Traverse Positioning Axes (Pos, Posa, Posp, Fa, Waitp, Waitmc) - Siemens Sinumerik 840D sl Programming Manual

With orientation axes the mode of operation of the FGREF[] factors is dependent upon whether
the change in the orientation of the tool is implemented by means of rotary axis or vector
interpolation.
In the case of rotary axis interpolation, as is the case with rotary axes, the relevant FGREF
factors of the orientation axes are calculated individually as reference radius for the axis paths.
In the case of vector interpolation, an effective FGREF factor, which is calculated as the
geometric mean value of the individual FGREF factors, is applied.
FGREF[effective] = nth root of [(FGREF[A] * FGREF[B]...)]
with:
Example:
Since there are two orientation axes for a standard 5-axis transformation, the effective factor
is, therefore, the root of the product of the two axial factors:
FGREF[effective] = square root of [(FGREF[A] * FGREF[B])]
Note
It is, therefore, possible to use the effective factor for orientation axes FGREF to define a
reference point on the tool to which the programmed path feedrate refers.
8.2 Traverse positioning axes (POS, POSA, POSP, FA, WAITP,
WAITMC)
Positioning axes are traversed independently of the path axes at a separate, axis-specific
feedrate. There are no interpolation commands. The POS/POSA/POSP commands are used to
traverse the positioning axes and coordinate the motion sequences at the same time.
The following are typical examples of positioning axes:
● Pallet feed equipment
● Gauging stations
WAITP can be used to identify a position in the NC program where the program is to wait until
an axis programmed with POSA in a previous NC block reaches its end position.
WAITMC loads the next NC block immediately when the specified wait marker is received.
Syntax
POS[<axis>]=<position>
POSA[<axis>]=<position>
POSP[<axis>]=(<end position>,<partial length>,<mode>)
Fundamentals
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2

8.2 Traverse positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)

A: Axis identifier of 1st orientation axis
B: Axis identifier of 2nd orientation axis
C: Axis identifier of 3rd orientation axis
n: Number of orientation axes
Feed control
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