or if there is an
M/G/S/T/T2/Q strobe. No axis direction key may be pressed in the Manual
operating mode.

For rotary axes with transition to zero, positioning is by the shortest path.

If you wish to change a parameter (e.g. target position, feed rate) of a posi-
tioning command already in progress, you must first abort positioning, then
change the parameter and start again.

A simultaneous PLC positioning movement of several axes is interpolated.
If you start an additional axis while already positioning another, the first
movement is aborted, and then all the programmed axes (e.g. X, Y and Z)
are positioned together.
Call:
ps
B/W/D/k <Axis>
Index from MP_CfgAxes/axisList
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 switch:
0: Inactive
1: Active
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: Illegal values for the feed rate
3: Axis has not traversed the reference mark
4: No M/S/T/Q strobe during running program
5: Programmed axis not in closed loop
6: Positioning already started.