Siemens SINUMERIK 840D sl Function Manual page 816

Positioning Axes (P2)
Block change
Advantages of the percent setting
Setting SD43600 in percent offers the following advantages:
● The block change condition is not dependent on a position and is therefore dependent on
● Maximum override will result in the greatest smoothing deviation.
● A smaller override will reduce the deviation.
The braking ramp block change condition can be queried like the previous axial end-of-
motion criteria with$AA_MOTEND[axis] = 4
Braking ramp with tolerance window
Additional block change condition in braking ramp
An additional block change condition tolerance window can be selected as well as the
existing block change condition in the braking ramp. Release will only occur when the axis
● as before has reached the specified % value of its braking ramp and
● its current actual or set position is no further than an adjustable tolerance from the end of
The latest the axis is available is when the interpolator reaches the end position. The
tolerance window is modal.
The following applies to the braking ramp with tolerance window block change condition:
The setpoint position is signaled with $AA_MOTEND[axis] = 5
The actual position is signaled with $AA_MOTEND[axis] = 6
Supplementary conditions
Block change and alteration of axis status
A premature block change is not possible:
● during oscillation with partial infeed
● during handwheel operation
The axis for which a block change occurred within the braking ramp can only be
programmed in the following block in the same axis state.
When the axis state changes, e.g. to POS from SPOS, the last programmed end-of-motion
criterion FINEA, COARSEA, IPOENDA applies.
This also applies:
● if a positioning axis is changed to a path axis or
● if the program is waiting specifically for the end of the positioning movement
● if a velocity override is activated or deactivated.
816
the override set.
the axis in the block.
The block-specific oscillation motion must remain active until the axis with partial infeed
has reached its end position.
The last set end-of-motion criterion applies.
(WAITP, M30, technology cycle end, preprocessing stop).
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Extended Functions