Concurrent Positioning Axis - Siemens SINUMERIK 840D Function Manual

Other applications are also possible:
● With G0 workpiece delivery and workpiece transport can travel to their end points
independently of one another.
● On machines with several machining processes in sequence: Significant reduction in
individual machining steps due to block change in the braking ramp of the single-axis
interpolation.
Note
Positioning axes are not suitable for multi-axis loaders that require interpolation between the
axes (path interpolator).
6.2.3

Concurrent positioning axis

Concurrent positioning axes are positioning axes with the following properties:
● Activation from the PLC need not take place at block limits, but can be implemented at any
time in any operating mode (even when a part program is already being processed in the
channel).
● Program command WAITP is required to move a concurrent positioning axis from the part
program immediately after power ON.
● The part program continues to run uninhibited, even if the concurrent positioning axis has
not reached the position defined by the PLC.
● An automatic axis change is possible, depending on the setting in the machine data
MD30552 $MA_AUTO_GET_TYPE.
● With programming commands:
– GET(<axis>) or WAITP(<axis>) becomes a concurrent positioning axis of the
– "RELEASE (axis)" or WAITP(<axis>) is a channel axis that becomes a concurrent
Activation from PLC
For SINUMERIK 840D sl, the concurrent positioning axis is activated via FC 18 from the PLC.
● Feedrate
For feedrate = 0, the feedrate is determined from the following machine data:
MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity)
● Absolute dimensions (G90), incremental dimensions (G91)
Absolute dimensions along shortest path for rotary axes (<rotary axis
name>=DC(<value>))
The following functions are defined:
● Linear interpolation (G1)
● Feedrate in mm/min or degrees/min (G94)
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
6.2 Own channel, positioning axis or concurrent positioning axis
channel axis again.
axis under PLC control.
P2: Positioning axes
191