Siemens SINUMERIK 840D sl Programming Manual page 203

(FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Example of end-of-motion on reaching the interpolator stop
...
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 for block change condition "Braking ramp" in the parts program:
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
...
Example for the braking ramp in synchronous actions block change condition
In the technology
cycle:
FINEA
POS[X]=100
IPOBRKA(X,100)
POS[X]=100
POS[X]=250
POS[X]=250
M17
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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
;Default effective
;Block change occurs when X-axis reaches position 100 and fine exact stop
;Activate block change criterion braking ramp
;Block change occurs as soon as X-axis starts to brake
;The x-axis does not brake at position 200 but continues to
;position 250, the block change occurs as soon as the
;X-axis starts to brake
;The X-axis brakes and moves back to position 0
;The block change occurs at position 0 and fine exact stop
;End of motion criterion fine exact stop
;Technology cycle block change occurs when X-axis
;has reached position 100 and fine exact stop
;Activate block change criterion braking ramp
;POS[X]=100; technology cycle block change occurs,
;as soon as the X-axis starts to brake
;The X-axis does not brake at position 200 but continues
;to position 250, as soon as the X-axis starts to brake
;the block change in the technology cycle occurs
;The X-axis brakes and moves back to position 0
;The block change occurs at position 0 and fine exact stop
Special Motion Commands
5.11 Programmed end-of-motion criterion
5-39