Traversing Positioning Axes (Pos, Posa, Posp, Fa, Waitp, Waitmc) - Siemens SINUMERIK 840DE Programming Manual

7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP,
WAITMC)
Function
Positioning axes are traversed independently of the path axes at a separate, axis-specific
feedrate. There are no interpolation commands. With the POS/POSA/POSP commands, the
positioning axes are traversed and the sequence of motions coordinated at the same time.
The following are typical examples of positioning axes: pallet feed equipment, gauging
stations or similar.
WAITP enables you to identify a position in the NC program where the program is to wait
until an axis programmed with POSA in a previous NC block has reached its end position.
With WAITMO, the next NC block is loaded immediately when the wait marker is received.
Programming
POS[axis]=...
Or
POSA [axis]=...
Or
POSP [axis]=(...,...,...)
Or
FA [axis]=...
Or
WAITP (axis)=... (programming must be written in a separate NC block)
Or
WAITMC(marker)=...
Parameters
POS [axis]=
POSA [axis]=
POSP [axis]=(,,)
FA[axis]=
WAITP (axis)
WAITMC (marker)
Axis
Marker, ,
Fundamentals
Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1

7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)

Position the axis; the next NC block is not enabled until
the position has been reached
Position the axis; the next NC block is enabled, even if
the position has not been reached
Approach end position in sections. The first value
indicates the end position; the second the length of the
section. Approaching the end position is defined in the
third value with 0 or 1
Feedrate for the positioning axis, up to 5 per NC block
Waiting for end of travel of axis. With WAITP, an axis can
be made available for traversing as a reciprocating axis or
as a concurrent positioning axis (by PLC).
During the braking ramp, WAIITMC loads the next NC block
immediately when the WAIT marker is received.
Channel axes or geometry axes
An axis is only decelerated if the marker has not yet been
reached or if a different search criterion prevents the
block change.
Feedrate Control and Spindle Motion
7-9