Rexroth Indramat CLM1.4, Manual

Page: 85 / 274

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Writing the User Program CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
SAC - Set Abs. Position Counter
Absolute position or offset in IU
0 = Absolute zero offset relative to the home position after homing
1 = Set new absolute position relative to the command position
9 = Clear ‘Homed’ entry (only if Parameter Ax00 = 0 x x..x..x)
Axis 1 to 4
The axis must be homed, otherwise the error message ‘Axis not homed’
is generated. The command is executed correctly only when the axis
signals ‘Position reached’ (Parameter Ax27).
Example:
Sac4_elc_AE.WMF
Fig. 5-20: How the SAC command works
The coordinate system is offset by a value of x for the command
SAC 1 0 +xxxxx.xxx. The offset can be cancelled via command
SAC 1 0 +00000.000.
Furthermore, the actual position can be defined as a value using the
command SAC 1 1 +xxxxx.xxx. The coordinate system is thus shifted.
This way, the coordinate system is offset.
The first time this command is used in Application Type Ax00 = 0 x, the
actual axis position is set to the offset value of the SAC command. For
further uses of the SAC command while the drive is homed, the offset is
processed as shown in the figure.
The program proceeds to the next instruction following the time period of
one cycle.
SAC 1 0 +12345.678