Special Motion Commands
5.11 Programmed end-of-motion criterion
(FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
5-39
Example of end-of-motion on reaching the interpolator stop
...
N110 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 IPOENDA[X]
Traversing to position X100 when input 1 is active, with a path velocity
of 1000 rpm, an acceleration value of 90% and end-of-motion on reaching
the interpolator stop
...
N120 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X]
Traversing to position X50 when input 1 is active, with a path velocity of
2000 rpm, an acceleration value of 140% and end-of-motion on reaching the
interpolator stop
...
Example for block change condition "Braking ramp" in the parts program:
;Default effective
N40 POS[X]=100
;Block change occurs when X-axis reaches position 100 and fine exact stop
N20 IPOBRKA(X,100) ;Activate block change criterion braking ramp
N30 POS[X]=200 ;Block change occurs as soon as X-axis starts to brake
N40 POS[X]=250
;The x-axis does not brake at position 200 but continues to
;position 250, the block change occurs as soon as the
;X-axis starts to brake
N50 POS[X]=0 ;The X-axis brakes and moves back to position 0
;The block change occurs at position 0 and fine exact stop
N60 X10 F100
N70 M30
...
Example for the braking ramp in synchronous actions block change condition
In the technology
cycle:
FINEA ;End of motion criterion fine exact stop
POS[X]=100 ;Technology cycle block change occurs when X-axis
;has reached position 100 and fine exact stop
IPOBRKA(X,100) ;Activate block change criterion braking ramp
POS[X]=100 ;POS[X]=100; technology cycle block change occurs,
;as soon as the X-axis starts to brake
POS[X]=250 ;The X-axis does not brake at position 200 but continues
;to position 250, as soon as the X-axis starts to brake
;the block change in the technology cycle occurs
POS[X]=250 ;The X-axis brakes and moves back to position 0
;The block change occurs at position 0 and fine exact stop
M17
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