6 Pro
rammin
the control
6
03/2006
6.9 Axes and spindles
6-122
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
6.9.17 Spindle positioning
The control provides an “oriented spindle stop” function with which the spindle
can be moved into a certain position and held there (e.g. for tool changing pur-
poses). Several programming commands are available for this function which
define the approach and program processing.
Reference material: /PG/ Programming instructions, basic principles
S To absolute position (0–360 degrees)
S Incremental position (+/– 999999.99 degrees)
S Block change when position reached
S Block change on block end criterion
The control brakes the spindle down to creep speed at the acceleration rate for
speed operation. If the creep speed has been reached (IS “Spindle in setpoint
range”), the control branches into position control mode and the acceleration
rate for position control mode and the K
V
factor become active. The interface
signal “Exact stop fine” is output to indicate that the programmed position has
been reached (block change when position reached). The acceleration rate for
position control mode must be set such that the current limit is not reached. The
acceleration rate must be entered separately for each gear step. If the spindle is
positioned from zero speed, it is accelerated up to a maximum speed corres-
ponding to creep speed; the direction is defined via machine data. The contour
monitoring function is activated as soon as the control mode switches to posi-
tion control.
MD 36400: CONTOUR_TOL (contour monitoring)
MD 36050: CLAMP_POS_TOL (clamping tolerance)
MD 36030: STANDSTILL_POS_TOL (zero-speed tolerance)
MD 36020: POSITIONING_TIME (fine exact stop delay)
MD 36010: STOP_LIMIT_FINE (fine exact stop)
MD 36000: STOP_LIMIT_COARSE (coarse exact stop)
MD 35350: SPIND_POSITIONING_DIR
(direction of rotation while positioning from zero speed)
MD 35300: SPIND_POSCTRL_VELO (cut-out speed)
MD 35210: GEAR_STEP_POSCTRL_ACCEL
(acceleration in position control mode)
MD 35012: GEAR_STEP_CHANGE_POSITION
(gear step change position from software version 5.3)
MD 35010: GEAR_STEP_CHANGE_ENABLE
(gear step change options from software version 5.3
to fixed position)
MD 32200: POSCTRL_GAIN (K
V
factor)
MD 20850: SPOS_TO_VDI (output “M19” to the VDI interface)
NST “positioning mode” (DB31, ... DBX84.5)
NST “position reached with fine/coarse exact stop” (DB31, ... DBX60.6/60.7)
NST “spindle resynchronized while positioning” (DB31, ... DBX17.4/17.5)
NST “clamping active” (DB31, ... DBX2.3)
The fine and coarse exact stop limits can be set for specific parameter sets
using MD 36012: STOP_LIMIT_FACTOR[n] not equal to [1.0].
Functionality
Machine data and
interface signals
Parameter sets for
exact stop limits
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