Siemens SINUMERIK 840D sl Function Manual page 774

Positioning Axes (P2)
11.5 Programming
Programming in synchronized action
Axes can be positioned completely asynchronously to the part program from synchronized
actions.
Example:
Program code
ID=1 WHENEVER $R==1 DO POS[Q4]=10 FA[Q3]=990
References:
Programming Manual, Job Planning; Chapter "Motion Synchronized Actions":
Block change
The block change can be adjusted for positioning axis types 1 and 2 with:
FINEA=<axis identifier> or
FINEA[<axis identifier>]
COARSEA=<Axis identifier> or
COARSEA[<axis identifier>]
IPOENDA=<axis identifier> or
IPOENDA[<axis identifier>]
In Type 3 positioning axis, the block change within the brake ramp of the single interpolation
can be set with:
IPOBRKA=<axis identifier> or
IPOBRKA(<axis identifier>[,<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)
Reprogram type 2 positioning axes
With type 2 positioning axes (motion across block limits), you need to be able to detect in the
part program whether the positioning axis has reached its end position. Only then is it
possible to reprogram this positioning axis (otherwise an alarm is issued).
774
Comment
; The axial feedrate is
Description
Programming the end point coordinates
In absolute dimension
In absolute dimension
In incremental dimension
In incremental dimension
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
specified permanently.
Extended Functions