Siemens SINUMERIK 840Di Function Manual page 605

2.6.8.2 Force Control
System variables $AA_FOC, $VA_FOC
The meaning of system variable $AA_FOC is redefined for SERUPRO as follows:
• $AA_FOC represents the current status of program simulation.
• $VA_FOC always describes the real machine status.
The FOCREPOS function behaves analogously to the FXSREPOS function. The
functionality of FOC is repeated automatically with REPOS and is designated FOCREPOS.
Every axis is taken into account and the torque last programmed before the search target is
applied.
Boundary condition
A continuously changing torque characteristic cannot be implemented with FOC-REPOS.
Example:
A program moves axis X from 0 to 100 and activates FOC every 20 increments for 10
increments at a time. This torque characteristic is usually generated with nonmodal FOC and
cannot, therefore, be traced by FOCREPOS. FOCREPOS will traverse axis X from 0 to 100,
with or without FOC, according to the last programming.
Note
For further information about the SERUPRO block search in relation to FXS or
FOC, see
References: /FB/, F1, "Traversing to Fixed Stop" General Functions
2.6.8.3 Synchronous spindle
The synchronous spindle can be simulated.
The synchronous spindle operation with main spindle and any number of following spindles
can be simulated in all existing channels with SERUPRO.
For further information about synchronous spindles, see:
References: /FB2/, S3, "Synchronous Spindles"
Mode Group, Channel, Program Operation, Reset Response (K1)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Detailed Description
2.6 Block search Type 5 SERUPRO
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