Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 424)

Axis Motion
Chapter 12
12-52
Closed loop orient - The part or wheel must be equipped with a
feedback device. The final destination of the part or wheel when
performing a closed loop orient can be determined in AMP, or entered in
a program block requesting an orient. When the closed loop orient is
performed, the part or wheel is positioned at an AMP defined RPM.
The direction of the orient is as follows:
- if the part or wheel is turning, the orient completes in the same
direction as the part or wheel is currently revolving. If the part or
wheel is turning faster than the orient speed defined in AMP, it first
slows to that orient speed before performing the orient.
- if the part or wheel is not turning, the orient is performed in
whichever direction that results in the part or wheel reaching the
required position using the shortest angular distance.
Refer to the documentation prepared by your system installer to determine
which orient your system is equipped to perform. This manual assumes
that a closed loop type orient is available.
Both open and closed loop part or wheel orients can be requested either by
programming an M19 in a program block, or by requesting one through
PAL. If closed loop orient is requested through PAL, the orient angle is
fixed at the default orient angle preset by your system installer in AMP.
If a closed loop orient is requested by programming an M19, the option
exists to orient the part or wheel to the AMP defined orient position or to a
position programmed with an S parameter in the M19 block. The S
parameter defines an angle at which the part or wheel is positioned relative
to an angle of zero that is fixed for a specific machine (refer to
documentation prepared by your system installer). This S parameter
always programs an absolute angular position. The angle programmed is
not affected by incremental or absolute programming mode (if open loop
orient is being used the value programmed with the S parameter is
ignored).
The M19 code is modal. However, each time you want to orient to a
specific angle, you must program an M19 with an S--word. Programming
an S--word alone replaces the current modal part or wheel speed used later
when the M19 mode is canceled. Cancel the M19 part or wheel orient by
programming one of the other part or wheel mode M codes:
M03 - part or wheel rotation clockwise
M04 - part or wheel rotation counter clockwise
M05 - part or wheel stop