Siemens SINUMERIK 802D sl Function Manual page 349

The direction of rotation is defined by MD35350 SPIND_POSITIONING_ DIR (direction of
rotation during positioning from standstill), if no input results from SPOS programming (ACN,
ACP, IC). The spindle is synchronized with the next zero mark of the position actual value
encoder.
Phase 2: When the spindle is synchronized, the position control is activated. The spindle
rotates at the maximum speed stored in MD35300 SPIND_POSCTRL_VELO until the
braking start point calculation identifies the point at which the programmed spindle position
can be approached accurately with the defined acceleration.
Phase 3: At the brake application point, the spindle is braked down to standstill with the
acceleration set in MD35210 GEAR_STEP_ POSCTRL_ACCEL (acceleration in position
control mode).
Phase 4: The spindle has reached the target point and is stationary. The position control is
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 (MD36010 STOP_LIMIT_FINE and
MD36000 STOP_LIMIT_COARSE).
Positioning from standstill, spindle is synchronized
The spindle has already been turned by one spindle revolution with M3 and M4 and was
then brought to a standstill with M5.
Figure 20-5
Sequence
The spindle travels to the programmed end point optimally in terms of time. Depending on
the appropriate secondary conditions, the operational sequences in phases 1 - 2 - 3 - 4 or 1 -
3a - 4a are executed.
Phase 1: SPOS will switch the spindle to position control mode. The acceleration from
MD35210 GEAR_STEP_POSCTRL_ACCEL (acceleration in the position control mode) is
activated. The direction of rotation is determined by the relevant distance-to-go (type of path
setting with SPOS).
The speed entered in MD35300 SPIND_POSCTRL_VELO (position control activation speed)
is not exceeded. The traversing path to the end point is calculated. If the end point can be
accessed immediately from this phase, Phase 3a, 4a continues instead of Phase 2.
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0
Positioning with stationary, synchronized spindle
Spindle (S1)
20.2 Spindle modes
349