Siemens SINUMERIK 840D Function Manual page 740

S1: Spindles
18.2 Operating modes
For the following functions the spindle is in positioning mode:
● SPOS[<n>]=...
● SPOS[<n>]=ACP(...)
● SPOS[<n>]=ACN(...)
● SPOS[<n>]=AC(...)
● SPOS[<n>]=IC(...)
● SPOS[<n>]=DC(...)
● SPOSA[<n>]=ACP(...)
● SPOSA[<n>]=ACN(...)
● SPOSA[<n>]=AC(...)
● SPOSA[<n>]=IC(...)
● SPOSA[<n>]=DC(...) equal to SPOSA[<n>]=...
● M19 or M[<n>]=19
The address extension [<n>] with <n> = spindle number may not apply for the main spindle.
SPOS[<n>]=AC(...)
Spindle positioning to an absolute position (0 to 359.999 degrees). The positioning direction is
determined either by the current direction of spindle rotation (spindle rotating) or the distance-
to-go.
SPOS[<n>]=IC(...)
Spindle positioning to an incremental position (+/- 999999.99 degrees) in relation to the last
programmed position. The positioning direction is defined by the sign of the path to be
traversed.
SPOS[<n>]=DC(...)
Spindle positioning across the shortest path to an absolute position (0 to 359.999 degrees).
The positioning direction is determined either by the current direction of spindle rotation
(spindle rotating) or automatically by the control (spindle stationary).
SPOS[<n>]=...
Same functional sequence as SPOS [<n>]=DC(...).
SPOS[<n>]=ACP(...)
Approaches the position from the positive direction.
When positioning from a negative direction of rotation, the speed is decelerated to zero and
accelerated in the opposite direction to execute the positive approach.
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Axes and spindles
Function Manual, 06/2019, A5E47437747B AA