Siemens SINUMERIK 840Di Function Manual page 610

Detailed Description
2.6 Block search Type 5 SERUPRO
Autonomous axis operations
Autonomous singleaxis operations are axes controlled by the PLC that can also be simulated
on SERUPRO. During SERUPRO operation, as in normal operation, the PLC can take over
or give up control of an axis. If required, this axis can also be traversed using FC18. The
PLC takes over control of the axis before the approach block and is responsible for
positioning this axis. This is valid for all block search types.
For further information about autonomous singleaxis operations, see:
References: /FB2/, P2, "Positioning axes"
Axis replacement
Problem: A program moves an axis and gives up control before the target block with
Waitp(X). X is thus not subject to REPOS and the axis is currently not taken into account in
SERUPRO approach.
The following behavior can be activated for SERUPRO REPOS via machine data
$MN_REPOS_MODE_MASK:
The neutral axes are moved as "command axes" in SERUPRO REPOS. The axis
interpolates without a path context even it was last programmed as a path axis. In this case
the velocity is derived from $MA_POS_AX_VELO. After SERUPRO approach this axis is
again neutral. Neutral axes that are however not allowed to be repositioned must receive the
axial VDI signal "REPOSDELAY". This deletes the REPOS movement.
Example: After SERUPRO, one axis is deliberately moved in the synchronized action via
technology cycles. The command axes are always moved in the approach block, never in
the target block. The target block can only be changed if all command axes have been
moved to the end.
Caution
The PLC-controlled axis is not repositioned!
Axes enabled by RELEASE(X) before the target block are not repositioned.
2-74
Mode Group, Channel, Program Operation, Reset Response (K1)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0