Control By The Plc - Siemens SINUMERIK 840D Function Manual

P2: Positioning axes

6.7 Control by the PLC

Example
For two action blocks with end-of-motion criteria for three axes:
Program code
N01 G01 POS[X]=20 POS[Y]=30
IPOENDA[X]
N02 IPOBRKA(Y, 50)
N03 POS[Z]=55 FINEA[Z]
N04 $A_OUT[1]=1
N05 POS[X]=100
N06 IPOBRKA(X, 100)
...
TARGET:
The first action block contains the digital output:
$A_OUT[1] = 1.
The second action block contains the settings for the end-of-motion criteria:
for the X axis IPOBRKA / $SA_IPOBRAKE_BLOCK_EXCHANGE[AX1]=100
for the Y axis IPOBRKA / $SA_IPOBRAKE_BLOCK_EXCHANGE[AX2]=50
for the Z axis FINEA. The motion end condition IPOENDA last programmed is also stored for
the X axis.
6.7 Control by the PLC
PLC axes
PLC axes are traversed from the PLC and can move asynchronously to all other axes. The
travel motions are executed separate from the path and synchronized actions.
Further information
Function Manual PLC
Concurrent positioning axes
Concurrent positioning axes can be started from the PLC using the FC18 function block.
Channel-specific signals
All channel-specific signals act to the same extent on path and positioning axes.
212
Comment
;Last programmed IPOENDA end-of-mo-
tion criterion
;Second action block for Y axis IPOENDA
;Second action block for the Z axis FI-
NEA
;First action block for output as dig-
ital output
;Second action block for X axis IPOBR-
KA container
;For all programmed end-of-motion cri-
teria
;Block search target
Function Manual, 06/2019, A5E47437747B AA
Axes and spindles