Siemens Sinumerik 840D sl Programming Manual page 286

Special Motion Commands
4.11 Programmed end-of-motion criterion (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
<mode>:
<window size>:
Examples
Example 1: End-of-motion criterion: "Interpolator stop"
Program code
; traverse positioning axis X to 100, velocity 200 m/min, acceleration 90%,
; end-of-motion criterion: Interpolator stop
N110 G01 POS[X]=100 FA[X]=200 ACC[X]=90 IPOENDA[X]
; synchronized action:
; ALWAYS IF: Input 1 is set
; THEN traverse positioning axis X to 50, velocity 200 m/min, acceleration 140%,
; end-of-motion criterion: Interpolator stop
N120 EVERY $A_IN[1] DO POS[X]=50 FA[X]=200 ACC[X]=140 IPOENDA[X]
Example 2: Block-change criterion: "Braking ramp"
Program code
N40 POS[X]=100
N20 IPOBRKA(X,100)
N30 POS[X]=200
N40 POS[X]=250
N50 POS[X]=0
N60 X10 F100
286
Reference of the tolerance window
Range of values: 0
Type:
Size of the tolerance window
Type:
Comment
; Default setting is effective
; Positioning motion from X to position 100
; Block-change criterion: Exact stop fine
; Block-change criterion: "Braking ramp",
; 100% = start of the braking ramp
; The block is changed as soon as the X axis starts to brake
; X axis no longer brakes at position 200 - but continues to traverse
; to position 250.
; As soon as the axis starts to brake, the block changes
; Axis X brakes and returns to position 0
; The block change takes place at position 0 and "exact stop fine"
; Axis X traverses as path axis to position 10
Tolerance window not active
1 Tolerance window with respect to set
position
2 Tolerance window with respect to
actual position
INT
REAL
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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