Rockwell Automation 8520 9/Series CNC Lathe - Manual (Page 408)

Spindles
Chapter 17
17-10
For systems with no spindle configured, simulated spindle feedback is
provided for the primary spindle. This allows all control features that
require spindle feedback, i.e., IPR feedrate, threading, CSS, to simulate the
feedback from a spindle even through the AMPed system configuration
contained no spindle. The default is 4000 count-per-rev device.
Important: On the 9/260 and 9/290 controls, if the auxiliary spindles are
programmed but have not been configured as active through AMP, these
errors are given as decode errors on any blocks that have the G12.2 or
G12.3 code:
“SPINDLE 2 NOT CONFIGURED” and/or
“SPINDLE 3 NOT CONFIGURED”
For each possible spindle configured, the control is equipped to perform a
spindle orient operation. This operation is used to rotate the spindle to a
given angle. Typically this may be used to orient the spindle for
load/unload operations, to position a chuck for automatic chuck wrench
operation, etc. This orient operation is not the same as using a spindle as
an axis for positioning. See virtual C axis, section 17.5. An orient
operation is performed separately from axis motions and cannot be
interpolated with normal axis motions.
There are two types of spindle orients available. They are:
Open-loop orient - The spindle does not use a feedback device for this
type of orient. The final destination of the spindle when performing an
open-loop orient is determined by PAL. Typically there is some form of
hardware switch used to determine the spindle is at the proper position.
When the open-loop orient is performed the spindle is turned at an
AMP-defined RPM and in an AMP-defined direction.
Closed-loop orient - The spindle must be equipped with a feedback
device. The final destination of the spindle when performing a
closed-loop orient may be determined in AMP, or entered in a program
block requesting an orient. When the closed-loop orient is performed,
the spindle is positioned at an AMP-defined RPM.
If the spindle is: the orient will:
turning complete in the same direction as the spindle is currently revolving.
If the spindle is turning faster than the orient speed defined in AMP, it
first slows to that orient speed before performing the orient.
not turning be performed in whichever direction that results in the spindle
reaching the required position by using the shortest angular distance.
17.3
Spindle Orientation
(M19, M19.2, M19.3)