Rexroth Indramat CLM1.4, Manual

Page: 76 / 274

CLM01.4-LAP-01VRS Writing the User Program
5-35
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
POA – Positioning, Absolute
or
Feed rate in ‰ (001 to 999) of the maximum velocity in the assigned
parameter
Absolute position given in IU (input units)
Operational sign of the position (+/-)
Axis 1 to 4
From its current position, the drive is moved to the programmed absolute
position referenced to the zero point.
Example: 1) current position = -100.00
0000 POA 1 +000200.000 999
The drive unit is moved 300 mm forward to the +200 position.
Example: 2) current position = +400 mm
0011 POA 1 +000200.000 999
The drive unit is moved 200 mm backward to the +200 position.
Poa_bef_AE.WMF
Fig. 5-16: Example of Position, Absolute
This command may be used only if an absolute measurement reference
is present. This is the case when an absolute encoder is used for position
detection or for position detection following a return to zero (homing)
movement (see also "Homing"). Otherwise the error message ‘Not
homed’ is generated.
Example:
0000 POA 1 +00010.005 999
0001 JSR 0100
0002 POA 1 +000020.003 999
0003 JSR 0100
0004 POA 1 +000030.000 500
0005 JSR 0100
The program proceeds to the next instruction following the time period of
one cycle.
POA V600 + V601 V602
POA 1 +123456.789 999