HEIDENHAIN MANUALplus 620 Technical Manual page 697

January 2012
Module 9221 Start a PLC positioning movement
The module positions an axis. The target position and feed rate are transferred
in the module call. Limit switch interrogation can be activated in a separate
transfer parameter.
The axis is positioned regardless of any other processes in the control. In
particular, there is no interpolation with other axes.
Note
When calling the module for an NC axis during a strobe, the synchronization
with the advance calculation (strobe with MP_sync = SYNC_CALC) must
be configured for this strobe.
Constraints:
The module must only be called if no program is running, or if an M/G/S/T/
T2/Q strobe is pending. No axis direction key may be pressed in the Manual
operating mode.
For rotary axes with transition to zero, positioning is by the shortest path.
If you wish to change a parameter (e.g. target position, feed rate) of a
positioning command already in progress, you must first abort positioning,
then change the parameter and start again.
A simultaneous PLC positioning movement of several axes is interpolated.
If you start an additional axis (e.g Z) while already positioning another (e.g. X
and Y), the first movement is aborted automatically, and then all the
programmed axes (e.g. X, Y and Z) are positioned together.
Call:
PS B/W/D/K <>Axis>
Index from CfgAxes/axisList
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 – Definition of the target position:
0: Absolute, i.e. relative to the machine datum
1: Incremental
Bit 1 – Software limit switch:
0: Inactive
1: Active
CM 9221
PL B/W/D <>Error code>
0: Positioning is being started
1: Axis is not in a closed loop or is an auxiliary axis
2: Inadmissible values for the feed rate
3: Axis has not traversed the reference mark
4: No M/S/T/Q strobe during running program
5: Programmed axis not in closed loop
6: Positioning already started
6.9 PLC Axes 697