Examples - Siemens SINUMERIK 840D Function Manual

F1: Travel to fixed stop

3.3 Examples

● If the acceleration limitation is not adapted accordingly, an increase in the following error
occurs during the traversing motion.
● If the acceleration limitation is not adapted accordingly, the end-of-block position is possibly
reached later than specified in the machine data:
MD36040 $MA_STANDSTILL_DELAY_TIME
The machine data:
MD36042 $MA_FOC_STANDSTILL_DELAY_TIME
is introduced for this and monitored in this status.
3.3 Examples
Example 1: Travel to fixed stop with static synchronized actions
Travel to fixed stop (FXS) is initiated when requested via R parameter ($R1) in a static
synchronized action.
Program code
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)
...
112
Comment
; Static synchronized action 1:
; R1==1 (FXS for Y requested) AND
; Avoidance of multiple selection
; $AA_FXS[Y]==0 (axis not at limit): =>
; reset $R1, activate FXS for Y
; Limit torque: 10%
; Axial feedrate Y: 200
; Positioning movement Y
; Static synchronized action 2:
; $AA_FXS[Y]==4 (limit detected): =>
; Limit torque: 30%
; Static synchronized action 3:
; $AA_FXS[Y]==1 (limit reached successfully): =>
; Limit torque: Value from R parameter $R0
; Static synchronized action 4:
; R3==1: Deselection of FXS for Y requested
; $AA_FXS[Y]==1 (limit reached successfully): =>
; Deselect FXS
; Positioning movement Y
; Set initial settings: FXS deselected,
X and Y at initial position
; Release Y for movements in synchronized actions
Function Manual, 06/2019, A5E47437747B AA
Axes and spindles