Siemens SINUMERIK 840D sl Programming Manual page 269

4.11 Programmable end of motion criteria (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Meaning
FINEA
COARSEA
IPOENDA
IPOBRKA
ADISPOSA
<axis>
<instant in time>
<mode>
<window size>
Examples
Example 1: End-of-motion criterion: "Interpolator stop"
Program code
; traverse positioning axis X to 100, velocity 200 m/min, acceleration 90%,
; end-of-motion criterion: Interpolator stop
N110 G01 POS[X]=100 FA[X]=200 ACC[X]=90 IPOENDA[X]
; Synchronized action:
; ALWAYS IF: Input 1 is set
; THEN traverse positioning axis X to 50, velocity 200 m/min, acceleration 140%,
; end-of-motion criterion: Interpolator stop
N120 EVERY $A_IN[1] DO POS[X]=50 FA[X]=200 ACC[X]=140 IPOENDA[X]
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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End-of-motion criterion: "Exact stop fine"
Effective: Modal
End-of-motion criterion: "Exact stop coarse"
Effective: Modal
End-of-motion criterion:"interpolator stop"
Effective: Modal
Block change criterion: Braking ramp
Effective: Modal
Tolerance window for end-of-motion criterion
Effective: Modal
Channel axis name (X, Y, ....)
Time of the block change, referred to the braking ramp as a %:
 100% = start of the braking ramp
 0% = end of the braking ramp, the same significance as
IPOENDA
Type: REAL
Reference of the tolerance window
Range of values: 0
1
2
Type: INT
Size of the tolerance window
Type: REAL
Special motion commands
Tolerance window not active
Tolerance window with respect to set
position
Tolerance window with respect to actual
position
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