Siemens SINUMERIK 828D Programming Manual page 122

Feed control
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)
WAITP
WAITMC
Travel with POSA
If a command, which implicitly causes a preprocessing stop, is read in a following block,
this block is not executed until all other blocks, which are already preprocessed and stored
have been executed. The previous block is stopped in exact stop (as
Examples
Example 1: Travel with POSA and access to machine status data
The control generates an internal preprocessing stop on access to machine status data
($A...). Machining is stoppeduntil all preprocessed and saved blocks have been executed
in full.
Program code
N40 POSA[X]=100
N50 IF $AA_IM[X]==R100 GOTOF LABEL1
N60 G0 Y100
N70 WAITP(X)
N80 LABEL1:
N...
122
:
Wait for a positioning axis to be traversed
The subsequent blocks are not processed until the specified positioning
axis programmed in a previous NC block with
position (with exact stop fine).
:
<axis>
Note:
With
WAITP
traversing as a concurrent positioning axis (via PLC).
: Wait for the specified wait marker to be received
When the wait marker is received, the next NC block is loaded
immediately.
<wait marker>
CAUTION
Name of the axis (channel or geometry axis identifier) for
which the command is to be applied
WAITP
, an axis can be made available as an oscillating axis or for
: Number of the wait marker
Programming Manual, 07/2010, 6FC5398-1BP40-0BA0
has reached its end
POSA
).
G9
Comment
; Access to machine status data.
Fundamentals