K5: Mode groups, channels, axis interchange
5.3 Channels - only 840D sl
Extended Functions
312 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
If the wait marker for a channel to be synchronized is missing, braking will be started. During
braking, a check is made in each interpolation cycle whether the still missing wait markers
for the channels to be synchronized have arrived in the meantime. In this case, a further
acceleration to the path velocity is made and machining continues:
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Figure 5-2 Change of the path velocity for the conditional waiting with WAITC: The last wait marker
arrives during the braking
If the path velocity has been braked to zero before the expected markers of the channels to
be synchronized have arrived, the machining stops until the missing markers have arrived.
When the last expected marker arrives, acceleration resumes from standstill to the path
velocity:
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Y
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Figure 5-3 Change of the path velocity for the conditional waiting with WAITC: The last wait marker
arrives after the braking
Block change in the braking ramp
If the IPOBRKA (block change possible in the braking ramp) motion criterion is active, the
arrival of the wait marker causes an instantaneous switch to the next block and the axes
started.
If the marker has not yet been reached or some other motion criterion prevents the block
change, braking continues.
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