P2: Positioning axes
10.6 Block change
Extended Functions
628 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Block change criterion "braking ramp" and "tolerance window" in synchronized action
In the technology cycle:
Program code Comment
FINEA ; End-of-motion criterion: "Exact stop fine"
N10 POS[X]=100 ; The technology cycle block change is realized if the X
axis has reached position 100 and "exact stop fine" is
reached.
N20 IPOBRKA(X,100) ; Block change criterion, activate "braking ramp",100% =
start of the braking ramp.
N21 ADISPOSA(X,2,0.3) ; Tolerance window: 2 = actual position, tolerance = 0.3
N30 POS[X]=200 ; Technology cycle block change is realized as soon as the X
axis starts to brake and the actual position of the X axis
>= 199.7.
N40 POS[X]=250 ; X axis does not brake at position 200, but moves further
to position 250. As soon as the X axis starts to brake and
the position of the X axis >= 249.7, the block change is
realized in the technology cycle.
N50 POS[X]=0 ; Axis X brakes and returns to position 0,
the block change is realized at position 0 and "exact stop
fine".
N60 M17
IPOBRKA(X) could also be written into the N20 blocks without specifying the instant in time, if
the corresponding value has already been entered into the setting data:
SD43600 $SA_IPOBRAKE_BLOCK_EXCHANGE[X] == 100
See also
Control by the PLC (Page 629)
10.6.2 End of motion criterion with block search
Last block serves as container
The last end-of-motion criterion programmed for an axis is collected and output in an action
block. The last block with a programmed motion end condition that was processed in the
search run serves as a container for setting all axes.
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