Siemens SINUMERIK 840D Function Manual page 179

Writing ACC and reading $AA_ACC in a part program:
ACC[X]=50
RO=$AA_ACC[X]
IF (RO <> $MA_MAX_AX_ACCEL[X] * 0.5)
ENDIF
Writing ACC and reading $AA_ACC in a synchronized action:
WHEN TRUE DO ACC[X]=25 R0=$AA_ACC[X]
G4 F1
IF (RO <> $MA_ MAX_AX_ACCEL[X] * 0.25)
ENDIF
end-of-motion criterion for single axes
Similar to the block change criterion for path interpolation (G601, G602, G603) the end-of-
motion criterion for traversing motion of individual axes can be programmed in part programs /
synchronized actions:
Program command
FINEA[<axis>]
COARSEA[<axis>]
IPOENDA[<axis>]
The most recently programmed value is kept after the end of program or NC reset.
The effective end-of-motion criterion can be read using the axis-specific system variable
$AA_MOTEND.
Note
Depending on whether the system variable $AA_MOTEND is read in the part program or
synchronized action, it contains the value for the NC axes or the main run axes.
Example:
Part program:
N80 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 COARSEA[X]
Synchronized action:
N100 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOEN-
DA[X]
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
SETAL(61000)
SETAL(61001)
; writing
; reading
; checking
; writing and reading
; checking
End-of-motion criterion
"Exact stop fine"
"Exact stop coarse"
"Interpolator stop" (IPO stop)
V1: Feedrates
5.4 Feedrate control
179