Siemens SINUMERIK 840D sl Function Manual page 807

Programming in synchronized action
Axes can be positioned completely asynchronously to the part program from synchronized
actions.
Example:
Program code
ID=1 WHENEVER $R==1 DO POS[Q4]=10 FA[Q3]=990
References:
Programming Manual, Job Planning; Chapter "Motion synchronized actions":
Block change
The block change can be adjusted for positioning axis types 1 and 2 with:
FINEA=<axis identifier> or
FINEA[<axis identifier>]
COARSEA=<Axis identifier> or
COARSEA[<axis identifier>]
IPOENDA=<axis identifier> or
IPOENDA[<axis identifier>]
In Type 3 positioning axis, the block change within the brake ramp of the single interpolation
can be set with:
IPOBRKA=<axis identifier> or
IPOBRKA(<axis identifier>[,<instant in time*>])
* Instant in time of the block change, referred to the braking ramp as a %
Absolute dimension/incremental dimension
The programming of the end point coordinates takes place in absolute dimension (G90) or in
incremental dimension (G91).
Example
G90 POS[Q1]=200
G91 POS[Q1]=AC(200)
G91 POS[Q1]=200
G90 POS[Q1]=IC(200)
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Comment
; The axial feedrate is
Description
Programming the end point coordinates
In absolute dimension
In absolute dimension
In incremental dimension
In incremental dimension
Positioning Axes (P2)
Programming
specified permanently.
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