Poa - Positioning, Absolute - Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

6-48
Writing the User Program

POA - Positioning, Absolute

POA 1 + V600
POA 1 +123456.789
V601 or
999
Feedrate in ‰ (001 to 999) of the maximum velocity given in the
parameter (Parameter A106)
Absolute position given in IUs
Operational sign of the position (+/-)
Axis 1
From its current position, the drive is moved to the programmed absolute
position referenced to the zero point.
Example: 1) current position = -100.00
0000 POA 1 +000200.000 999
The drive unit is moved 300 mm forward to the +200 position.
Example: 2) current position = +400 mm
0011 POA 1 +000200.000 999
The drive unit is moved 200 mm backward to the +200 position.
Fig. 6-23: Example of Position, Absolute
This command may be used only if an absolute measurement reference
is present. This is the case when an absolute multi-turn encoder is used
for position detection or for position detection following a return to zero
(homing), (see also Section 8.3, Homing). Otherwise, the error message
"F- 03 05 - n. referenced" is issued. For the application type "rotary" the
absolute relationship between Parameter A100 and the SAC command
can be established.
Example:
0000 POA 1 +00010.005 999
0001 JSR 0100
0002 POA 1 +000020.003 999
0003 JSR 0100
0004 POA 1 +000030.000 500
0005 JSR 0100
The program proceeds to the next instruction following the time period of
one cycle.
ECODRIVE03-FL*-04VRS
Poa_bef_AE.WMF
DOK-ECODR3-FL*-04VRS**-FK01-EN-P