Siemens SINUMERIK 840D sl Programming Manual page 310

Special motion commands
4.11 Programmed end-of-motion criterion (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Examples
Example 1: End-of-motion on reaching the interpolator stop
Program code
...
N110 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 IPOENDA[X]
...
N120 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X]
...
Example 2: Block change criterion, braking ramp in the part program
Program code
N40 POS[X]=100
N20 IPOBRKA(X,100)
N30 POS[X]=200
N40 POS[X]=250
N50 POS[X]=0
N60 X10 F100
N70 M30
...
310
Comments
; Default setting is effective
; The block is changed if the X axis has reached position 100 and exact
stop fine is reached.
; Block change criteria, activate braking ramp.
; The block is changed as soon as the X axis starts to brake.
; The X axis does not brake at position 200, but moves further to position
250, as soon as the X axis starts to brake, the block is changed.
; The X axis brakes and returns to position 0 - the block changed at
position 0 and exact stop fine.
Comments
Traversing to
position X100 when
input 1 is active,
with a path velocity
of 1000 rpm, an
acceleration value
of 90% and end-of-
motion on reaching
the interpolator
stop.
; Traversing to
position X50 when
input 1 is active,
with a path velocity
of 2000 rpm, an
acceleration value
of 140% and end-of-
motion on reaching
the interpolator
stop.
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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