Special Motion Commands
4.11 Programmed end-of-motion criterion (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
275
Examples
Example 1: End-of-motion on reaching the interpolator stop
Program code Comments
...
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 2: Block change criterion, braking ramp in the part program
Program code Comments
; Default setting is effective
N40 POS[X]=100 ; The block is changed if the X axis has reached position 100 and exact
stop fine is reached.
N20 IPOBRKA(X,100) ; Block change criteria, activate braking ramp.
N30 POS[X]=200 ; The block is changed as soon as the X axis starts to brake.
N40 POS[X]=250 ; The X axis does not brake at position 200, but moves further to position
250, as soon as the X axis starts to brake, the block is changed.
N50 POS[X]=0 ; The X axis brakes and returns to position 0 - the block changed at
position 0 and exact stop fine.
N60 X10 F100
N70 M30
...
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