Siemens SINUMERIK 840D sl Programming Manual page 131

Positioning with SPOS/M19
The block step enabling condition is met when all functions programmed in the block reach
their end-of-block criterion (e.g. all auxiliary functions acknowledged by the PLC, all axes at
their end point) and the spindle reaches the programmed position.
Velocity of the movements:
The velocity and the delay response for positioning are stored in the machine data. The
configured values can be modified by programming or by synchronized actions, see:
• Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF) [Page 133]
• Programmable acceleration override (ACC) (option) [Page 139]
Specification of spindle positions:
As the G90/G91 commands are not effective here, the corresponding dimensions apply
explicitly, e.g. AC, IC, DC, ACN, ACP. If no specifications are made, traversing automatically
takes place as for DC.
Synchronize spindle movements with WAITS
WAITS can be used to identify a point at which the NC program waits until one or more
spindles programmed with SPOSA in a previous NC block reach their positions.
Example:
Program code
N10 SPOSA[2]=180 SPOSA[3]=0
...
N40 WAITS(2,3)
WAITS can be used after M5 to wait until the spindle(s) has (have) stopped. WAITS can be
used after M3/M4 to wait until the spindle(s) has (have) reached the specified speed/direction
of rotation.
Note
If the spindle has not yet been synchronized with synchronization marks, the positive
direction of rotation is taken from the machine data (state on delivery).
Fundamentals
Programming Manual, 09/2011, 6FC5398-1BP40-2BA0
7.4 Positioning spindles (SPOS, SPOSA, M19, M70, WAITS)
Comment
; The block waits until spindles 2 and 3 have
reached the positions specified in block N10.
Feed control
131