Program code Comment
N20 IPOBRKA(X,100) ; Block change criterion: "Braking ramp",
100% = start of the braking ramp
N30 POS[X]=200 ; The block is changed as soon as the X axis starts to brake
N40 POS[X]=250 ; X axis no longer brakes at position 200, but rather contin-
ues to traverse to position 250.
As soon as the axis starts to brake, the block changes.
N50 POS[X]=0 ; Axis X brakes and returns to position 0.
The block change takes place at position 0 and "exact stop
fine"
N60 X10 F100 ; Axis X traverses as path axis to position 10
Further information
System variable for end-of-motion criterion
The effective end-of-motion criterion can be read using the system variable $AA_MOTEND.
Block-change criterion: "Braking ramp" (IPOBRKA)
If, when activating the block change criterion "brake ramp", a value is programmed for the
optional block change instant in time, then this becomes effective for the next positioning
motion and is written into the setting data synchronized to the main run. If no value is specified
for the block change instant in time, then the actual value of the setting data is effective.
SD43600 $SA_IPOBRAKE_BLOCK_EXCHANGE
IPOBRKA is deactivated for the corresponding axis when an axis end-of-motion criterion
(FINEA, COARSEA, IPOENDA) is next programmed for the corresponding axis.
Additional block-change criterion: "Tolerance window" (ADISPOSA)
Using ADISPOSA, a tolerance window around the end of block (either as actual or setpoint
position) can be defined as additional block change criterion. Then, two conditions must be
fulfilled for the block change:
● Block-change criterion: "Braking ramp"
● Block-change criterion: "Tolerance window"
Work preparation
3.7 Special motion commands
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 627
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