Siemens SINUMERIK 840D Function Manual page 202

P2: Positioning axes
6.5 Programming
Note
Within a part program, an axis can be a path axis or a positioning axis. Within a movement
block, however, each axis must be assigned a unique axis type.
Programming in synchronized action
Axes can be positioned completely asynchronous to the part program from synchronized
actions.
Example:
Program code
ID=1 WHENEVER $R==1 DO
POS[Q4]=10 FA[Q3]=990
Further information
Function Manual Synchronized Actions
Block change
The block change can be adjusted for positioning axis types 1 and 2 with:
FINEA=<axis name> or
FINEA[<axis name>]
COARSEA=<axis name> or
COARSEA[<axis name>]
IPOENDA=<axis name> or
IPOENDA[<axis name>]
In Type 3 positioning axis, the block change within the brake ramp of the single interpolation
can be set with:
IPOBRKA=<axis name> or
IPOBRKA(<axis name>[,<instant in time*>])
* Instant in time of the block change, referred to the braking ramp as a %
Absolute dimension / incremental dimension
The programming of the end point coordinates takes place in absolute dimension (G90) or in
incremental dimension (G91).
Example
G90 POS[Q1]=200
G91 POS[Q1]=AC(200)
G91 POS[Q1]=200
G90 POS[Q1]=IC(200)
202
Comment
;The axial feedrate is specified permanently.
Meaning
Programming the end point coordinates:
In absolute dimension
In absolute dimension
In incremental dimension
In incremental dimension
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA