Axis Coordination - Siemens SINUMERIK 840D sl Programming Manual

Motion synchronous actions
10.4 Actions in synchronized actions
10.4.18

Axis coordination

Function
Typically, an axis is either moved from the parts program or as a positioning axis from a
synchronized action.
If the same axis is to be traversed alternately from the parts 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 parts program, preprocessing must be
reorganized. This, in turn, causes an interruption in the parts program processing
comparable to a preprocessing stop.
Example for traversing X axis alternately from parts program and from synchronized actions
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
;X becomes the path axis; before motion, delay occurs because of axis transfer
;if digital input was 1 and X was positioned from the synchronized action.
Example of changing traverse command for the same axis:
ID=1 EVERY $A_IN[1]>=1 DO POS[V]=100 FA[V]=560
;Start positioning from the synchronized action if a digital input is >= 1
ID=2 EVERY $A_IN[2]>=1 DO POS[V]=$AA_IM[V] FA[V]=790
;Axis follows, 2nd input is set, i.e. end position and feed for axis V are
;continuously followed during a movement when two synchronized actions are
;simultaneously active.
10-52
;X axis programmed in parts program
;Starting positioning from the synchronized
;action if a digital input is set
;Deselect synchronized action
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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