Siemens SINUMERIK 840D sl Function Manual page 452

Mode Groups, Channels, Axis Replacement (K5)
6.3 Channels
Behavior up to SW version 3
When a WAITM() call is reached, the axes in the current channel are decelerated and the
system waits until the tag number specified in the call is received from the other channels to
be synchronized. The group is synchronized when the other channels are also decelerated
as they reach their WAITM() command. The synchronized channels then continue operation.
Figure 6-1 Program flow illustrated with example, coordination with WAITM(), unconditional wait
Example of program coordination
Channel 1:
%100
N10 INIT(2, "_N_200_MPF","n")
N11 START(2)
.
N80 WAITM(1,1,2)
.
N180 WAITM(2,1,2)
.
N200 WAITE(2)
N201 M30
.
.
452
;Processing in channel 1
;Wait for WAIT-tag 1 in the channel 1 and in
;the channel 2
;additional processing in Channel 1
;Wait for WAIT-tag 1 in the channel 2 and in
;the channel 2
;additional processing in Channel 1
;Wait for end of program in channel 2
;Program end channel 1, total end
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions