End Of Motion Criterion With Block Search - Siemens SINUMERIK Series Function Manual

P2: Positioning axes
10.6 Block change
Block change criterion "braking ramp" and "tolerance window" in synchronized action
In the technology cycle:
Program code
FINEA
N10 POS[X]=100
N20 IPOBRKA(X,100)
N21 ADISPOSA(X,2,0.3)
N30 POS[X]=200
N40 POS[X]=250
N50 POS[X]=0
N60 M17
IPOBRKA(X)
the corresponding value has already been entered into the setting data:
SD43600 $SA_IPOBRAKE_BLOCK_EXCHANGE[X] == 100
See also
Control by the PLC (Page 629)
10.6.2

End of motion criterion with block search

Last block serves as container
The last end-of-motion criterion programmed for an axis is collected and output in an action
block. The last block with a programmed motion end condition that was processed in the
search run serves as a container for setting all axes.
628
Comment
; End-of-motion criterion: "Exact stop fine"
; The technology cycle block change is realized if the X
axis has reached position 100 and "exact stop fine" is
reached.
; Block change criterion, activate "braking ramp",100% =
start of the braking ramp.
; Tolerance window: 2 = actual position, tolerance = 0.3
; Technology cycle block change is realized as soon as the X
axis starts to brake and the actual position of the X axis
>= 199.7.
; X axis does not brake at position 200, but moves further
to position 250. As soon as the X axis starts to brake and
the position of the X axis >= 249.7, the block change is
realized in the technology cycle.
; Axis X brakes and returns to position 0,
the block change is realized at position 0 and "exact stop
fine".
could also be written into the blocks without specifying the instant in time, if
N20
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions