Special Motion Commands
5.11 Programmed end-of-motion criterion
(FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Job planning
5-40 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Description
$AA_MOTEND system variable
The set end-of-motion criterion can be scanned by system variable $AA_MOTEND[axis]
$AA_MOTEND[Axis] = 1
End-of-motion with "Exact stop fine"
$AA_MOTEND[Axis] = 2
End-of-motion with "Exact stop coarse"
$AA_MOTEND[Axis] = 3
End-of-motion with "IPO–Stop"
$AA_MOTEND[Axis] = 4
Block change criterion braking ramp of
axis motion
$AA_MOTEND[Axis] = 5
Block change in braking ramp with
tolerance window relative to "set
position"
$AA_MOTEND[Axis] = 6
Block change in braking ramp with
tolerance window relative to "actual
position"
Note
The last programmed value is retained after RESET.
References:
/FB1/ Function Manual Basic Functions; Feedrates (V1).
Block change criterion in braking ramp
The percentage value is entered in SD 43600: IPOBRAKE_BLOCK_EXCHANGE. If no value
is specified, the current value of this setting data is effective. The range is adjustable from
0% to 100%.
Additional tolerance window for IPOBRKA
An additional block change criterion tolerance window can be selected as well as the existing
block change criterion in the braking ramp. Release will only occur when the axis
• as before has reached the specified % value of its braking ramp and
• its current actual or set position is no further than a tolerance from the end of the axis in
the block.
For more information on the block change criterion of the positioning axes, please refer to:
References:
/FB2/ Function Manual, Extended Functions; Positioning Axes (P2).
/PG/ Fundamentals Programming Guide; "Feed Control and Spindle Motion".
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