Axis Coordination - Siemens Sinumerik 840D sl Programming Manual

10.4.18

Axis coordination

Function
Typically, an axis is either moved from the part program or as a positioning axis from a
synchronized action.
If the same axis is to be traversed alternately from the part program as a path or positioning
axis and from synchronized actions, however, a coordinated transfer takes place between
both axis movements.
If a command axis is subsequently traversed from the part program, preprocessing must be
reorganized. This, in turn, causes an interruption in the part program processing comparable
to a preprocessing stop.
Example for traversing X axis alternately from part program and from synchronized actions
Program code
N10 G01 X100 Y200 F1000
...
N20 ID=1 WHEN $A_IN[1]==1 DO
POS[X]=150 FA[X]=200
...
CANCEL(1)
...
N100 G01 X240 Y200 F1000
Example of changing traverse command for the same axis:
Program code
ID=1 EVERY $A_IN[1]>=1 DO POS[V]=100 FA[V]=560
ID=2 EVERY $A_IN[2]>=1 DO POS[V]=$AA_IM[V] FA[V]=790
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Comments
; X axis programmed in part program
; Start positioning from synchronized action, if ;digital input
is present
; Select synchronized action
; X becomes path axis; before motion there is a delay time due
to axis transfer,
if the digital input was 1 and X was positioned from
synchronized action.
Motion synchronous actions
10.4 Actions in synchronized actions
Comments
; Start positioning from synchronized
action, if digital >= 1
; Axis tracks, the 2nd input is set, i.e.
end position and feedrate for axis V,
for two synchronized actions
simultaneously active, is tracked on-
the-fly
while moving.
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