Siemens SINUMERIK 828D Programming Manual page 123

Example 2: Wait for end of travel with WAITP
Pallet feed equipment
Axis U:
Axis V:
Program code
N10 FA[U]=100 FA[V]=100
N20 POSA[V]=90 POSA[U]=100 G0 X50 Y70
N50 WAITP(U)
...
Further information
Travel with POSA
Block step enable or program execution is not affected by
position can be performed during execution of subsequent NC blocks.
Travel with POS
The next block is not executed until all axes programmed under
positions.
Wait for end of travel with WAITP
After a
the axis is programmed again. This axis can then be operated as a positioning axis through
the PLC, or as a reciprocating axis from the NC program/PLC or HMI.
Block change in the braking ramp with IPOBRKA and WAITMC
An axis is only decelerated if the wait marker has not yet been reached or if another end-of-
block criterion is preventing the block change. After a
no other end-of-block criterion is preventing the block change.
Fundamentals
Programming Manual, 07/2010, 6FC5398-1BP40-0BA0
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)
Pallet store
Transport of workpiece pallet to working area
Transfer line to a gauging station where spot checks are carried out to
assist the process
, assignment of the axis to the NC program is no longer valid; this applies until
WAITP
Comment
; Axis-specific feedrate
specifications for the individual
positioning axes U and V
; Traverse positioning and path axes
; Program execution does not resume
until axis U reaches the end point
programmed in N20.
. The movement to the end
POSA
reach their end
POS
, the axis starts immediately if
WAITMC
Feed control
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