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December 2001
Module 9120 Starting a PLC axis
This module starts positioning a PLC axis regardless of other processes in the
control.
Conditions:
n
Status changes through a PLC positioning command are not detected until
the next PLC scan.
n
The axis must be activated in MP10 and identified in MP100 as a PLC axis.
n
Traverse over the software limit switches is not checked.
n
The axis must be stationary before positioning. Interrupt a running
positioning movement with Module 9121.
n
The feed-rate override is disabled. To change the feed rate, use Module
9124.
n
If no reference mark has been traversed, the positioning process builds on
the counter value as it was upon switch-on.
Call:
PS
B/W/D/K <Axis>
0 to 8 correspond to axes 1 to 9
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: Type of target position input
0: Absolute, i.e. relative to the machine datum
1: Incremental
CM
9120
PL
B/W/D
<Error code>
0: No error. Positioning was started.
1: Axis does not exist
2: Not a PLC axis
3: Axis is already being positioned
4: Absolute position is outside of modulo range
5: Programmed axis not in closed loop
6: Feed rate not permitted
Module 9121 Stopping a PLC axis
Stops a running PLC positioning process in an axis.
Condition:
n
Status changes through a PLC positioning command are not detected until
the next PLC scan.
Call:
PS
B/W/D/K <Axis>
0 to 8 correspond to axes 1 to 9
CM
9121
PL
B/W/D
<Error code>
0: Positioning is canceled
1: Axis does not exist
2: Not a PLC axis
3: Axis was already stationary
PLC Axes
6 – 29
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