Motion synchronous actions
10.4 Actions in synchronized actions
Job planning
10-62 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Example of travel to fixed stop (FXS)
Triggered by a synchronized action
Y axis:
Activate:
;Static synchronized actions
N10 IDS=1 WHENEVER (($R1==1) AND
($AA_FXS[y]==0)) DO
$R1=0 FXS[Y]=1 FXST[Y]=10
FA[Y]=200 POS[Y]=150
;By setting of $R1=1,
;axis Y FXS will be activated, the
;effective torque is reduced to 10% and
;an approach motion started in the
;direction of the stop
N11 IDS=2 WHENEVER ($AA_FXS[Y]==4) DO
FXST[Y]=30
;Once the stop has been recognized
;($AA_FXS[Y]==4), the torque is reduced
;to 30%
N12 IDS=3 WHENEVER ($AA_FXS[Y]==1) DO
FXST[Y]=$R0
;After reaching the stop
;the torque is controlled depending on
;R0
N13 IDS=4 WHENEVER (($R3==1) AND
($AA_FXS[Y]==1)) DO
FXS[Y]=0
FA[Y]=1000 POS[Y]=0
;Deselect depending
;on R3 and
;return
N20 FXS[Y]=0 G0 G90 X0 Y0 ;Normal program run:
;axis Y for
N30 RELEASE(Y) ;Enable motion in synchronized action
N40 G1 F1000 X100 ;Movement of another axis
N50 ......
N60 GET(Y) ;include Y axis again in the path group
Example of activating the torque/force limitation (FOC)
N10 FOCON[X] ;Modal activation of limitation
N20 X100 Y200 FXST[X]=15 ;X travels with reduced torque (15%)
N30 FXST[X]=75 X20 ;Change the torque to 75%, X travels
;with this limited torque
N40 FOCOF[X] ;Disable torque limit
Multiple selection
If the function is called once more due to faulty programming (FXS[Axis]=1) the alarm
20092 "Travel to fixed stop still active" is initiated.
Programming code that scans $AA_FXS[] or a separate flag (here R1) in the condition will
ensure that the parts program fragment function is not activated more than once.
N10 R1=0
N20 IDS=1 WHENEVER ($R1==0 AND
$AA_IW[AX3] > 7) DO R1=1 FXST[AX1]=12
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