Block step enable or program execution is not affected by POSA. The movement to the end
position can be performed during execution of subsequent NC blocks.
Travel with POS
The next block is not executed until all axes programmed under POS reach their end positions.
Wait for end of travel with WAITP
After a WAITP, assignment of the axis to the NC program is no longer valid; this applies until the
axis is programmed again. This axis can then be operated as a positioning axis through the
PLC, or as a reciprocating axis from the NC program/PLC or HMI.
Block change in the braking ramp with IPOBRKA and WAITMC
An axis is only decelerated if the wait marker has not yet been reached or if another end-of-
block criterion is preventing the block change. After a WAITMC, the axis starts immediately if no
other end-of-block criterion is preventing the block change.
2.7.3 Position-controlled spindle mode (SPCON, SPCOF)
The position-controlled operation of the spindle is explicitly activated or deactivated using the
SPCON or SPCOF command.
Note
The switching on of the position control mode with SPCON requires a maximum of three
position control cycles.
Syntax
SPCON
SPCON(<n>)
SPCON(<n>,<m>,...)
SPCOF
SPCOF(<n>)
SPCOF(<n>,<m>,...)
Meaning
SPCON Activate position-controlled mode
The specified spindle is switched over from speed control to position control.
SPCON s modal and is retained until SPCOF.
SPCOF Deactivate position-controlled mode
The specified spindle is switched over from position control to speed control.
<n>,<m>,...
:
Spindle numbers
Without specifying a spindle number: Master spindle of the channel
Fundamentals
2.7 Feed control
NC programming
116 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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