Special Motion Commands
4.11 Programmed end-of-motion criterion (FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Job planning
276 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Example 3: Block change criterion, braking ramp in synchronized actions
Program code Comments
; In the technology cycle:
FINEA ; End of motion criteria, exact stop fine.
POS[X]=100 ; Technology cycle block change if the X axis has reached position 100 and
exact stop fine is reached.
IPOBRKA(X,100) ; Block change criteria, activate braking ramp.
POS[X]=100 ; POS[X]=100; technology cycle block change as soon as the X axis starts
to brake.
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 in the
technology cycle.
POS[X]=250 ; The X axis brakes and returns to position 0 - the block change is made
at position 0 and exact stop fine.
M17
Further information
Read end-of-motion criterion
The set end-of-motion criterion can be checked with system variable $AA_MOTEND[<axis>]:
Value Significance
1 End-of-motion with "Exact stop fine"
2 End-of-motion with "Exact stop coarse"
3 End-of-motion with "IPO stop"
4 Block change criterion braking ramp of axis motion
5 Block change in braking ramp with tolerance window relative to "set position"
6 Block change in braking ramp with tolerance window relative to "actual position"
Note
The last programmed value is retained after RESET.
Block change criterion in braking ramp
The percentage value is entered in the setting data synchronous to the main run:
SD43600 $SA_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%.
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