Siemens SINUMERIK 802D sl Function Manual page 348

Spindle (S1)
20.2 Spindle modes
Phase 1b (not shown): Spindle rotates at a speed higher than the encoder limit frequency.
The spindle is not synchronized initially, but is then synchronized when the rotation speed
falls below the speed defined by the encoder frequency in MD36302
ENC_FREQ_LIMIT_LOW (% value of MD36300). Sequence continues with Phase 2.
Phase 2: When the SPOS command takes effect, the spindle starts to decelerate with the
acceleration stored in MD35200 GEAR_STEP_SPEEDCTRL_ACCEL until it reaches the
position control activation speed.
Phase 3: When the position-control activation speed stored in MD35300
SPIND_POSCTRL_VELO is reached:
● The position control is activated
● The distance-to-go (to target position) is calculated, (easier from Phase 1a)
● The acceleration is switched to MD35210 GEAR_STEP_POSCTRL_ACCEL (acceleration
Phase 4: The spindle brakes from the calculated "braking point" with MD35210
GEAR_STEP_POSCTRL_ACCEL to the target position.
Phase 5: The position control remains active and stops the spindle in the programmed
position. The IS "Position reached with exact stop fine" (V390x 0000.7) and "... coarse"
(V390x 0000.6) are set if the distance between the spindle actual position and the
programmed position (spindle setpoint position) is less than the settings for the exact stop
fine and coarse limits (defined in MD36010 STOP_LIMIT_FINE and MD36000
STOP_LIMIT_COARSE).
Positioning from standstill, spindle not synchronized
The spindle is not synchronized after the control has been activated. The first movement of
the spindle must be positioning (SPOS=...).
Figure 20-4
Sequence
Phase 1: Programming SPOS accelerates the spindle with the acceleration in
MD35210 GEAR_STEP_ POSCTRL_ACCEL (acceleration in position control mode) until the
maximum speed entered in MD35300 SPIND_POSCTRL_VELO (position control activation
speed) is reached.
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in position control mode) (always active below the position control activation speed)
Positioning with stopped, non-synchronized spindle
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0