Rexroth Indramat CLM1.4, Руководство пользователя

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CLM01.4-LAP-01VRS Writing the User Program
5-37
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
The program proceeds to the next instruction when the drive unit has
reached po199.80 to +200.20.
Note: Adjustment for the highest accuracy naturally takes place even
after the program has gone on to the next instruction. The
adjustment accuracy is therefore not dependent on the size of
the position window.
PSI – Positioning Incremental with In-Position
or
Feed rate in ‰ (001 to 999) of the maximum velocity in the assigned
parameter
Feed length in IU (input units)
Direction of movement (+ = forward / - = back)
Axis 1 to 4
This command corresponds to the 'POI' command. However, the program
proceeds to the next instruction only after the positioning procedure has
been completed (position acknowledgement). This procedure is
completed as soon as the drive unit has traversed the programmed feed
length within the ‘Position Window’ (Ax27). Adjustment for the highest
accuracy takes place even after the program has gone on to the next
instruction.
The size of the ‘Position Window’ is stipulated in Parameter Ax27
(Switching Threshold).
Example:
0000 PSI 1 +000100.000 999
0001 WAI 00.500
0002 AEA Q1.00.6 1
0003 JSR 0666
0004 JMP 0000
First, Axis 1 is started up. Once the final position has been reached and
an additional waiting time of 0.5 seconds has elapsed, output Q1.00.6 is
activated.
PSI V600 + V600 V601
PSI 1 +123456.789 999