Siemens SINUMERIK 840D sl Function Manual page 786

P2: Positioning axes
11.5 Programming
Reprogram type 2 positioning axes
With type 2 positioning axes (motion across block limits), you need to be able to detect in the
part program whether the positioning axis has reached its end position. Only then is it
possible to reprogram this positioning axis (otherwise an alarm is issued).
If POSA is programmed, then POSA again with IPOBRKA (block change in the braking
ramp), an alarm is not issued. For more information, please refer to NC command IPOBKA in
Chapter "Settable block change time".
Coordination (WAITP)
The coordination command WAITP enables you to designate a position in the NC program
where the program is to wait until an axis programmed with POSA in a previous NC block has
reached its end position.
WAITP exists in an internal block.
An explicit reference must be made to any axis for which the program is to wait.
Example:
Program code
N10 G01 G90 X200 F1000 POSA[Q1]=200 FA[Q1]=500
N15 X400
N20 WAITP(Q1)
N25 X600 POS[Q1]=300
N30 X800 Q1=500
Tool offset
A tool length compensation for positioning axes can be implemented by means of an axial
zero offset, allowing, for example, the positioning path of a loader to be altered. An example
where the axial zero offset might be used in place of the tool length compensation is where a
loader containing tools of various dimensions has to bypass an obstacle.
End of program
The program end (program status selected) is delayed until all axes (path axes + positioning
axes) have reached their programmed end points.
786
Comment
; The program processing
is stopped automatically
till Q1 is in position.
; Q1 is a positioning axis
of Type 1 (feedrate
FA[Q1] from block N10).
; Q1 is path axis (path
feed F1000 from block
N10).
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions