Special Motion Commands
5.11 Programmed end-of-motion criterion
(FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Job planning
5-38 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
5.11 5.11 Programmed end-of-motion criterion
(FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA)
Function
Similar to the block change criterion for continuous-path interpolation (G601, G602 and
G603), the end-of-motion criterion can be programmed in a parts program for single axis
interpolation or in synchronized action for the command/PLC.
The end-of-motion criterion set will affect how quickly or slowly parts program blocks and
technology cycle blocks with single-axis movements are completed. The same applies for
PLC via FC15/16/18.
Programming
FINEA[Axis]
or
COARSEA[Axis]
or
IPOENDA[Axis]
or
IPOBRKA(axis,[, [value as percentage]]) More than one value can be specified
or
ADISPOSA(axis, [Int][, [Real]]) More than one value can be specified
Parameters
FINEA Motion end when "Exact stop FINE" reached
COARSEA Motion end when "Exact stop COARSE" reached
IPOENDA Motion end when "Interpolator stop" reached
IPOBRKA Block change in braking ramp possible (SW 6.2 and higher)
ADISPOSA Size of tolerance window for end-of-motion criterion (SW 6.4
and higher)
Axis Channel axis name (X, Y, ....)
Value as percentage When relative to the braking ramp the block change should be
as %
Int Mode 0: Tolerance window not active
Mode 1: Tolerance window with respect to set position
Mode 2: Tolerance window with respect to actual position
Real Size of tolerance window. This value is entered synchronized
with the main run in the setting data 43610: ADISPOSA_VALUE
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