Motion synchronous actions
10.4 Actions in synchronized actions
Job planning
614 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Examples
Example 1: Travel to fixed stop (FXS), initiated using a synchronized action
Program code Comments
Y axis: ; Static synchronized actions
Activate:
N10 IDS=1 WHENEVER (($R1==1) AND $AA_FXS[y]==0)) D $R1=0 FXS[Y]=1 FXST[Y]=10 FA[Y]=200 POS[Y]=150
; FXS is activated for axis Y by setting
$R1=1, the effective torque is reduced
o 10% and travel is started towards the
fixed stop.
N11 IDS=2 WHENEVER ($AA_FXS[Y]==4) DO FXST[Y]=30 ; As soon as the fixed stop was detected
($AA_FXS[Y]==4), the torque was reduced
to 30%.
N12 IDS=3 WHENEVER ($AA_FXS[Y]==1) DO FXST[Y]=$R0 ; After the fixed stop is reached the
torque is controlled depending on R0.
N13 IDS=4 WHENEVER (($R3==1) AND $AA_FXS[Y]==1)) DO FXS[Y]=0 FA[Y]=1000 POS[Y]=0
; De-selection depending on R3 and
retract.
N20 FXS[Y]=0 G0 G90 X0 Y0 ; Normal program execution:
N30 RELEASE(Y) ; Release axis Y for motion in the
synchronized action.
N40 G1 F1000 X100 ; Motion of another axis.
N50 ...
N60 GET(Y) ; Include axis Y back into the path group
Example 2: Activating torque/force limiting (FOC)
Program code Comments
N10 FOCON[X] ; Modal activation of limiting.
N20 X100 Y200 FXST[X]=15 ; X travels with reduced torque (15%).
N30 FXST[X]=75 X20 ; The torque is changed to 75%, X travels with
this limited torque.
N40 FOCOF[X] ; The torque limiting is switched-out.
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