IPOENDA: End-of-motion criterion: "Interpolator stop"
Effective: Modal
IPOBRKA: Block change criterion: Braking ramp
Effective: Modal
ADISPOSA: Tolerance window for end-of-motion criterion
Effective: Modal
<axis>: Channel axis name (X, Y, ....)
<instant in time>: Time of the block change, referred to the braking ramp as a %:
● 100% = start of the braking ramp
● 0% = end of the braking ramp, the same significance as IPOENDA
Type: REAL
<mode>: Reference of the tolerance window
Range of values: 0 Tolerance window not active
1 Tolerance window with respect to set posi‐
tion
2 Tolerance window with respect to actual po‐
sition
Type: INT
<window size>: Size of the tolerance window
Type: REAL
Examples
Example 1: End-of-motion criterion: "Interpolator stop"
Program code
; traverse positioning axis X to 100, velocity 200 m/
min, acceleration 90%,
; end-of-motion criterion: Interpolator stop
N110 G01 POS[X]=100 FA[X]=200 ACC[X]=90 IPOENDA[X]
; Synchronized action:
; ALWAYS IF: Input 1 is set
; THEN traverse positioning axis X to 50, velocity 200 m/
min, acceleration 140%,
; end-of-motion criterion: Interpolator stop
N120 EVERY $A_IN[1] DO POS[X]=50 FA[X]=200 ACC[X]=140
IPOENDA[X]
Example 2: Block change criterion: "Braking ramp"
Program code Comment
; Default setting is effective
N40 POS[X]=100 ; Positioning motion from X to position 100.
Block change criterion: Exact stop fine
Work preparation
3.7 Special motion commands
NC programming
626 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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