Siemens Sinumerik 840D sl Programming Manual page 694

Additional functions
14.4 Wait for valid axis position (WAITENC)
Example
WAITENC is e.g. used in an event-controlled user program, .../_N_CMA_DIR/
_N_PROG_EVENT_SPF, as shown in the following application example.
Application example:Tool retraction after POWER OFF with orientation transformation
Machining with tool orientation was interrupted due to a power failure.
When powering up again, the event-controlled user program .../_N_CMA_DIR/
_N_PROG_EVENT_SPF is called.
In the event-controlled user program, the system waits for synchronized or restored axis
positions using WAITENC; in order to then be able to calculate a frame, which aligns the Work
in the tool direction.
Program code
...
IF $P_PROG_EVENT == 4
IF $P_TRAFO <> 0
WAITENC
TOROTZ
ENDIF
M17
ENDIF
...
The tool can then be retracted in JOG mode by means of a retraction movement towards the
tool axis.
694
Comment
; Power-up
; Transformation has been selected.
; Wait for valid axis positions of the orientation axes.
; Rotate the Z axis of the Work towards the tool axis.
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Job planning