Positioning The Spindle - Siemens SINUMERIK 840Di sl Commissioning Manual

NC Commissioning with HMI Advanced
11.5 Axes and spindles
11.5.25

Positioning the spindle

The NC provides an oriented spindle stop function with which the spindle can be moved into
a certain position and held there (e.g. for tool changing purposes). Several programming
commands are available for this function which define the approach and program processing.
References:
/PA/ Programming Manual, S1 Spindles
Functionality
● At absolute position (0-360 degree)
● Incremental position (+/- 999999.99 degree)
● Block change when position reached
● Block change on block end criterion
The control brakes the spindle down to creep speed at the acceleration rate for speed
operation.
If the creep speed has been reached (INT "Spindle in setpoint range"), the control branches
into position control mode and the acceleration rate for position control mode and the KV
factor become active.
The interface signal "Exact stop fine" is output to indicate that the programmed position has
been reached (block change when position reached).
Acceleration rate for position control mode must be set such that the current limit is not
reached. Acceleration rate must be entered separately for each gear step.
If the spindle is positioned from zero speed, it is accelerated up to a maximum speed
corresponding to creep speed; the direction is defined via machine data. The contour
monitoring function is activated as soon as the control mode switches to position control.
Machine data
Table 11-41 Spindle positioning: Machine data
Number Name
Axisspecific ($MA_ ... )
35300 SPIND_POSCTRL_VELO
35350 SPIND_POSITIONING_DIR
35210 GEAR_STEP_POSCTRL_ACCEL
36000 STOP_LIMIT_COARSE
36010 STOP_LIMIT_FINE
32200 POSCTRL_GAIN
36400 CONTOUR_TOL
450
Name
Shutdown speed
Direction of rotation when positioning from the standstill
Acceleration in position control mode
Exact stop coarse
Exact stop fine
Kv factor
Contour monitoring
Commissioning Manual, 05/2008, 6FC5397–4CP10–4BA0
Manual