Siemens SINUMERIK 840D sl Programming Manual page 270

Special motion commands
4.11 Programmable end of motion criteria (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Example 2: Block change criterion: "Braking ramp"
Program code
N40 POS[X]=100
N20 IPOBRKA(X,100)
N30 POS[X]=200
N40 POS[X]=250
N50 POS[X]=0
N60 X10 F100
Further information
System variable for end-of-motion criterion
The effective end-of-motion criterion can be read using the system variable $AA_MOTEND.
References: /LIS2sl/ List Manual, Book 2
Block-change criterion: "Braking ramp" (IPOBRKA)
If, when activating the block change criterion "brake ramp", a value is programmed for the
optional block change instant in time, then this becomes effective for the next positioning
motion and is written into the setting data synchronized to the main run. If no value is
specified for the block change instant in time, then the actual value of the setting data is
effective.
SD43600 $SA_IPOBRAKE_BLOCK_EXCHANGE
IPOBRKA
(
FINEA
Additional block-change criterion: "Tolerance window" (ADISPOSA)
Using
position) can be defined as additional block change criterion. Then, two conditions must be
fulfilled for the block change:
● Block-change criterion: "Braking ramp"
● Block-change criterion: "Tolerance window"
References
For further information about the block change criterion for positioning axes, see:
● Function Manual, Extended Functions; Positioning Axes (P2)
● Programming Manual, Fundamentals; Chapter "Feedrate control".
270
Comment
; Default setting is effective
; Positioning motion from X to position 100
; Block change criterion: Exact stop fine
; Block change criterion: "Braking ramp",
; 100% = start of the braking ramp
; The block is changed as soon as the X axis starts to brake
; X axis no longer brakes at position 200 - but continues to traverse
; to position 250.
; As soon as the axis starts to brake, the block changes
; Axis X brakes and returns to position 0
; The block change takes place at position 0 and "exact stop fine"
; Axis X traverses as path axis to position 10
is deactivated for the corresponding access when an axis end-of-motion criterion
, , ) is next programmed for the axis.
COARSEA IPOENDA
, a tolerance window around the end of block (either as actual or setpoint
ADISPOSA
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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