Siemens SINUMERIK Series

P2: Positioning axes
10.2 Own channel, positioning axis or concurrent positioning axis
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
605
10.2.3 Concurrent positioning axis
Concurrent positioning axes are positioning axes with the following properties:
● Activation from the PLC need not take place at block limits, but can be implemented at
any time in any operating mode (even when a part program is already being processed in
the channel).
● Program command
WAITP is required to move a concurrent positioning axis from the part
program immediately after power ON.
● The part program continues to run uninhibited, even if the concurrent positioning axis has
not reached the position defined by the PLC.
● An automatic axis change is possible, depending on the setting in the machine data
MD30552 $MA_AUTO_GET_TYPE.
● With programming commands:
–
GET(<axis>) or WAITP(<axis>) becomes a concurrent positioning axis of the channel
axis again.
–
"RELEASE (axis)" or WAITP(<axis>) is a channel axis that becomes a concurrent axis
under PLC control.
Activation from PLC
For SINUMERIK 840D sl, the concurrent positioning axis is activated via FC 18 from the
PLC.
● Feedrate
For feedrate = 0, the feedrate is determined from the following machine data:
MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity)
● Absolute dimensions (
G90), incremental dimensions (G91)
Absolute dimensions along shortest path for rotary axes (
<rotary axis
name>=DC(<value>)
)
The following functions are defined:
● Linear interpolation (
G1)
● Feedrate in mm/min or degrees/min (
G94)
● Exact stop (
G9)
● Settable zero offsets currently selected are valid
Applications
Typical applications for concurrent positioning axes include:
● Tool magazines with manual loading and unloading during machining
● Tool magazines with tool preparation during machining