Psa - Positioning, Absolute With In-Position - Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

6-50
Writing the User Program

PSA - Positioning, Absolute with In-Position

PSA 1 + V600
PSA 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
This command corresponds to the 'POA' command. However, the
program proceeds to the next instruction only if the programmed absolute
position has been reached.
The drive unit is considered to have reached the correct position as soon
as it reaches the 'Position window' (see Parameter A111 'Switching
threshold') for the programmed position.
Example:
+ 100,00
0,20
± 0,20
0000 PSA 1 +000200.000 999
The program proceeds to the next instruction when the drive unit has
reached position +199.80 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.
ECODRIVE03-FL*-04VRS
= current position
= switching threshold, Parameter A111
= Position Window
DOK-ECODR3-FL*-04VRS**-FK01-EN-P