Rexroth Indramat CLM1.4, Manual

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Writing the User Program CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
POI – Positioning, Incremental
or
Feed rate in ‰ (001 to 999) of the maximum velocity given in the
parameter (Parameter Ax06)
Feed length in IU (input units)
Direction of movement (+ = forward / - = back)
Axis 1 to 4
The position setpoint is incremented or decremented by the amount of the
programmed value.
This feed length is adjusted to account for any remaining travel distance.
Example: The drive unit traverses the distance: -100 +200 = +100
0000 POI 1 -000100.000 999
0001 PSI 1 +000200.000 999
0002 JSR 0555
0003 JMP 0000
The program proceeds to the next instruction following the time period of
one cycle.
PSA – Positioning Absolute with In-Position
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
This command corresponds to the 'POA' command. However, the
program proceeds to the next instruction only if the programmed absolute
position has been reached.
The drive unit is considered to have reached the correct position as soon
as it reaches the ‘Position window’ (see Parameter Ax27 ‘Switching
Threshold’) for the programmed position.
Example:
+ 100,00 = current position
0,20 = Switching Threshold, Parameter Ax27
± 0,20 = Position Window
0000 PSA 1 +000200.000 999
POI V600 + V601 V602
POI 1 +123456.789 999
PSA V600 + V601 V602
PSA 1 +123456.789 999