Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 457)

Axis Motion
Chapter 12
12-85
Axes in the dual group can only be parked or unparked when the control is in
cycle stop and end-of-block state. Also the control cannot be in the process
of completing any jog request or PAL axis mover request. If an attempt is
made to park/unpark an axis, and if any one of the above requirements is not
true, the control ignores the request to park/unpark the axis.
ATTENTION: Care must be taken when an axis is unparked.
When an axis is unparked, any incremental positioning requests
made to the dual axis group are referenced from the current
location of all axes in the dual group. This includes any manual
jogging or any incremental part program moves. When an axis
is unparked, we recommend the next command made to the dual
axis group be an absolute command to re-align the axes in the
dual group to the same position.
Parking an axis in a dual group is performed through PAL. Refer to the
documentation prepared by your system installer for details on how axes
are parked.
Important: Some systems have special parking requirements when
homing axes in a dual group. Refer to the next section for details on
homing dual axes.
There are two different methods to home axes in a dual axis group. Your
system installer determines through PAL which method is available to you.
The two methods are:
home each axis in the dual group individually
home all axes in the dual group simultaneously
Both of these homing methods can be available for automatic (G28) as
well as manual homing operations.
Your system installer can also define independent speeds and home
positions for each axis in a dual group through AMP. This applies to both
homing methods. Refer to the documentation prepared by your system
installer for details on these speeds and locations.
12.13.2
Homing a Dual Axis