Siemens SINUMERIK 840D sl Function Manual page 648

Detailed description
2.6 Block search Type 5 SERUPRO
Axis replacement
Problem: A program moves an axis and gives up control before the target block with
WAITP(X). X is thus not subject to REPOS and the axis is not taken into account in
SERUPRO approach.
Via the machine data MD11470 $MN_REPOS_MODE_MASK, the following behavior can be
achieved for SERUPRO-REPOS:
The neutral axes are moved as "command axes" in the SERUPRO-REPOS. The axis
interpolates without a path context even it was last programmed as a path axis. In this
scenario, the velocity results from MD32060 $MA_POS_AX_VELO. After SERUPRO
approach, this axis is again neutral.
Neutral axes that are however not allowed to be repositioned must receive the axial VDI
signal "REPOSDELAY". This deletes the REPOS movement.
Example:
After SERUPRO, one axis is deliberately moved in the synchronized action via technology
cycles. The command axes are always moved in the approach block, never in the target
block. The target block can only be changed if all command axes have been moved to the
end.
Caution
The PLC-controlled axis is not repositioned!
Axes enabled by RELEASE(X) before the target block are not repositioned.
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Basic logic functions: Mode group, channel, program operation, reset response (K1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0