Siemens Sinumerik 840D sl Programming Manual page 106

Feed control
8.2 Traverse positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)
FA[<axis>]=<value>
WAITP(<axis>) ; Programming in a separate NC block.
WAITMC(<wait marker>)
Meaning
POS/POSA:
POSP:
FA:
WAITP:
WAITMC:
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Move positioning axis to specified position
POS and POSA have the same functionality but differ in their block change behavior:
● POS delays the enabling of the NC block until the position has been reached.
● POSA enables the NC block even if the position has not been reached.
Name of the axis to be traversed (channel or geometry axis
<axis>:
identifier)
Axis position to be approached
<position>:
Type:
Move positioning axis to specified end position in sections
<end position>:
:
<partial length>
<mode>:
Note:
POSP is used specifically to program oscillating motion.
References:
Programming Manual, Job Planning; Section "Oscillation"
Feedrate for the specified positioning axis
Name of the axis to be traversed (channel or geometry axis identifier)
<axis>:
Feedrate
<value>:
Unit:
Note:
Up to five FA values can be programmed for each NC block.
Wait for a positioning axis to be traversed
The subsequent blocks are not processed until the specified positioning axis pro‐
grammed in a previous NC block with POSA has reached its end position (with
exact stop fine).
Name of the axis (channel or geometry axis identifier) for which
<axis>:
the WAITP command is to be applied
Note:
With WAITP, an axis can be made available as an oscillating axis or for traversing
as a concurrent positioning axis (via PLC).
Wait for the specified wait marker to be received
When the wait marker is received, the next NC block is loaded immediately.
Number of the wait marker
<wait marker>:
REAL
Axis end position to be approached
Length of a section
Approach mode
= 0: For the last two sections, the path remaining until
the end position is split into two residual sections
of equal size (preset).
= 1: The partial length is adjusted so that the total of
all calculated partial lengths corresponds exactly
to the path up to the end position.
mm/min or inch/min or degrees/min
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2
Fundamentals