Siemens SINUMERIK 840Di Function Manual page 363

Examples
4.1 Travel to fixed stop
4.1
Static synchronized actions
Travel to fixed stop (FXS), initiated by a synchronized action.
N10 IDS=1 WHENEVER
(($R1==1) AND
($AA_FXS[Y]==0)) DO
$R1=0 FXS[Y]=1
FXST[Y]=10
FA[Y]=200
POS[Y]=150
N11 IDS=2 WHENEVER
($AA_FXS[Y]==4) DO
FXST[Y]=30
N12 IDS=3 WHENEVER
($AA_FXS[Y]==1) DO
FXST[Y]=$R0
N13 IDS=4 WHENEVER
(($R3==1) AND
($AA_FXS[Y]==1)) DO
FXS[Y]=0
FA[Y]=1000 POS[Y]=0
N20 FXS[Y]= 0
G0 G90 X0 Y0
N30 RELEASE(Y)
N40 G1 F1000 X100
N50 ......
Travel to Fixed Stop (F1)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
; Activate static synchronized action:
; By the setting of $R1=1
; For
; The axis Y FXS is activated
; The active torque is reduced to 10%
; And a travel motion to
; Direction of the stop started
; Once the stop has been recognized
; ($AA_FXS[Y]==4), the torque is
; Increased to 30%
; After reaching the stop
; The torque becomes dependent
; On R0 controlled
; Deselection in dependence
; On R3 and
; Reverse
; Normal program run:
; Axis Y for the movement to
; Activate synchronized action
; Movement of another axis
4
4-1