Siemens SINUMERIK 840D sl Programming Manual page 311

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4.11 Programmed end-of-motion criterion (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)

Example 3: Block change criterion, braking ramp in synchronized actions

Program code

IPOBRKA(X,100)

Further information

Read end-of-motion criterion

The set end-of-motion criterion can be checked with system variable

$AA_MOTEND[<axis>]:

The last programmed value is retained after RESET.

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Programming Manual, 06/2009, 6FC5398-2BP20-0BA0

; In the technology cycle:

; End of motion criteria, exact stop fine.

; Technology cycle block change if the X axis has reached position 100 and

exact stop fine is reached.

; Block change criteria, activate braking ramp.

; POS[X]=100; technology cycle block change as soon as the X axis starts

; The X axis does not brake at position 200, but moves further to position

250, as soon as the X axis starts to brake, the block is changed in the

technology cycle.

; The X axis brakes and returns to position 0 - the block change is made

at position 0 and exact stop fine.

Significance

End-of-motion with "Exact stop fine"

End-of-motion with "Exact stop coarse"

End-of-motion with "IPO stop"

Block change criterion braking ramp of axis motion

Block change in braking ramp with tolerance window relative to "set position"

Block change in braking ramp with tolerance window relative to "actual position"

Special motion commands

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