Siemens SINUMERIK 840D sl Function Manual page 765

Motions and interpolations
Each channel has one path interpolator and at least one axis interpolator with the following
interpolation functions:
● With a path interpolator:
● With an axis interpolator:
● End-of-motion criterion:
● Path axes with rapid traverse movement:
● Autonomous single-axis operations:
● Control by PLC:
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Linear interpolation (G1), circular interpolation (G2/G3), spline interpolation, etc.
Each channel has an axis interpolator. If a positioning axis is programmed, an axis
interpolator starts in the control (with linear interpolation G1).
The programmed end position of a positioning axis has been reached when the end-of-
motion criterion FINEA, COARSA or IPOENDA is fulfilled.
Path axes can be traversed in linear or non-linear interpolation mode with rapid traverse
movement (G0).
Single PLC axes, command axes started via static synchronized actions or asynchronous
reciprocating axes can be interpolated independently of the NCK.
An axis/spindle interpolated by the main run then reacts independently of the NC
program. The channel response triggered by the program run is decoupled to transfer the
control of a certain axis/spindle to the PLC.
All channel-specific signals normally act to the same extent on path and positioning axes.
Positioning axes can be controlled via additional, axis-specific signals.
PLC axes are traversed by the PLC via special function blocks in the basic program; their
movements can be asynchronous to all other axes. The travel motions are executed
separate from the path and synchronized actions.
P2: Positioning axes
11.1 Brief description
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