Siemens 840D - Basic Functions
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KikiKolakovicSiemens 840D - Basic Functions
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KikiKolakovicPreface
SINUMERIK
SINUMERIK 840D sl / 828D
Basic Functions
Function Manual
Valid for
Controllers
SINUMERIK 840D sl / 840DE sl
SINUMERIK 828D
Software
CNC software
01/2015
6FC5397-0BP40-5BA2
Version
4.7 SP1
Fundamental safety
instructions
A2: Various NC/PLC
interface signals and
functions
A3: Axis Monitoring,
Protection Zones
B1: Continuous-path mode,
Exact stop, Look Ahead
B2: Acceleration
F1: Travel to fixed stop
G2: Velocities, setpoint /
actual value systems, closedloop control
H2: Auxiliary function outputs
to PLC
K1: Mode group, channel,
program operation, reset
response
K2: Axis Types, Coordinate
Systems, Frames
10
N2: Emergency stop
11
P1: Transverse axes
12
P3: Basic PLC program for
SINUMERIK 840D sl
13
P4: PLC for SINUMERIK
828D
14
R1: Referencing
15
S1: Spindles
16
V1: Feedrates
17
W1: Tool offset
18
Z1: NC/PLC interface signals
19
Appendix
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in
this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Division Digital Factory
Postfach 48 48
90026 NRNBERG
GERMANY
Order number: 6FC5397-0BP40-5BA2
02/2015 Subject to change
Copyright Siemens AG 1994 - 2015.
All rights reserved
Preface
SINUMERIK documentation
The SINUMERIK documentation is organized in the following categories:
General documentation
User documentation
Manufacturer/service documentation
Additional information
You can find information on the following topics at www.siemens.com/motioncontrol/docu:
Ordering documentation/overview of documentation
Additional links to download documents
Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following address:
[email protected]
My Documentation Manager (MDM)
Under the following link you will find information to individually compile OEM-specific machine
documentation based on the Siemens content:
www.siemens.com/mdm
Training
For information about the range of training courses, refer under:
www.siemens.com/sitrain
SITRAIN - Siemens training for products, systems and solutions in automation technology
www.siemens.com/sinutrain
SinuTrain - training software for SINUMERIK
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support. http://support.automation.siemens.com
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Preface
SINUMERIK
You can find information on SINUMERIK under the following link:
www.siemens.com/sinumerik
Target group
This publication is intended for:
Project engineers
Technologists (from machine manufacturers)
System startup engineers (Systems/Machines)
Programmers
Benefits
The function manual describes the functions so that the target group knows them and can
select them. It provides the target group with the information required to implement the
functions.
Standard version
This documentation only describes the functionality of the standard version. Extensions or
changes made by the machine tool manufacturer are documented by the machine tool
manufacturer.
Other functions not described in this documentation might be executable in the control. This
does not, however, represent an obligation to supply such functions with a new control or when
servicing.
Further, for the sake of simplicity, this documentation does not contain all detailed information
about all types of the product and cannot cover every conceivable case of installation, operation
or maintenance.
Technical Support
You will find telephone numbers for other countries for technical support in the Internet under
http://www.siemens.com/automation/service&support
Information on the structure and contents
Installation
Structure of this Function Manual:
Inner title (page 3) with the title of the Function Manual, the SINUMERIK controls as well
as the software and the version for which this version of the Function Manual is applicable
and the overview of the individual functional descriptions.
Description of the functions in alphabetical order (e.g. A2, A3, B1, etc.)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Preface
Appendix with:
List of abbreviations
Documentation overview
Index of terms
Note
For detailed descriptions of data and alarms see:
For machine and setting data:
Detailed description of machine data (only electronically on DOConCD or DOConWEB)
For NC/PLC interface signals:
Function Manual, Basic Functions; NC/PLC Interface Signals (Z1)
Function Manual, Basic Functions; NC/PLC Interface Signals (Z2)
Function Manual, Special Functions; NC/PLC Interface Signals (Z3)
For alarms:
Diagnostics Manual
Notation of system data
The following notation is applicable for system data in this documentation:
Signal/Data
Notation
Example
NC/PLC interface
signals
... NC/PLC interface signal:
When the new gear stage is engaged, the following NC/PLC
interface signals are set by the PLC program:
<signal address> (<signal name>)
DB31, ... DBX16.0-2 (actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)
Machine data
Setting data
... machine data:
Master spindle is the spindle stored in the machine data:
<Type><Number> <Complete Des
ignator> (<Meaning>)
MD20090 $MC_SPIND_DEF_MASTER_SPIND (position of de
letion of the master spindle in the channel)
... setting data:
The logical master spindle is contained in the setting data:
<Type><Number> <Complete Des
ignator> (<Meaning>)
SD42800 $SC_SPIND_ASSIGN_TAB[0] (spindle number con
verter)
Note
Signal address
The description of functions include as <signal address> of an NC/PLC interface signal, only
the address valid for SINUMERIK 840D sl. The signal address for SINUMERIK 828D should
be taken from the data lists "Signals to/from ..." at the end of the particular description of
functions.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Preface
Quantity structure
Explanations concerning the NC/PLC interface are based on the absolute maximum number
of sequential components:
Mode groups (DB11)
Channels (DB21, etc.)
Axes/spindles (DB31, etc.)
Data types
The control provides the following data types that can be used for programming in part
programs:
Type
Meaning
Value range
INT
Signed integers
-2.147.483.648 ... +2.147.483.647
REAL
Numbers with decimal point
5,0*10-324 1,7*10+308
BOOL
Boolean values
TRUE (0) , FALSE (0)
CHAR
ASCII characters and bytes
0 ... 255 or -128 ... 127
STRING
Character string, null-terminated
Maximum of 400 characters + /0
(no special characters)
AXIS
Axis names
All axis names available in the control
system
FRAME
Geometrical parameters for moving, rotating, scaling, and
mirroring
---
Note
Arrays can only be formed from similar elementary data types. Up to 3-dimensional arrays are possible.
Querying REAL variables
We recommend that querying REAL or DOUBLE variables in NC programs and synchronized
actions is programmed as limit value evaluation.
Example: Querying the actual value of an axis for a specific value
DEF REAL AXPOS = 123.456
IF ($VA_IM[<axis>] - 1ex-6) <= AXPOS <= ($VA_IM[<axis>] + 1ex-6) ; actual position
...
== AXPOS
ELSE
...
<> AXPOS
ENDIF
Basic Functions
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Table of contents
Preface.........................................................................................................................................................3
1
Fundamental safety instructions.................................................................................................................33
1.1
General safety instructions.....................................................................................................33
1.2
Industrial security...................................................................................................................33
A2: Various NC/PLC interface signals and functions.................................................................................35
2.1
Brief description.....................................................................................................................35
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
2.2.6
2.2.7
2.2.8
2.2.9
NC/PLC interface signals - only 840D sl................................................................................35
General..................................................................................................................................35
Ready signal to PLC..............................................................................................................37
Status signals to PLC.............................................................................................................37
Signals to/from the operator panel front.................................................................................38
Signals to channel..................................................................................................................40
Signals to axis/spindle............................................................................................................40
Signals from axis/spindle.......................................................................................................48
Signals to axis/spindle (digital drives)....................................................................................50
Signals from axis/spindle (digital drives)................................................................................51
2.3
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
2.3.5.1
2.3.5.2
2.3.5.3
2.3.6
2.3.6.1
2.3.6.2
2.3.6.3
2.3.6.4
2.3.6.5
2.3.6.6
2.3.6.7
Functions................................................................................................................................53
Screen refresh behavior for overload - only 840D sl..............................................................53
Settings for involute interpolation - only 840D sl....................................................................54
Activate DEFAULT memory - only 840D sl............................................................................57
Read and write PLC variable - only 840D sl..........................................................................57
Access protection via password and keyswitch.....................................................................60
Password...............................................................................................................................62
Keyswitch positions (DB10, DBX56.4 to 7)............................................................................63
Parameterizable protection levels..........................................................................................64
Switching over motor/drive data sets.....................................................................................65
General Information...............................................................................................................65
Formatting interfaces.............................................................................................................65
Request interface...................................................................................................................66
Display interface.....................................................................................................................67
Example.................................................................................................................................67
Overview of the interfaces......................................................................................................68
Supplementary conditions......................................................................................................69
2.4
2.4.1
Examples...............................................................................................................................70
Parameter set changeover.....................................................................................................70
2.5
2.5.1
2.5.1.1
2.5.1.2
2.5.1.3
2.5.1.4
2.5.2
Data lists................................................................................................................................72
Machine data..........................................................................................................................72
Display machine data.............................................................................................................72
NC-specific machine data......................................................................................................72
Channelspecific machine data...............................................................................................72
Axis/spindlespecific machine data.........................................................................................72
System variables....................................................................................................................74
Basic Functions
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Table of contents
2.5.3
2.5.3.1
2.5.3.2
2.5.3.3
2.5.3.4
2.5.3.5
2.5.3.6
2.5.3.7
2.5.3.8
3
Signals...................................................................................................................................74
Signals to NC.........................................................................................................................74
Signals from NC.....................................................................................................................74
Signals to operator panel front...............................................................................................75
Signals from operator panel front...........................................................................................75
Signals to channel..................................................................................................................76
Signals from channel..............................................................................................................76
Signals to axis/spindle............................................................................................................76
Signals from axis/spindle.......................................................................................................76
A3: Axis Monitoring, Protection Zones.......................................................................................................79
3.1
3.1.1
3.1.2
Brief description.....................................................................................................................79
Axis monitoring functions.......................................................................................................79
Protection zones....................................................................................................................79
3.2
3.2.1
3.2.1.1
3.2.1.2
3.2.2
3.2.2.1
3.2.2.2
3.2.2.3
3.2.2.4
3.2.2.5
3.2.3
3.2.4
3.2.5
3.2.5.1
3.2.5.2
3.2.5.3
3.2.6
3.2.6.1
3.2.6.2
3.2.7
3.2.7.1
3.2.7.2
3.2.7.3
3.2.8
3.2.9
3.2.9.1
3.2.9.2
3.2.9.3
3.2.9.4
3.2.9.5
Axis monitoring functions.......................................................................................................80
Contour monitoring.................................................................................................................80
Contour error..........................................................................................................................80
Following-error monitoring.....................................................................................................80
Positioning, zero speed and clamping monitoring..................................................................83
Correlation between positioning, zero-speed and clamping monitoring.................................83
Positioning monitoring............................................................................................................83
Zero-speed monitoring...........................................................................................................84
Parameter set-dependent exact stop and standstill tolerance...............................................85
Clamping monitoring..............................................................................................................86
Speed-setpoint monitoring.....................................................................................................93
Actual-velocity monitoring......................................................................................................94
Measuring system monitoring................................................................................................95
Encoder-limit-frequency monitoring.......................................................................................97
Plausibility check for absolute encoders................................................................................98
Customized error reactions..................................................................................................100
Limit-switch monitoring.........................................................................................................103
Hardware limit switch...........................................................................................................103
Software limit switch.............................................................................................................104
Monitoring of the working area limitation..............................................................................106
General................................................................................................................................106
Working area limitation in BKS.............................................................................................108
Working area limitation in WCS/SZS...................................................................................110
Parking a machine axis........................................................................................................113
Parking the passive position measuring system..................................................................115
Function...............................................................................................................................115
Supplementary conditions....................................................................................................118
Example: Changing an attachment head for a direct position measuring system...............119
Example: Changing an attachment head for two direct position measuring systems..........123
Example: Measuring system switchover when encoders are missing in certain parts of
the range..............................................................................................................................127
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
Protection zones..................................................................................................................130
General................................................................................................................................130
Types of protection zone......................................................................................................132
Definition via part program instruction..................................................................................135
Definition as per system variable.........................................................................................138
Activating and deactivating protection zones.......................................................................140
Basic Functions
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Table of contents
3.3.6
3.3.7
3.3.8
Protection zone violation and temporary enabling of individual protection zones................144
Restrictions in protection zones...........................................................................................148
Checking for protection zone violation, working area limitation and software limit
switches (CALCPOSI)..........................................................................................................149
3.4
3.4.1
Supplementary conditions....................................................................................................159
Axis monitoring functions.....................................................................................................159
3.5
3.5.1
3.5.1.1
3.5.2
3.5.2.1
Examples.............................................................................................................................159
Axis monitoring functions.....................................................................................................159
Working area limitation in WCS/SZS...................................................................................159
Protection zones..................................................................................................................162
Definition and activation of protection zones........................................................................162
3.6
3.6.1
3.6.1.1
3.6.1.2
3.6.1.3
3.6.2
3.6.2.1
3.6.3
3.6.3.1
3.6.3.2
3.6.3.3
3.6.3.4
Data lists..............................................................................................................................171
Machine data........................................................................................................................171
NC-specific machine data....................................................................................................171
Channelspecific machine data.............................................................................................172
Axis/spindlespecific machine data.......................................................................................173
Setting data..........................................................................................................................174
Axis/spindlespecific setting data..........................................................................................174
Signals.................................................................................................................................174
Signals to channel................................................................................................................174
Signals from channel............................................................................................................175
Signals to axis/spindle..........................................................................................................175
Signals from axis/spindle.....................................................................................................176
B1: Continuous-path mode, Exact stop, Look Ahead...............................................................................177
4.1
Brief Description...................................................................................................................177
4.2
Exact stop mode..................................................................................................................180
4.3
4.3.1
4.3.2
4.3.3
4.3.3.1
4.3.3.2
4.3.3.3
4.3.3.4
4.3.3.5
4.3.4
4.3.4.1
4.3.4.2
Continuous-path mode.........................................................................................................184
General functionality............................................................................................................184
Velocity reduction according to overload factor...................................................................186
Rounding..............................................................................................................................188
Rounding according to a path criterion (G641)....................................................................190
Rounding in compliance with defined tolerances (G642/G643)...........................................192
Rounding with maximum possible axial dynamic response (G644).....................................195
Rounding of tangential block transitions (G645)..................................................................198
Rounding and repositioning (REPOS).................................................................................199
LookAhead...........................................................................................................................200
Standard functionality...........................................................................................................200
Free-form surface mode: Extension function.......................................................................206
4.4
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.4.6
Dynamic adaptations............................................................................................................210
Smoothing of the path velocity.............................................................................................210
Adaptation of the dynamic path response............................................................................213
Determination of the dynamic response limiting values.......................................................217
Interaction between the "smoothing of the path velocity" and "adaptation of the path
dynamic response" functions...............................................................................................218
Dynamic response mode for path interpolation....................................................................222
Free-form surface mode: Basic functions............................................................................224
4.5
4.5.1
Compressor functions..........................................................................................................227
Compression of blocks for linear and circular movement....................................................227
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Table of contents
10
4.5.2
4.5.3
Compression of short spline blocks.....................................................................................230
Supplementary conditions....................................................................................................231
4.6
Contour/Orientation tolerance..............................................................................................232
4.7
Tolerance and compression of G0 blocks............................................................................235
4.8
RESET behavior..................................................................................................................238
4.9
4.9.1
4.9.2
Supplementary conditions....................................................................................................238
Block change and positioning axes......................................................................................238
Block change delay..............................................................................................................239
4.10
4.10.1
4.10.1.1
4.10.1.2
4.10.1.3
4.10.2
4.10.2.1
4.10.3
4.10.3.1
4.10.3.2
Data lists..............................................................................................................................239
Machine data........................................................................................................................239
General machine data..........................................................................................................239
Channelspecific machine data.............................................................................................239
Axis/spindlespecific machine data.......................................................................................240
Setting data..........................................................................................................................241
Channelspecific setting data................................................................................................241
Signals.................................................................................................................................241
Signals from channel............................................................................................................241
Signals from axis/spindle.....................................................................................................241
B2: Acceleration.......................................................................................................................................243
5.1
5.1.1
5.1.2
Brief description...................................................................................................................243
General................................................................................................................................243
Features...............................................................................................................................243
5.2
5.2.1
5.2.1.1
5.2.1.2
5.2.1.3
5.2.2
5.2.2.1
5.2.2.2
5.2.3
5.2.3.1
5.2.3.2
5.2.4
5.2.4.1
5.2.4.2
5.2.5
5.2.5.1
5.2.5.2
5.2.5.3
5.2.6
5.2.6.1
5.2.6.2
5.2.7
5.2.7.1
5.2.7.2
5.2.8
5.2.8.1
Functions..............................................................................................................................245
Acceleration without jerk limitation (BRISK/BRISKA) (channel/axis-specific)......................245
General Information.............................................................................................................245
Parameterization..................................................................................................................246
Programming........................................................................................................................247
Constant travel time (channel-specific)................................................................................248
General Information.............................................................................................................248
Parameterization..................................................................................................................249
Acceleration matching (ACC) (axis-specific)........................................................................250
General Information.............................................................................................................250
Programming........................................................................................................................250
Acceleration margin (channel-specific)................................................................................251
General Information.............................................................................................................251
Parameterization..................................................................................................................251
Path-acceleration limitation (channel-specific).....................................................................251
General Information.............................................................................................................251
Parameterization..................................................................................................................252
Programming........................................................................................................................252
Path acceleration for real-time events (channel-specific)....................................................253
General Information.............................................................................................................253
Programming........................................................................................................................254
Acceleration with programmed rapid traverse (G00) (axis-specific)....................................255
General Information.............................................................................................................255
Parameterization..................................................................................................................255
Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific).................................256
General Information.............................................................................................................256
Basic Functions
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Table of contents
5.2.8.2
5.2.9
5.2.9.1
5.2.9.2
5.2.10
5.2.10.1
5.2.10.2
5.2.11
5.2.11.1
5.2.11.2
5.2.11.3
5.2.12
5.2.12.1
5.2.12.2
5.2.13
5.2.13.1
5.2.13.2
5.2.13.3
5.2.14
5.2.14.1
5.2.14.2
5.2.15
5.2.15.1
5.2.15.2
5.2.16
5.2.16.1
5.2.16.2
5.2.17
5.2.18
5.2.18.1
5.2.18.2
5.2.19
5.2.19.1
5.2.19.2
5.2.19.3
5.2.19.4
5.2.19.5
5.2.19.6
5.2.20
5.2.20.1
5.2.20.2
Parameterization..................................................................................................................256
Excessive acceleration for non-tangential block transitions (axis-specific)..........................256
General Information.............................................................................................................256
Parameterization..................................................................................................................257
Acceleration margin for radial acceleration (channel-specific).............................................257
General Information.............................................................................................................257
Parameterization..................................................................................................................258
Jerk limitation with path interpolation (SOFT) (channel-specific).........................................259
General Information.............................................................................................................259
Parameterization..................................................................................................................261
Programming........................................................................................................................261
Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)...................................262
Parameterization..................................................................................................................262
Programming........................................................................................................................263
Path-jerk limitation (channel-specific)..................................................................................263
General Information.............................................................................................................263
Parameterization..................................................................................................................264
Programming........................................................................................................................264
Path jerk for real-time events (channel-specific)..................................................................265
General Information.............................................................................................................265
Programming........................................................................................................................266
Jerk with programmed rapid traverse (G00) (axis-specific).................................................267
General Information.............................................................................................................267
Parameterization..................................................................................................................267
Excessive jerk for block transitions without constant curvature (axis-specific)....................268
General Information.............................................................................................................268
Parameterization..................................................................................................................268
Velocity-dependent jerk adaptation (axis-specific)...............................................................268
Jerk filter (axis-specific)........................................................................................................270
General Information.............................................................................................................270
Parameterization..................................................................................................................272
Kneeshaped acceleration characteristic curve.....................................................................274
Adaptation to the motor characteristic curve........................................................................274
Effects on path acceleration.................................................................................................276
Substitute characteristic curve.............................................................................................276
Parameterization..................................................................................................................279
Programming........................................................................................................................280
Boundary conditions.............................................................................................................281
Acceleration and jerk for JOG motions................................................................................282
Parameterization..................................................................................................................282
Supplementary conditions....................................................................................................284
5.3
5.3.1
5.3.1.1
5.3.2
5.3.2.1
5.3.3
5.3.4
5.3.4.1
Examples.............................................................................................................................285
Acceleration.........................................................................................................................285
Path velocity characteristic...................................................................................................285
Jerk......................................................................................................................................286
Path velocity characteristic...................................................................................................286
Acceleration and jerk............................................................................................................288
Knee-shaped acceleration characteristic curve...................................................................289
Activation..............................................................................................................................289
5.4
5.4.1
Data lists..............................................................................................................................290
Machine data........................................................................................................................290
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11
Table of contents
5.4.1.1
5.4.1.2
5.4.1.3
5.4.2
5.4.2.1
5.4.3
6
12
NC-specific machine data....................................................................................................290
Channel-specific machine data............................................................................................290
Axis/spindlespecific machine data.......................................................................................291
Setting data..........................................................................................................................292
Channelspecific setting data................................................................................................292
System variables..................................................................................................................292
F1: Travel to fixed stop.............................................................................................................................293
6.1
Brief description...................................................................................................................293
6.2
6.2.1
6.2.2
6.2.2.1
6.2.2.2
6.2.2.3
6.2.2.4
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7
6.2.8
6.2.9
Detailed description..............................................................................................................294
Programming........................................................................................................................294
Functional sequence............................................................................................................296
Selection..............................................................................................................................296
Fixed stop is reached...........................................................................................................297
Fixed stop is not reached.....................................................................................................299
Deselection..........................................................................................................................300
Behavior during block search...............................................................................................302
Behavior for reset and function abort...................................................................................305
Behavior with regard to other functions................................................................................306
Setting data..........................................................................................................................307
System variables..................................................................................................................308
Alarms..................................................................................................................................310
Travel with limited torque/force FOC....................................................................................311
6.3
Examples.............................................................................................................................314
6.4
6.4.1
6.4.1.1
6.4.2
6.4.2.1
6.4.3
6.4.3.1
6.4.3.2
Data lists..............................................................................................................................315
Machine data........................................................................................................................315
Axis/spindlespecific machine data.......................................................................................315
Setting data..........................................................................................................................316
Axis/spindle-specific setting data.........................................................................................316
Signals.................................................................................................................................316
Signals to axis/spindle..........................................................................................................316
Signals from axis/spindle.....................................................................................................316
G2: Velocities, setpoint / actual value systems, closed-loop control........................................................317
7.1
Brief description...................................................................................................................317
7.2
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
Velocities, traversing ranges, accuracies.............................................................................317
Velocities..............................................................................................................................317
Traversing ranges................................................................................................................319
Positioning accuracy of the control system .........................................................................320
Input/display resolution, computational resolution...............................................................320
Scaling of physical quantities of machine and setting data..................................................322
7.3
7.3.1
7.3.2
7.3.3
Metric/inch measuring system..............................................................................................325
Conversion of basic system by part program.......................................................................325
Manual switchover of the basic system................................................................................329
FGROUP and FGREF..........................................................................................................333
7.4
7.4.1
7.4.2
7.4.3
Setpoint/actual-value system...............................................................................................336
General................................................................................................................................336
Setpoint and encoder assignment........................................................................................339
Adapting the motor/load ratios.............................................................................................342
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
7.4.4
7.4.5
7.4.6
7.4.6.1
7.4.6.2
7.4.6.3
7.4.6.4
7.4.6.5
7.4.6.6
7.4.6.7
Speed setpoint output..........................................................................................................345
Machine data of the actual value system.............................................................................347
Actual-value resolution.........................................................................................................348
Machine data of the actual value resolution.........................................................................348
Example: Linear axis with linear scale.................................................................................351
Example: Linear axis with rotary encoder on motor.............................................................352
Example: Linear axis with rotary encoder on the machine...................................................353
Example: Rotary axis with rotary encoder on motor............................................................354
Example: Rotary axis with rotary encoder on the machine..................................................356
Example: Intermediate gear with encoder on the tool..........................................................357
7.5
7.5.1
7.5.2
Closed-loop control..............................................................................................................357
General................................................................................................................................357
Parameter sets of the position controller..............................................................................361
7.6
7.6.1
7.6.2
7.6.3
7.6.4
7.6.5
Optimization of the control...................................................................................................362
Position controller, position setpoint filter: Balancing filter...................................................362
Position controller, position setpoint filter: Jerk filter............................................................365
Position controller, position setpoint filter: Phase filter.........................................................368
Position controller: injection of positional deviation..............................................................370
Position control with proportional-plus-integral-action controller..........................................371
7.7
7.7.1
7.7.1.1
7.7.1.2
7.7.1.3
7.7.1.4
Data lists..............................................................................................................................374
Machine data........................................................................................................................374
Displaying machine data......................................................................................................374
NC-specific machine data....................................................................................................374
Channelspecific machine data.............................................................................................374
Axis/spindlespecific machine data.......................................................................................375
H2: Auxiliary function outputs to PLC.......................................................................................................377
8.1
8.1.1
8.1.2
8.1.3
Brief description...................................................................................................................377
Function...............................................................................................................................377
Definition of an auxiliary function.........................................................................................378
Overview of the auxiliary functions.......................................................................................378
8.2
8.2.1
8.2.2
8.2.3
8.2.3.1
8.2.3.2
8.2.3.3
Predefined auxiliary functions..............................................................................................384
Overview: Predefined auxiliary functions.............................................................................385
Overview: Output behavior...................................................................................................396
Parameterization..................................................................................................................399
Group assignment................................................................................................................399
Type, address extension and value.....................................................................................399
Output behavior....................................................................................................................401
8.3
8.3.1
8.3.1.1
8.3.1.2
8.3.1.3
8.3.1.4
Userdefined auxiliary functions............................................................................................404
Parameterization..................................................................................................................406
Maximum number of user-defined auxiliary functions..........................................................406
Group assignment................................................................................................................406
Type, address extension and value.....................................................................................406
Output behavior....................................................................................................................408
8.4
Associated auxiliary functions..............................................................................................408
8.5
Type-specific output behavior..............................................................................................410
8.6
Priorities of the output behavior for which parameters have been assigned........................411
8.7
Programming an auxiliary function.......................................................................................412
Basic Functions
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Table of contents
14
8.8
Programmable output duration.............................................................................................414
8.9
Auxiliary function output to the PLC.....................................................................................415
8.10
Auxiliary functions without block change delay....................................................................416
8.11
M function with an implicit preprocessing stop.....................................................................417
8.12
Response to overstore.........................................................................................................417
8.13
8.13.1
8.13.2
8.13.3
8.13.4
8.13.5
8.13.6
8.13.7
Behavior during block search...............................................................................................418
Auxiliary function output during type 1, 2, and 4 block searches.........................................418
Assignment of an auxiliary function to a number of groups.................................................420
Time stamp of the active M auxiliary function......................................................................421
Determining the output sequence........................................................................................421
Output suppression of spindle-specific auxiliary functions...................................................423
Auxiliary function output with a type 5 block search (SERUPRO).......................................426
ASUB at the end of the SERUPRO......................................................................................431
8.14
Implicitly output auxiliary functions.......................................................................................437
8.15
8.15.1
8.15.2
Information options...............................................................................................................438
Group-specific modal M auxiliary function display...............................................................439
Querying system variables...................................................................................................440
8.16
8.16.1
8.16.2
Supplementary conditions....................................................................................................442
General constraints..............................................................................................................442
Output behavior....................................................................................................................443
8.17
8.17.1
8.17.2
Examples.............................................................................................................................444
Extension of predefined auxiliary functions..........................................................................444
Defining auxiliary functions..................................................................................................446
8.18
8.18.1
8.18.1.1
8.18.1.2
8.18.2
8.18.2.1
8.18.2.2
8.18.2.3
8.18.2.4
Data lists..............................................................................................................................450
Machine data........................................................................................................................450
NC-specific machine data....................................................................................................450
Channelspecific machine data.............................................................................................450
Signals.................................................................................................................................451
Signals to channel................................................................................................................451
Signals from channel............................................................................................................451
Signals to axis/spindle..........................................................................................................453
Signals from axis/spindle.....................................................................................................454
K1: Mode group, channel, program operation, reset response................................................................455
9.1
Product brief.........................................................................................................................455
9.2
9.2.1
9.2.2
Mode group..........................................................................................................................457
Mode group stop..................................................................................................................460
Mode group reset.................................................................................................................460
9.3
9.3.1
9.3.2
Mode types and mode type change.....................................................................................461
Monitoring functions and interlocks of the individual modes................................................466
Mode change.......................................................................................................................466
9.4
9.4.1
Channel................................................................................................................................467
Global start disable for channel............................................................................................470
9.5
9.5.1
Program test.........................................................................................................................471
Program execution without setpoint outputs........................................................................471
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
9.5.2
9.5.3
9.5.4
Program execution in single-block mode.............................................................................473
Program execution with dry run feedrate.............................................................................475
Skip part-program blocks.....................................................................................................477
9.6
Workpiece simulation...........................................................................................................478
9.7
9.7.1
9.7.2
9.7.2.1
9.7.2.2
9.7.2.3
9.7.2.4
9.7.3
9.7.4
9.7.5
9.7.6
9.7.6.1
Block search, types 1, 2, and 4:...........................................................................................479
Description of the function....................................................................................................480
Block search in connection with other NCK functions..........................................................482
ASUB after and during block search....................................................................................482
PLC actions after block search............................................................................................483
Spindle functions after block search....................................................................................484
Reading system variables for a block search.......................................................................485
Automatic start of an ASUB after a block search.................................................................485
Cascaded block search........................................................................................................487
Examples for block search with calculation..........................................................................488
Supplementary conditions....................................................................................................493
Compressor functions (COMPON, COMPCURV, COMPCAD)...........................................493
9.8
9.8.1
9.8.2
9.8.2.1
9.8.3
9.8.4
9.8.5
9.8.6
9.8.7
9.8.8
9.8.8.1
9.8.8.2
9.8.8.3
9.8.8.4
9.8.8.5
9.8.8.6
9.8.8.7
9.8.8.8
9.8.8.9
9.8.8.10
9.8.8.11
9.8.8.12
9.8.9
Block search Type 5 (SERUPRO).......................................................................................493
Description of the function....................................................................................................493
Repositioning to the contour (REPOS)................................................................................497
Repositioning with controlled REPOS..................................................................................505
Accelerate block search.......................................................................................................506
SERUPRO ASUB.................................................................................................................508
Selfacting SERUPRO...........................................................................................................511
Locking a program section for "Continue machining at the contour"...................................512
Behavior during POWER ON, mode change and RESET...................................................515
Supplementary conditions....................................................................................................516
STOPRE in the target block.................................................................................................516
SPOS in target block............................................................................................................517
Travel to fixed stop (FXS)....................................................................................................517
Travel with limited torque/force (FOC).................................................................................518
Synchronous spindle............................................................................................................518
Couplings and master-slave.................................................................................................519
Axis functions.......................................................................................................................522
Gear stage change...............................................................................................................523
Superimposed motion..........................................................................................................524
NC/PLC interface signals.....................................................................................................524
Making the initial settings more flexible................................................................................525
Compressor functions (COMPON, COMPCURV, COMPCAD)...........................................525
System variable....................................................................................................................526
9.9
9.9.1
9.9.2
9.9.3
9.9.4
9.9.5
9.9.6
9.9.7
9.9.8
9.9.9
9.9.10
Program operation...............................................................................................................526
Initial settings.......................................................................................................................527
Selection and start of part program or part program block...................................................529
Part program interruption.....................................................................................................531
RESET command................................................................................................................532
Program status.....................................................................................................................533
Channel status.....................................................................................................................534
Responses to operator or program actions..........................................................................535
Part-Program Start...............................................................................................................537
Example of a timing diagram for a program run...................................................................538
Program jumps.....................................................................................................................538
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
15
Table of contents
16
9.9.10.1
9.9.11
9.9.11.1
9.9.11.2
9.9.11.3
9.9.11.4
9.9.11.5
9.9.12
9.9.12.1
9.9.12.2
9.9.12.3
9.9.12.4
9.9.12.5
9.9.13
Jump back to start of program.............................................................................................538
Program section repetitions.................................................................................................540
Overview..............................................................................................................................540
Individual part program block...............................................................................................541
A part program section after a start label.............................................................................542
A part program section between a start label and end label................................................543
A part program section between a Start label and the key word: ENDLABEL.....................544
Event-driven program call (PROG_EVENT)........................................................................545
Function...............................................................................................................................545
Parameterization..................................................................................................................549
Programming........................................................................................................................552
Boundary conditions.............................................................................................................554
Examples.............................................................................................................................554
Influencing the Stop events through Stop delay area..........................................................556
9.10
9.10.1
9.10.1.1
9.10.1.2
9.10.1.3
9.10.1.4
9.10.2
9.10.3
9.10.4
9.10.5
Asynchronous subprograms (ASUBs), interrupt routines....................................................558
Function...............................................................................................................................558
General functionality............................................................................................................558
Sequence of an interrupt routine in program operation........................................................561
Interrupt routine with REPOSA............................................................................................562
NC response........................................................................................................................563
Parameterization..................................................................................................................564
Programming........................................................................................................................568
Restrictions..........................................................................................................................570
Examples.............................................................................................................................570
9.11
9.11.1
9.11.2
9.11.3
User-specific ASUB for RET and REPOS............................................................................571
Function...............................................................................................................................571
Parameter assignment.........................................................................................................571
Programming........................................................................................................................573
9.12
9.12.1
9.12.2
9.12.3
9.12.3.1
9.12.3.2
9.12.3.3
9.12.3.4
9.12.3.5
Perform ASUB start for user alarms.....................................................................................574
Function...............................................................................................................................574
Activation..............................................................................................................................575
Examples.............................................................................................................................575
User ASUB from reset - example 1......................................................................................575
User ASUB from reset - example 2......................................................................................576
User ASUB with M0.............................................................................................................577
User ASUB with stop............................................................................................................579
User ASUB from stopped.....................................................................................................580
9.13
9.13.1
9.13.2
9.13.3
9.13.4
Single block..........................................................................................................................581
Parameterization..................................................................................................................581
Programming........................................................................................................................582
Supplementary conditions....................................................................................................586
Single-block behavior in mode group with type A/B.............................................................586
9.14
9.14.1
9.14.2
9.14.3
9.14.4
9.14.5
9.14.6
9.14.7
Program control....................................................................................................................587
Function selection (via operator panel front or PLC)............................................................588
Activation of skip levels........................................................................................................589
Adapting the size of the interpolation buffer.........................................................................590
Program display modes via an additional basic block display.............................................592
Basic block display for ShopMill/ShopTurn..........................................................................592
Structure for a DIN block......................................................................................................595
Execution from external.......................................................................................................598
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
10
9.14.8
Executing external subprograms (EXTCALL)......................................................................600
9.15
9.15.1
9.15.2
9.15.2.1
9.15.2.2
9.15.2.3
9.15.2.4
EES (optional)......................................................................................................................603
Function...............................................................................................................................603
Commissioning.....................................................................................................................604
Preconditions.......................................................................................................................604
Global part program memory (GDIR)...................................................................................606
Settings for file handling in the part program for EES..........................................................607
Memory configuration...........................................................................................................609
9.16
9.16.1
System settings for power-up, RESET / part program end and part program start.............609
Tool withdrawal after POWER ON with orientation transformation......................................614
9.17
9.17.1
9.17.2
9.17.2.1
9.17.2.2
9.17.2.3
9.17.2.4
9.17.2.5
9.17.2.6
9.17.3
9.17.3.1
9.17.3.2
9.17.3.3
9.17.3.4
9.17.3.5
9.17.3.6
9.17.4
9.17.5
Replacing functions by subprograms...................................................................................617
Overview..............................................................................................................................617
Replacement of M, T/TCA and D/DL functions....................................................................618
Replacement of M functions.................................................................................................618
Replacing T/TCA and D/DL functions..................................................................................620
System variable....................................................................................................................623
Example: Replacement of an M function.............................................................................624
Example: Replacement of a T and D function......................................................................627
Behavior in the event of a conflict........................................................................................628
Replacement of spindle functions........................................................................................629
General................................................................................................................................629
Replacement of M40 - M45 (gear stage change).................................................................630
Replacement of SPOS, SPOSA, M19 (spindle positioning).................................................631
System variable....................................................................................................................632
Example: Gear stage change...............................................................................................633
Example: Spindle positioning...............................................................................................635
Properties of the subprograms.............................................................................................638
Restrictions..........................................................................................................................640
9.18
9.18.1
9.18.2
Program runtime / part counter............................................................................................640
Program runtime..................................................................................................................641
Workpiece counter...............................................................................................................647
9.19
9.19.1
9.19.1.1
9.19.1.2
9.19.1.3
9.19.2
9.19.2.1
9.19.3
9.19.3.1
9.19.3.2
9.19.3.3
9.19.3.4
9.19.3.5
9.19.3.6
9.19.3.7
Data lists..............................................................................................................................651
Machine data........................................................................................................................651
General machine data..........................................................................................................651
Channel-specific machine data............................................................................................653
Axis/spindlespecific machine data.......................................................................................656
Setting data..........................................................................................................................656
Channelspecific setting data................................................................................................656
Signals.................................................................................................................................656
Signals to NC.......................................................................................................................656
Signals to mode group.........................................................................................................657
Signals to NC.......................................................................................................................657
Signals to channel................................................................................................................657
Signals from channel............................................................................................................658
Signals to NC.......................................................................................................................659
Signals from axis/spindle.....................................................................................................659
K2: Axis Types, Coordinate Systems, Frames.........................................................................................661
10.1
10.1.1
Brief description...................................................................................................................661
Axes.....................................................................................................................................661
Basic Functions
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17
Table of contents
18
10.1.2
10.1.3
Coordinate systems.............................................................................................................663
Frames.................................................................................................................................664
10.2
10.2.1
10.2.2
10.2.3
10.2.4
10.2.5
10.2.6
10.2.7
10.2.8
10.2.9
10.2.10
10.2.11
Axes.....................................................................................................................................667
Overview..............................................................................................................................667
Machine axes.......................................................................................................................669
Channel axes.......................................................................................................................670
Geometry axes.....................................................................................................................670
Special axes.........................................................................................................................670
Path axes.............................................................................................................................671
Positioning axes...................................................................................................................671
Main axes.............................................................................................................................672
Synchronized axes...............................................................................................................673
Axis configuration.................................................................................................................675
Link axes..............................................................................................................................677
10.3
10.3.1
10.3.2
Zeros and reference points..................................................................................................678
Reference points in working space......................................................................................678
Position of coordinate systems and reference points...........................................................680
10.4
10.4.1
10.4.2
10.4.2.1
10.4.2.2
10.4.3
10.4.4
10.4.5
10.4.6
10.4.7
Coordinate systems.............................................................................................................681
Overview..............................................................................................................................681
Machine coordinate system (MCS)......................................................................................685
Actual value setting with loss of the referencing status (PRESETON)................................686
Actual value setting without loss of the referencing status (PRESETONS).........................691
Basic coordinate system (BCS)...........................................................................................696
Additive offsets.....................................................................................................................698
Basic zero system (BZS)......................................................................................................700
Settable zero system (SZS).................................................................................................702
Workpiece coordinate system (WCS)..................................................................................703
10.5
10.5.1
10.5.2
10.5.2.1
10.5.2.2
10.5.2.3
10.5.2.4
10.5.2.5
10.5.2.6
10.5.2.7
10.5.2.8
10.5.2.9
10.5.2.10
10.5.2.11
10.5.3
10.5.3.1
10.5.3.2
10.5.3.3
10.5.4
10.5.4.1
10.5.4.2
10.5.4.3
Frames.................................................................................................................................704
Frame types.........................................................................................................................704
Frame components..............................................................................................................705
Translation...........................................................................................................................705
Fine offset............................................................................................................................706
Rotation Overview (geometry axes only).............................................................................707
Rotation with a Euler angles: ZY'X" convention (RPY angles).............................................708
Rotation with a Euler angles: ZX'Z" convention...................................................................713
Rotation in any plane...........................................................................................................714
Scaling.................................................................................................................................715
Mirroring...............................................................................................................................716
Chain operator.....................................................................................................................716
Programmable axis name....................................................................................................716
Coordinate transformation....................................................................................................718
Data management frames and active frames......................................................................718
Overview..............................................................................................................................718
Activating data management frames....................................................................................720
NCU-global and channel-specific frames.............................................................................721
Frame chain and coordinate systems..................................................................................722
Overview..............................................................................................................................722
Relative coordinate systems................................................................................................723
Selectable SZS....................................................................................................................725
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
10.5.4.4
10.5.4.5
10.5.5
10.5.5.1
10.5.5.2
10.5.5.3
10.5.5.4
10.5.5.5
10.5.5.6
10.5.5.7
10.5.5.8
10.5.6
10.5.6.1
10.5.6.2
10.5.6.3
10.5.6.4
10.5.7
10.5.7.1
10.5.7.2
10.5.8
10.5.8.1
10.5.8.2
10.5.8.3
10.5.9
10.5.10
10.5.11
10.5.12
10.5.12.1
10.5.12.2
10.5.12.3
10.5.12.4
10.5.12.5
10.5.12.6
Manual traversing of geometry axes either in the WCS or in the SZS
($AC_JOG_COORD)...........................................................................................................726
Suppression of frames.........................................................................................................727
Frames of the frame chain...................................................................................................728
Overview..............................................................................................................................728
Settable frames ($P_UIFR[<n>])..........................................................................................729
Grinding frames $P_GFR[<n>].............................................................................................730
Channel-specific basic frames[<n>].....................................................................................732
NCU-global basic frames $P_NCBFR[<n>].........................................................................734
Active complete basic frame $P_ACTBFRAME...................................................................735
Programmable frame $P_PFRAME.....................................................................................736
Channelspecific system frames...........................................................................................738
Implicit frame changes.........................................................................................................740
Frames and switchover of geometry axes...........................................................................740
Frame for selection and deselection of transformations......................................................743
Adapting active frames.........................................................................................................760
Mapped Frames...................................................................................................................761
Predefined frame functions..................................................................................................765
Inverse frame.......................................................................................................................765
Additive frame in frame chain...............................................................................................767
Functions..............................................................................................................................768
Setting zeros, workpiece measuring and tool measuring.....................................................768
Zero offset external via system frames................................................................................769
Toolholder............................................................................................................................770
Subprograms with SAVE attribute (SAVE)...........................................................................780
Data backup.........................................................................................................................781
Positions in the coordinate system.......................................................................................782
Control system response ....................................................................................................783
POWER ON.........................................................................................................................783
Mode change.......................................................................................................................783
RESET, end of part program ...............................................................................................784
Part program start................................................................................................................786
Block search.........................................................................................................................787
REPOS.................................................................................................................................787
10.6
10.6.1
10.6.2
10.6.3
Workpiece-related actual value system...............................................................................788
Overview..............................................................................................................................788
Use of the workpiece-related actual value system...............................................................788
Special reactions..................................................................................................................790
10.7
Restrictions..........................................................................................................................792
10.8
10.8.1
10.8.2
10.8.3
Examples.............................................................................................................................792
Axes.....................................................................................................................................792
Coordinate systems.............................................................................................................794
Frames ...............................................................................................................................796
10.9
10.9.1
10.9.1.1
10.9.1.2
10.9.1.3
10.9.1.4
10.9.2
Data lists..............................................................................................................................798
Machine data........................................................................................................................798
Displaying machine data......................................................................................................798
NC-specific machine data....................................................................................................798
Channel-specific machine data............................................................................................799
Axis/spindlespecific machine data.......................................................................................800
Setting data..........................................................................................................................800
Basic Functions
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19
Table of contents
10.9.2.1
10.9.3
10.9.4
10.9.4.1
10.9.4.2
10.9.4.3
11
12
13
20
Channelspecific setting data................................................................................................800
System variables..................................................................................................................800
Signals.................................................................................................................................802
Signals from channel............................................................................................................802
Signals to axis/spindle..........................................................................................................802
Signals from axis/spindle.....................................................................................................802
N2: Emergency stop.................................................................................................................................803
11.1
Brief Description...................................................................................................................803
11.2
Relevant standards..............................................................................................................803
11.3
Emergency stop control elements........................................................................................804
11.4
Emergency stop sequence...................................................................................................805
11.5
Emergency stop acknowledgement.....................................................................................806
11.6
11.6.1
11.6.1.1
11.6.2
11.6.2.1
11.6.2.2
11.6.2.3
Data lists..............................................................................................................................808
Machine data........................................................................................................................808
Axis/spindlespecific machine data.......................................................................................808
Signals.................................................................................................................................809
Signals to NC.......................................................................................................................809
Signals from NC...................................................................................................................809
Signals to BAG.....................................................................................................................809
P1: Transverse axes.................................................................................................................................811
12.1
Function...............................................................................................................................811
12.2
Parameterization..................................................................................................................814
12.3
Programming........................................................................................................................817
12.4
Supplementary conditions....................................................................................................818
12.5
Examples.............................................................................................................................819
12.6
12.6.1
12.6.1.1
12.6.1.2
Data lists..............................................................................................................................820
Machine data........................................................................................................................820
Channelspecific machine data.............................................................................................820
Axis/spindlespecific machine data.......................................................................................820
P3: Basic PLC program for SINUMERIK 840D sl.....................................................................................821
13.1
Brief description...................................................................................................................821
13.2
Key data of the PLC CPU....................................................................................................823
13.3
PLC operating system version.............................................................................................824
13.4
PLC mode selector...............................................................................................................824
13.5
Reserve resources (timers, counters, FC, FB, DB, I/O).......................................................825
13.6
Commissioning hardware configuration of the PLC CPU....................................................825
13.7
13.7.1
13.7.2
13.7.3
13.7.4
Starting up the PLC program...............................................................................................825
Installation of the basic program..........................................................................................825
Application of the basic program..........................................................................................826
Version codes......................................................................................................................827
Machine program.................................................................................................................827
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
13.7.5
13.7.6
13.7.7
13.7.8
13.7.9
Data backup.........................................................................................................................828
PLC series startup, PLC archive..........................................................................................828
Software upgrade.................................................................................................................831
I/O modules (FM, CP modules)............................................................................................831
Troubleshooting...................................................................................................................832
13.8
13.8.1
13.8.2
13.8.3
13.8.4
Coupling of the PLC CPU....................................................................................................833
General................................................................................................................................833
Properties of the PLC CPU..................................................................................................833
Interface with integrated PLC...............................................................................................833
Diagnostic buffer on PLC.....................................................................................................835
13.9
13.9.1
13.9.2
13.9.3
Interface structure................................................................................................................836
PLC/NCK interface...............................................................................................................836
Interface PLC/HMI................................................................................................................842
PLC/MCP/HHU interface......................................................................................................847
13.10
13.10.1
13.10.2
13.10.3
13.10.4
13.10.5
13.10.6
13.10.7
13.10.8
13.10.9
13.10.10
13.10.11
13.10.12
Structure and functions of the basic program......................................................................849
Startup and synchronization of NCK PLC............................................................................850
Cyclic operation (OB1).........................................................................................................851
Time-interrupt processing (OB35)........................................................................................853
Process-interrupt processing (OB 40) .................................................................................853
Diagnostic alarm, module failure processing (OB82, OB86)................................................854
Response to NCK failure......................................................................................................855
Functions of the basic program called from the user program.............................................856
Symbolic programming of user program with interface DB..................................................858
M decoding acc. to list..........................................................................................................860
PLC machine data................................................................................................................864
Configuration machine control panel, handheld unit, direct keys.........................................867
Switchover of machine control panel, handheld unit............................................................876
13.11
SPL for Safety Integrated.....................................................................................................878
13.12
13.12.1
13.12.2
13.12.3
13.12.4
Assignment overview...........................................................................................................878
Assignment: NCK/PLC interface..........................................................................................878
Assignment: FB/FC..............................................................................................................879
Assignment: DB...................................................................................................................879
Assignment: Timers.............................................................................................................880
13.13
13.13.1
13.13.2
13.13.3
13.13.4
13.13.4.1
13.13.4.2
13.13.4.3
13.13.4.4
13.13.4.5
13.13.4.6
13.13.4.7
13.13.4.8
13.13.5
PLC functions for HMI..........................................................................................................881
Program selection from the PLC..........................................................................................881
Activating the key lock..........................................................................................................884
Operating area numbers......................................................................................................884
Screen numbers...................................................................................................................884
Screen numbers: JOG, manual machine.............................................................................885
Screen numbers: Reference point approach.......................................................................890
Screen numbers: MDA.........................................................................................................890
Screen numbers: AUTOMATIC............................................................................................890
Screen numbers: Parameters operating area......................................................................891
Screen numbers: Program operating area...........................................................................892
Screen numbers: Program manager operating area............................................................893
Screen numbers: Diagnostics operating area......................................................................893
HMI monitor..........................................................................................................................893
13.14
13.14.1
PLC functions for drive components on the integrated PROFIBUS.....................................895
Overview..............................................................................................................................895
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
21
Table of contents
22
13.14.2
13.14.3
Performing a start-up...........................................................................................................895
Example...............................................................................................................................896
13.15
Memory requirements of the basic PLC program................................................................897
13.16
13.16.1
13.16.1.1
13.16.1.2
13.16.1.3
13.16.2
13.16.2.1
13.16.2.2
13.16.2.3
Basic conditions and NC VAR selector................................................................................900
Supplementary conditions....................................................................................................900
Programming and parameterizing tools...............................................................................900
SIMATIC documentation required........................................................................................902
Relevant SINUMERIK documents.......................................................................................902
NC VAR selector..................................................................................................................903
Overview..............................................................................................................................903
Description of functions........................................................................................................905
Startup, installation...............................................................................................................914
13.17
13.17.1
13.17.2
13.17.3
13.17.4
13.17.4.1
13.17.4.2
13.17.4.3
13.17.4.4
13.17.4.5
13.17.4.6
13.17.4.7
13.17.4.8
13.17.4.9
13.17.4.10
13.17.4.11
13.17.4.12
13.17.4.13
13.17.4.14
13.17.4.15
13.17.4.16
13.17.4.17
13.17.4.18
13.17.4.19
13.17.4.20
13.17.4.21
13.17.4.22
13.17.4.23
13.17.4.24
13.17.4.25
13.17.4.26
13.17.4.27
13.17.4.28
13.17.4.29
13.17.4.30
13.17.4.31
13.17.4.32
13.17.4.33
13.17.4.34
Block descriptions................................................................................................................914
FB1: RUN_UP - basic program, start section.......................................................................914
FB2: GET - read NC variable...............................................................................................922
FB3: PUT - write NC variables.............................................................................................930
FB4: Request PI service......................................................................................................937
FB4: PI_SERV - request PI service......................................................................................937
List of available Pl services..................................................................................................941
PI service: ASUB .................................................................................................................942
PI service: CANCEL.............................................................................................................943
PI service: CONFIG.............................................................................................................943
PI service: DIGION...............................................................................................................944
PI service: DIGIOF...............................................................................................................944
PI service: FINDBL...............................................................................................................944
PI service: LOGIN................................................................................................................945
PI service: LOGOUT............................................................................................................945
PI service: NCRES...............................................................................................................945
PI service: SELECT.............................................................................................................945
PI service: SETUDT.............................................................................................................946
PI service: SETUFR.............................................................................................................947
PI service: RETRAC.............................................................................................................947
PI service: CRCEDN............................................................................................................948
PI service: CREACE............................................................................................................948
PI service: CREATO............................................................................................................949
PI service: DELECE.............................................................................................................949
PI service: DELETO.............................................................................................................950
PI service: MMCSEM...........................................................................................................950
PI service: TMCRTO............................................................................................................951
PI service: TMFDPL.............................................................................................................952
PI service: TMFPBP.............................................................................................................953
PI service: TMGETT.............................................................................................................955
PI service: TMMVTL.............................................................................................................955
PI service: TMPOSM............................................................................................................957
PI service: TMPCIT..............................................................................................................958
PI service: TMRASS............................................................................................................958
PI service: TRESMO............................................................................................................958
PI service: TSEARC.............................................................................................................959
PI service: TMCRMT............................................................................................................962
PI service: TMDLMT............................................................................................................963
PI service: POSMT...............................................................................................................963
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
13.17.4.35
13.17.5
13.17.6
13.17.7
13.17.8
13.17.9
13.17.10
13.17.11
13.17.12
13.17.13
13.17.14
13.17.15
13.17.16
13.17.17
13.17.18
13.17.19
13.17.20
13.17.21
13.17.22
13.17.23
13.17.24
13.17.25
13.17.26
13.17.27
13.17.28
13.17.28.1
13.17.28.2
13.17.29
13.17.30
13.17.31
PI service: FDPLMT.............................................................................................................964
FB5: GETGUD - read GUD variable....................................................................................965
FB7: PI_SERV2 - request PI service....................................................................................973
FB9: MtoN - operator panel switchover................................................................................974
FB10: Safety relay (SI relay)................................................................................................979
FB11: Brake test..................................................................................................................981
FB29: Signal recorder and data trigger diagnostics.............................................................987
FC2 : GP_HP - basic program, cyclic section......................................................................990
FC3: GP_PRAL - basic program, interruptdriven section.....................................................992
FC5: GP_DIAG - basic program, diagnostic alarm and module failure................................994
FC6: TM_TRANS2 - transfer block for tool management and multitool...............................996
FC7: TM_REV - transfer block for tool change with revolver...............................................997
FC8: TM_TRANS - transfer block for tool management....................................................1000
FC9: ASUB - start of asynchronous subroutines...............................................................1007
FC10: AL_MSG - error and operating messages...............................................................1010
FC12: AUXFU - call interface for user with auxiliary functions...........................................1012
FC13: BHGDisp - display control for handheld unit...........................................................1013
FC17: Star-delta - star-delta changeover...........................................................................1017
FC18: SpinCtrl - spindle control.........................................................................................1020
FC19: MCP_IFM - transfer of MCP signals to interface.....................................................1030
FC21: transfer PLC NCK data exchange...........................................................................1037
FC22: TM_DIR - direction selection for tool management.................................................1044
FC24: MCP_IFM2 - transferring MCP signals to the interface...........................................1046
FC25: MCP_IFT - transfer of MCP/OP signals to interface................................................1049
FC26: HPU_MCP - transfer of HT 8 signals to the interface..............................................1052
Overview of the NC/PLC interface signals of HT 8............................................................1057
Overview of the NC/PLC interface signals of HT 8............................................................1058
FC19, FC24, FC25, FC26 - description of the source code...............................................1059
FC1005: AG_SEND - transfers data to Ethernet CP..........................................................1061
FC1006: AG_RECV - receives data from the Ethernet CP................................................1062
13.18
13.18.1
13.18.2
13.18.3
13.18.4
Signal/data descriptions.....................................................................................................1063
Interface signals NCK/PLC, HMI/PLC, MCP/PLC..............................................................1063
Decoded M signals.............................................................................................................1064
G Functions........................................................................................................................1065
Message signals in DB 2....................................................................................................1066
13.19
13.19.1
13.19.2
13.19.2.1
13.19.2.2
13.19.2.3
13.19.3
13.19.4
13.19.5
13.19.6
Programming tips with STEP 7..........................................................................................1067
Copying data......................................................................................................................1067
ANY and POINTER............................................................................................................1067
Use of POINTER and ANY in FC.......................................................................................1068
Use of POINTER and ANY in FB.......................................................................................1069
POINTER or ANY variable for transfer to FC or FB...........................................................1070
Multiinstance DB................................................................................................................1072
Strings................................................................................................................................1074
Determining offset addresses for data block structures.....................................................1074
FB calls..............................................................................................................................1075
13.20
13.20.1
13.20.1.1
13.20.1.2
13.20.1.3
13.20.2
Data lists............................................................................................................................1076
Machine data......................................................................................................................1076
Display machine data.........................................................................................................1076
NC-specific machine data..................................................................................................1077
Channelspecific machine data...........................................................................................1077
Signals...............................................................................................................................1077
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
23
Table of contents
13.20.2.1
14
24
Signals from operator panel...............................................................................................1077
P4: PLC for SINUMERIK 828D..............................................................................................................1079
14.1
14.1.1
14.1.2
14.1.2.1
14.1.2.2
14.1.2.3
14.1.2.4
14.1.2.5
14.1.3
14.1.4
14.1.5
14.1.5.1
Overview............................................................................................................................1079
PLC firmware.....................................................................................................................1079
PLC user interface.............................................................................................................1079
Data that are cyclically exchanged.....................................................................................1081
Alarms and messages........................................................................................................1081
Retentive data....................................................................................................................1082
Non-retentive data..............................................................................................................1082
PLC machine data..............................................................................................................1082
PLC key data......................................................................................................................1082
PLC I/O, fast onboard inputs/outputs.................................................................................1083
PLC Toolbox......................................................................................................................1083
Star/delta changeover........................................................................................................1083
14.2
Fast on-board inputs and outputs......................................................................................1083
14.3
14.3.1
14.3.2
Ladder viewer and ladder add-on......................................................................................1085
Overview............................................................................................................................1085
Parameterization................................................................................................................1085
14.4
PLC Programming Tool......................................................................................................1086
14.5
14.5.1
14.5.1.1
14.5.1.2
14.5.1.3
14.5.1.4
14.5.1.5
14.5.2
14.5.2.1
14.5.2.2
Data interface.....................................................................................................................1086
PLC-NCK interface.............................................................................................................1087
Mode signals......................................................................................................................1087
NC channel signals............................................................................................................1088
Axis and spindle signals.....................................................................................................1089
General NCK signals..........................................................................................................1090
Fast data exchange PLC-NCK...........................................................................................1090
PLC-HMI interface..............................................................................................................1091
Operating area numbers....................................................................................................1091
Screen numbers.................................................................................................................1092
14.6
14.6.1
14.6.1.1
14.6.1.2
14.6.1.3
14.6.1.4
14.6.1.5
14.6.1.6
14.6.1.7
14.6.1.8
14.6.1.9
14.6.2
14.6.2.1
14.6.2.2
14.6.3
14.6.3.1
14.6.4
14.6.4.1
14.6.4.2
14.6.4.3
Function interface...............................................................................................................1100
Read/write NC variables....................................................................................................1100
User interface.....................................................................................................................1100
Job specification.................................................................................................................1101
Job management: Start job................................................................................................1102
Job management: Waiting for end of job...........................................................................1103
Job management: Job completion.....................................................................................1103
Job management: Flow diagram........................................................................................1104
Job evaluation....................................................................................................................1105
Operable variables.............................................................................................................1107
Specifying selected NC variables.......................................................................................1113
Program instance services (PI services)............................................................................1115
User interface.....................................................................................................................1115
PI services..........................................................................................................................1117
PLC user alarms................................................................................................................1120
User interface.....................................................................................................................1120
PLC axis control.................................................................................................................1124
Overview............................................................................................................................1124
User interface: Preparing the NC axis as PLC axis...........................................................1125
User interface: Functionality...............................................................................................1126
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
14.6.4.4
14.6.4.5
14.6.4.6
14.6.4.7
14.6.4.8
14.6.4.9
14.6.4.10
14.6.4.11
14.6.4.12
14.6.4.13
14.6.4.14
14.6.4.15
14.6.5
14.6.5.1
14.6.5.2
14.6.5.3
14.6.5.4
15
Spindle positioning.............................................................................................................1128
Rotate spindle....................................................................................................................1129
Oscillate spindle.................................................................................................................1131
Indexing axis......................................................................................................................1132
Positioning axis metric.......................................................................................................1134
Positioning axis inch...........................................................................................................1135
Positioning axis metric with handwheel override................................................................1137
Positioning axis inch with handwheel override...................................................................1138
Rotate spindle with automatic gear stage selection...........................................................1140
Rotate spindle with constant cutting rate [m/min]...............................................................1141
Rotate spindle with constant cutting rate [feet/min]............................................................1143
Error messages..................................................................................................................1144
Starting ASUBs..................................................................................................................1146
General..............................................................................................................................1146
Job start.............................................................................................................................1146
Job result............................................................................................................................1147
Signal flow..........................................................................................................................1148
R1: Referencing......................................................................................................................................1149
15.1
Brief Description.................................................................................................................1149
15.2
Axisspecific referencing.....................................................................................................1150
15.3
Channelspecific referencing...............................................................................................1152
15.4
Reference point appraoch from part program (G74)..........................................................1153
15.5
15.5.1
15.5.2
15.5.3
15.5.4
15.5.5
15.5.6
Referencing with incremental measurement systems........................................................1154
Hardware signals...............................................................................................................1154
Zero mark selection with BERO.........................................................................................1156
Time sequence...................................................................................................................1157
Phase 1: Traversing to the reference cam.........................................................................1158
Phase 2: Synchronization with the zero mark....................................................................1160
Phase 3: Traversing to the reference point........................................................................1165
15.6
15.6.1
15.6.2
15.6.3
15.6.4
15.6.5
Referencing with distance-coded reference marks............................................................1167
General overview...............................................................................................................1167
Basic parameter assignment..............................................................................................1168
Time sequence...................................................................................................................1170
Phase 1: Travel across the reference marks with synchronization....................................1170
Phase 2: Traversing to the target point..............................................................................1172
15.7
15.7.1
15.7.2
Referencing by means of actual value adjustment............................................................1174
Actual value adjustment to the referencing measurement system.....................................1174
Actual value adjustment for measuring systems with distance-coded reference marks. ...1175
15.8
Referencing in follow-up mode...........................................................................................1176
15.9
15.9.1
15.9.2
15.9.3
15.9.4
15.9.5
15.9.6
15.9.7
Referencing with absolute encoders..................................................................................1179
Information about the adjustment.......................................................................................1179
Calibration by entering a reference point offset.................................................................1180
Adjustment by entering a reference point value.................................................................1181
Automatic calibration with probe........................................................................................1183
Adjustment with BERO.......................................................................................................1185
Reference point approach with absolute encoders............................................................1186
Reference point approach in rotary absolute encoders with external zero mark...............1186
Basic Functions
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25
Table of contents
16
26
15.9.8
15.9.9
Enabling the measurement system....................................................................................1188
Referencing variants not supported...................................................................................1190
15.10
15.10.1
15.10.2
Automatic restoration of the machine reference................................................................1190
Automatic referencing........................................................................................................1191
Restoration of the actual position.......................................................................................1192
15.11
15.11.1
Supplementary conditions..................................................................................................1194
Large traverse range..........................................................................................................1194
15.12
15.12.1
15.12.1.1
15.12.1.2
15.12.1.3
15.12.2
15.12.2.1
15.12.2.2
15.12.2.3
15.12.2.4
15.12.2.5
15.12.2.6
Data lists............................................................................................................................1195
Machine data......................................................................................................................1195
NC-specific machine data..................................................................................................1195
Channelspecific machine data...........................................................................................1195
Axis/spindlespecific machine data.....................................................................................1195
Signals...............................................................................................................................1196
Signals to BAG...................................................................................................................1196
Signals from BAG...............................................................................................................1196
Signals to channel..............................................................................................................1197
Signals from channel..........................................................................................................1197
Signals to axis/spindle........................................................................................................1197
Signals from axis/spindle...................................................................................................1197
S1: Spindles...........................................................................................................................................1199
16.1
Brief Description.................................................................................................................1199
16.2
16.2.1
16.2.2
16.2.3
16.2.4
16.2.5
16.2.5.1
16.2.5.2
16.2.5.3
16.2.5.4
16.2.6
16.2.6.1
16.2.6.2
16.2.7
Modes................................................................................................................................1200
Overview............................................................................................................................1200
Mode change.....................................................................................................................1201
Control mode......................................................................................................................1202
Oscillation mode.................................................................................................................1205
Positioning mode................................................................................................................1205
General functionality..........................................................................................................1205
Positioning from rotation....................................................................................................1212
Positioning from standstill..................................................................................................1217
"Spindle in position" signal for tool change........................................................................1220
Axis mode..........................................................................................................................1221
General functionality..........................................................................................................1221
Implicit transition to axis mode...........................................................................................1224
Initial spindle state..............................................................................................................1227
16.3
Reference / synchronize....................................................................................................1228
16.4
16.4.1
16.4.2
16.4.3
16.4.4
16.4.5
16.4.6
16.4.7
16.4.8
16.4.9
16.4.10
Configurable gear adaptation.............................................................................................1232
Gear stages for spindles and gear change change...........................................................1232
Spindle gear stage 0..........................................................................................................1243
Determining the spindle gear stage...................................................................................1245
Parameter set selection during gear step change..............................................................1246
Intermediate gear...............................................................................................................1249
Nonacknowledged gear step change.................................................................................1250
Gear step change with oscillation mode............................................................................1251
Gear stage change at fixed position...................................................................................1257
Configurable gear step in M70...........................................................................................1263
Suppression of the gear stage change for DryRun, program test and SERUPRO............1265
16.5
Additional adaptations to the spindle functionality that can be configured.........................1267
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
17
16.6
Selectable spindles............................................................................................................1269
16.7
16.7.1
16.7.2
16.7.3
16.7.4
16.7.5
Programming......................................................................................................................1272
Programming from the part program..................................................................................1272
Programming via synchronized actions.............................................................................1276
Programming spindle controls via PLC with FC18 - only 840D sl......................................1276
Special spindle motion via the PLC interface.....................................................................1277
External programming (PLC, HMI).....................................................................................1282
16.8
16.8.1
16.8.2
16.8.3
16.8.4
16.8.5
16.8.6
16.8.7
16.8.8
16.8.9
Spindle monitoring.............................................................................................................1283
Permissible speed ranges..................................................................................................1283
Axis/spindle stationary.......................................................................................................1284
Spindle in setpoint range....................................................................................................1284
Minimum / maximum speed of the gear stage...................................................................1285
Diagnosis of spindle speed limitation.................................................................................1286
Maximum spindle speed....................................................................................................1288
Maximum encoder limit frequency.....................................................................................1290
End point monitoring..........................................................................................................1291
M40: Automatic gear stage selection for speeds outside the configured switching
thresholds...........................................................................................................................1293
16.9
16.9.1
16.9.2
16.9.3
16.9.4
Spindle with SMI 24 (Weiss spindle)..................................................................................1294
General Information...........................................................................................................1294
Sensor data........................................................................................................................1295
Clamped state....................................................................................................................1297
Additional drive parameters...............................................................................................1298
16.10
16.10.1
Supplementary conditions..................................................................................................1299
Changing control parameters.............................................................................................1299
16.11
16.11.1
Examples...........................................................................................................................1299
Automatic gear step selection (M40)..................................................................................1299
16.12
16.12.1
16.12.1.1
16.12.1.2
16.12.1.3
16.12.2
16.12.2.1
16.12.2.2
16.12.3
16.12.3.1
16.12.3.2
Data lists............................................................................................................................1300
Machine data......................................................................................................................1300
NC-specific machine data..................................................................................................1300
Channelspecific machine data...........................................................................................1300
Axis/spindlespecific machine data.....................................................................................1301
Setting data........................................................................................................................1302
Channelspecific setting data..............................................................................................1302
Axis/spindle-specific setting data.......................................................................................1303
signals................................................................................................................................1303
Signals to axis/spindle........................................................................................................1303
Signals from axis/spindle...................................................................................................1304
V1: Feedrates.........................................................................................................................................1307
17.1
Brief description.................................................................................................................1307
17.2
17.2.1
17.2.2
17.2.3
17.2.3.1
17.2.3.2
17.2.3.3
Path feedrate F..................................................................................................................1308
Feedrate type G93, G94, G95............................................................................................1310
Type of feedrate G96, G961, G962, G97, G971................................................................1312
Feedrate for thread cutting (G33, G34, G35, G335, G336) ..............................................1317
Feedrate with G33..............................................................................................................1317
Programmable run-in and run-out path for G33, G34 and G35 ........................................1318
Linear increasing/decreasing thread pitch change with G34 and G35 ..............................1320
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
27
Table of contents
18
28
17.2.3.4
17.2.3.5
17.2.4
17.2.5
Fast retraction during thread cutting..................................................................................1322
Convex thread (G335, G336).............................................................................................1326
Feedrate for tapping without compensating chuck (G331, G332)......................................1331
Feedrate for tapping with compensating chuck (G63).......................................................1332
17.3
Feedrate for positioning axes (FA).....................................................................................1333
17.4
17.4.1
17.4.2
17.4.3
17.4.4
17.4.5
17.4.6
17.4.7
17.4.8
17.4.9
17.4.10
Feedrate control.................................................................................................................1334
Feedrate disable and feedrate/spindle stop.......................................................................1334
Feedrate override on machine control panel......................................................................1335
Programmable feedrate override.......................................................................................1339
Dry run feedrate.................................................................................................................1340
Multiple feedrate values in one block.................................................................................1342
Fixed feedrate values ........................................................................................................1347
Programmable feedrate characteristics.............................................................................1349
Feedrate for chamfer/rounding FRC, FRCM......................................................................1350
Non-modal feedrate FB......................................................................................................1352
Influencing the single axis dynamic response ...................................................................1353
17.5
Supplementary conditions..................................................................................................1358
17.6
17.6.1
17.6.1.1
17.6.1.2
17.6.1.3
17.6.2
17.6.2.1
17.6.2.2
17.6.3
17.6.3.1
17.6.3.2
17.6.3.3
17.6.3.4
Data lists............................................................................................................................1359
Machine data......................................................................................................................1359
NC-specific machine data..................................................................................................1359
Channel-specific machine data..........................................................................................1359
Axis/Spindle-specific machine data....................................................................................1360
Setting data........................................................................................................................1360
Channel-specific setting data.............................................................................................1360
Axis/spindle-specific setting data.......................................................................................1361
Signals...............................................................................................................................1361
Signals to channel..............................................................................................................1361
Signals from channel..........................................................................................................1361
Signals to axis/spindle........................................................................................................1361
Signals from axis/spindle...................................................................................................1362
W1: Tool offset.......................................................................................................................................1363
18.1
Brief description.................................................................................................................1363
18.2
18.2.1
18.2.2
18.2.3
18.2.4
18.2.5
18.2.6
18.2.7
Tool....................................................................................................................................1365
General..............................................................................................................................1365
Compensation memory structure.......................................................................................1368
Calculating the tool compensation.....................................................................................1370
Address extension for NC addresses T and M..................................................................1370
Free assignment of D numbers..........................................................................................1372
Compensation block in case of error during tool change...................................................1378
Definition of the effect of the tool parameters....................................................................1381
18.3
18.3.1
18.3.2
18.3.3
18.3.4
18.3.5
18.3.6
18.3.7
Flat D number structure.....................................................................................................1382
General..............................................................................................................................1382
Creating a new D number (compensation block)...............................................................1382
D number programming.....................................................................................................1383
Programming the T number...............................................................................................1385
Programming M6................................................................................................................1385
Program test.......................................................................................................................1386
Tool management or "Flat D numbers"..............................................................................1387
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
18.4
18.4.1
18.4.2
18.4.3
18.4.4
18.4.5
18.4.6
18.4.7
18.4.8
18.4.9
18.4.10
Tool cutting edge................................................................................................................1388
General..............................................................................................................................1388
Tool parameter 1: Tool type...............................................................................................1389
Tool parameter 2: Cutting edge position............................................................................1393
Tool parameters 3 - 5: Geometry - tool lengths.................................................................1395
Tool parameters 6 - 11: Geometry - tool shape.................................................................1396
Tool parameters 12 - 14: Wear - tool lengths.....................................................................1398
Tool parameters 15 - 20: Wear - tool shape......................................................................1398
Tool parameters 21 - 23: Tool base dimension/adapter dimension...................................1399
Tool parameter 24: Undercut angle...................................................................................1400
Tools with a relevant tool point direction............................................................................1402
18.5
18.5.1
18.5.2
18.5.3
18.5.4
18.5.4.1
18.5.4.2
18.5.4.3
18.5.4.4
18.5.4.5
18.5.4.6
18.5.5
18.5.6
18.5.7
18.5.8
18.5.9
18.5.10
18.5.11
18.5.12
18.5.13
Tool radius compensation 2D (TRC)..................................................................................1402
General..............................................................................................................................1402
Selecting the TRC (G41/G42)............................................................................................1403
Approach and retraction behavior (NORM/KONT/KONTC/KONTT)..................................1404
Smooth approach and retraction........................................................................................1409
Function.............................................................................................................................1409
Parameters.........................................................................................................................1410
Velocities............................................................................................................................1417
System variables................................................................................................................1419
Supplementary conditions..................................................................................................1419
Examples...........................................................................................................................1420
Deselecting the TRC (G40)................................................................................................1423
Compensation at outside corners......................................................................................1424
Compensation and inner corners.......................................................................................1428
Collision detection and bottleneck detection......................................................................1430
Blocks with variable compensation value...........................................................................1432
Keep tool radius compensation constant...........................................................................1434
Alarm behavior...................................................................................................................1437
Intersection procedure for polynomials..............................................................................1437
G461/G462 Approach/retract strategy expansion..............................................................1438
18.6
18.6.1
18.6.2
18.6.3
18.6.4
18.6.5
18.6.6
18.6.7
Toolholder with orientation capability.................................................................................1442
General..............................................................................................................................1442
Kinematic interaction and machine design.........................................................................1449
Inclined surface machining with 3 + 2 axes........................................................................1457
Machine with rotary work table...........................................................................................1458
Procedure when using toolholders with orientation capability............................................1461
Programming......................................................................................................................1465
Supplementary conditions and control system response for orientation............................1466
18.7
18.7.1
18.7.2
18.7.3
18.7.4
18.7.5
18.7.6
18.7.7
18.7.8
18.7.9
Cutting edge data modification for tools that can be rotated .............................................1468
Function.............................................................................................................................1468
Determination of angle of rotation......................................................................................1468
Cutting edge position, cut direction and angle for rotary tools...........................................1469
Modifications during the rotation of turning tools................................................................1472
Cutting edge position for milling and tapping tools.............................................................1474
Modifications during rotation of milling and tapping tools...................................................1475
Parameter assignment.......................................................................................................1476
Programming......................................................................................................................1477
Example.............................................................................................................................1480
18.8
Incrementally programmed compensation values..............................................................1481
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29
Table of contents
30
18.8.1
18.8.2
G91 extension....................................................................................................................1481
Machining in direction of tool orientation............................................................................1483
18.9
Basic tool orientation..........................................................................................................1484
18.10
18.10.1
18.10.2
18.10.3
18.10.4
18.10.5
18.10.6
18.10.7
Special handling of tool compensations.............................................................................1488
Relevant setting data.........................................................................................................1488
Mirror tool lengths (SD42900 $SC_MIRROR_TOOL_LENGTH)........................................1489
Mirror wear lengths (SD42920 $SC_WEAR_SIGN_CUTPOS)..........................................1490
Tool length and plane change (SD42940 $SC_TOOL_LENGTH_CONST).......................1491
Tool type (SD42950 $SC_TOOL_LENGTH_TYPE)...........................................................1492
Tool lengths in the WCS, allowing for the orientation........................................................1493
Tool length offsets in tool direction.....................................................................................1493
18.11
18.11.1
18.11.2
18.11.3
18.11.4
18.11.5
18.11.5.1
18.11.5.2
Sum offsets and setup offsets............................................................................................1498
General..............................................................................................................................1498
Description of function........................................................................................................1499
Activation............................................................................................................................1502
Examples...........................................................................................................................1507
Upgrades for Tool Length Determination...........................................................................1508
Taking the compensation values into account location-specifically and workpiecespecifically..........................................................................................................................1508
Functionality of the individual wear values.........................................................................1512
18.12
18.12.1
18.12.2
18.12.3
18.12.4
18.12.5
18.12.6
18.12.7
Working with tool environments.........................................................................................1516
General..............................................................................................................................1516
Saving with TOOLENV.......................................................................................................1516
Delete tool environment.....................................................................................................1518
How many environments and which ones are saved?.......................................................1519
Read T, D, DL from a tool environment.............................................................................1520
Read tool lengths, tool length components........................................................................1521
Changing tool components................................................................................................1526
18.13
Tool lengths L1, L2, L3 assignment: LENTOAX................................................................1531
18.14
18.14.1
18.14.2
Supplementary conditions..................................................................................................1534
Flat D number structure.....................................................................................................1534
SD42935 expansions.........................................................................................................1535
18.15
18.15.1
18.15.1.1
18.15.1.2
18.15.1.3
18.15.1.4
18.15.2
Examples...........................................................................................................................1535
Toolholder with orientation capability.................................................................................1535
Example: Toolholder with orientation capability.................................................................1535
Example of toolholder with orientation capability with rotary table.....................................1536
Basic tool orientation example...........................................................................................1538
Calculation of compensation values on a location-specific and workpiece-specific basis..1539
Examples 3-6: SETTCOR function for tool environments..................................................1541
18.16
18.16.1
18.16.1.1
18.16.1.2
18.16.1.3
18.16.2
18.16.2.1
18.16.3
18.16.3.1
Data lists............................................................................................................................1547
Machine data......................................................................................................................1547
NC-specific machine data..................................................................................................1547
Channelspecific machine data...........................................................................................1548
Axis/spindlespecific machine data.....................................................................................1549
Setting data........................................................................................................................1549
Channelspecific setting data..............................................................................................1549
Signals...............................................................................................................................1550
Signals from channel..........................................................................................................1550
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Table of contents
19
Z1: NC/PLC interface signals.................................................................................................................1551
19.1
19.1.1
19.1.2
19.1.3
19.1.4
19.1.5
19.1.6
19.1.7
19.1.8
19.1.9
Various interface signals and functions (A2)......................................................................1551
Signals from PLC to NC (DB10).........................................................................................1551
Selection/Status signals from HMI to PLC (DB10).............................................................1551
Signals from the NC to the PLC (DB10).............................................................................1552
Signals to Operator Panel (DB19)......................................................................................1556
Signals from operator control panel (DB19).......................................................................1561
Signals to channel (DB21, ...)............................................................................................1565
Signals from channel (DB21, ...)........................................................................................1565
Signals to axis/spindle (DB31, ...)......................................................................................1566
Signals from axis/spindle (DB31, ...)..................................................................................1578
19.2
19.2.1
19.2.2
19.2.3
19.2.4
Axis monitoring, protection zones (A3)..............................................................................1587
Signals to channel (DB21, ...)............................................................................................1587
Signals from channel (DB21, ...)........................................................................................1588
Signals to axis/spindle (DB31, ...)......................................................................................1589
Signals from axis/spindle (DB31, ...)..................................................................................1591
19.3
19.3.1
19.3.2
Continuous-path mode, exact stop and LookAhead (B1)..................................................1592
Signals from channel (DB21, ...)........................................................................................1592
Signals from axis/spindle (DB31, ...)..................................................................................1593
19.4
19.4.1
19.4.2
Travel to fixed stop (F1).....................................................................................................1594
Signals to axis/spindle (DB31, ...)......................................................................................1594
Signals from axis/spindle (DB31, ...)..................................................................................1595
19.5
19.5.1
19.5.2
19.5.3
Help function output to PLC (H2).......................................................................................1596
Signals to channel (DB21, ...)............................................................................................1596
Signals from channel (DB21, ...)........................................................................................1596
Signals from axis/spindle (DB31, ...)..................................................................................1600
19.6
19.6.1
19.6.2
19.6.3
19.6.4
19.6.5
19.6.6
Mode group, channel, program operation, reset response (K1)........................................1601
Signals to mode group (DB11)...........................................................................................1601
Signals from the mode group (DB11).................................................................................1605
Signals to channel (DB21, ...)............................................................................................1609
Signals from channel (DB21, ...)........................................................................................1613
Signals to axis/spindle (DB31, ...)......................................................................................1627
Signals from axis/spindle (DB31, ...)..................................................................................1627
19.7
19.7.1
Axis types, coordinate systems, frames (K2).....................................................................1629
Signals to axis/spindle (DB31, ...)......................................................................................1629
19.8
19.8.1
19.8.2
Emergency stop (N2).........................................................................................................1629
Signals to NC (DB10).........................................................................................................1629
Signals from NC (DB10).....................................................................................................1631
19.9
PLC basic program (P3).....................................................................................................1631
19.10
19.10.1
19.10.2
19.10.3
19.10.4
Reference point approach (R1)..........................................................................................1632
Signals to channel (DB21, ...)............................................................................................1632
Signals from channel (DB21, ...)........................................................................................1633
Signals to axis/spindle (DB31, ...)......................................................................................1633
Signals from axis/spindle (DB31, ...)..................................................................................1634
19.11
19.11.1
Spindles (S1)......................................................................................................................1636
Signals to axis/spindle (DB31, ...)......................................................................................1636
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Table of contents
19.11.2
Signals from axis/spindle (DB31, ...)..................................................................................1642
19.12
19.12.1
19.12.2
19.12.3
Feeds (V1).........................................................................................................................1652
Signals to channel (DB21, ...)............................................................................................1652
Signals to axis/spindle (DB31, ...)......................................................................................1663
Signals from axis/spindle (DB31, ...)..................................................................................1670
Appendix.................................................................................................................................................1671
A.1
List of abbreviations...........................................................................................................1671
A.2
Documentation overview....................................................................................................1680
Glossary.................................................................................................................................................1681
Index.......................................................................................................................................................1703
32
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Fundamental safety instructions
1.1
General safety instructions
WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
Observe the safety instructions given in the hardware documentation.
Consider the residual risks for the risk evaluation.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
Protect the parameterization (parameter assignments) against unauthorized access.
Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).
1.2
Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens
products and solutions undergo continuous development. Siemens recommends strongly that
you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should also
be considered. For more information about industrial security, visit Hotspot-Text (http://
www.siemens.com/industrialsecurity).
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit Hotspot-Text (http://support.automation.siemens.com).
Basic Functions
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Fundamental safety instructions
1.2 Industrial security
WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can result in death, severe injuries and/
or material damage.
Keep the software up to date.
You will find relevant information and newsletters at this address (http://
support.automation.siemens.com).
Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
You will find further information at this address (http://www.siemens.com/
industrialsecurity).
Make sure that you include all installed products into the holistic industrial security concept.
34
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A2: Various NC/PLC interface signals and functions
2.1
Brief description
Contents
The PLC/NCK interface comprises a data interface on one side and a function interface on the
other. The data interface contains status and control signals, auxiliary functions and G
functions, while the function interface is used to transfer jobs from the PLC to the NCK.
This Description describes the functionality of interface signals, which are of general relevance
but are not included in the Descriptions of Functions.
Asynchronous events
Status signals
PLC variable (read and write)
2.2
NC/PLC interface signals - only 840D sl
2.2.1
General
NC/PLC interface
The NC/PLC interface comprises the following parts:
Data interface
Function interface
Data interface
The data interface is used for component coordination:
PLC user program
NC
HMI (operator control component)
MCP (machine control panel)
Data exchange is organized by the basic PLC program.
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A2: Various NC/PLC interface signals and functions
2.2 NC/PLC interface signals - only 840D sl
Cyclic signal exchange
The following interface signals are transferred cyclically, i.e. in the clock grid of the OB1, by
the basic PLC program:
NC and operator-panel-front-specific signals
Mode group-specific signals
Channel-specific signals
Axis/spindle-specific signals
NC and operator-panel-front-specific signals (DB10)
PLC to NC:
Signals for influencing the CNC inputs and outputs
Keyswitch signals (and password)
NC to PLC:
Actual values of CNC inputs
Setpoints of CNC outputs
Ready signals from NC and HMI
NC status signals (alarm signals)
Channel-specific signals (DB21, ...)
PLC to NC:
Control signal "Delete distance-to-go"
NC to PLC:
NC status signals (NCK alarm active)
Axis/spindle-specific signals (DB31, etc.)
PLC to NC:
Control signals to axis/spindle (e.g. follow-up mode, servo enable, etc.)
Control signals to drive (bytes 20, 21)
NC to PLC:
Status signals from axis/spindle (e.g. position controller active, current controller active,
etc.)
Control signals from drive (bytes 93, 94)
Function interface
The function interface is generated by function blocks (FB) and function calls (FC). Function
requests, e.g. to traverse axes, are sent from the PLC to the NC via the function interface.
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A2: Various NC/PLC interface signals and functions
2.2 NC/PLC interface signals - only 840D sl
References
Description of the basic PLC program:
Function Manual, Basic Functions, Basic PLC Program (P3)
Description of the event-driven signal exchange (auxiliary and G functions):
Function Manual, Basic Functions; Auxiliary Function Output to PLC (H2)
Overview of all interface signals, functional and data components:
List Manual 2
2.2.2
Ready signal to PLC
DB10 DBX104.7 (NCK CPU ready)
The NCK CPU is ready and registers itself cyclically with the PLC.
DB10 DBX108.3 (HMI - CPU at OPI ready)
SINUMERIK Operate is ready and registers itself cyclically with the NC.
DB10 DBX108.5 (drives in cyclic operation)
Requirement: For all machine axes of the NC, the associated drives are in the cyclic operation,
i.e. they cyclically exchange PROFIdrive telegrams with the NC.
DB10 DBX108.6 (drive ready)
Requirement: For all machine axes of the NC, the associated drives and also the third-party
drives are ready via PROFIBUS:
DB31, ... DBX93.5 == 1 (drive ready)
DB10 DBX108.7 (NC ready)
The NC is ready.
2.2.3
Status signals to PLC
DB10 DBX103.0 (remote diagnosis active)
The HMI component reports to the PLC that the remote diagnostics (option) is active, i.e.
controlling is done via an external PC.
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A2: Various NC/PLC interface signals and functions
2.2 NC/PLC interface signals - only 840D sl
DB10 DBX109.6 (ambient temperature alarm)
The ambient temperature or fan monitoring function has responded.
DB10 DBX109.7 (NCK battery alarm)
The battery voltage has dropped below the lower limit value. The control can still be operated.
A control system shutdown or failure of the supply voltage will lead to loss of data.
DB10 DBX109.0 (NCK alarm pending)
The NC signals that at least one NC alarm is pending. The channel-specific interface can be
scanned to see which channels are involved and whether this will cause a processing stop.
DB21, ... DBX36.6 (channel-specific NCK alarm pending)
The NC sends this signal to the PLC to indicate that at least one NC alarm is pending for the
relevant channel (see also DB21, ... DBX36.7).
DB21, ... DBX36.7 (NCK alarm with processing stop present)
The NC sends this signal to the PLC to indicate that at least one NCK alarm which has
interrupted or aborted the current program run (processing stop) is pending for the affected
channel.
2.2.4
Signals to/from the operator panel front
DB19 DBX0.0 (screen bright)
The screen blanking is disabled.
DB19 DBX0.1 (screen dark)
The operator panel screen is darkened.
If the interface signal is used to actively darken the screen:
It is no longer possible to switch the screen bright again on the keyboard (see below).
The first keystroke on the operator panel front already triggers an operator action.
Note
In order to prevent accidental operator actions when the screen is darkened via the interface
signal, we recommend disabling the keyboard at the same time.
DB19 DBX0.1 = 1 AND DB19 DBX0.2 = 1 (key disable)
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A2: Various NC/PLC interface signals and functions
2.2 NC/PLC interface signals - only 840D sl
Screen darkening via keyboard/automatic screen saver
If no buttons are pressed on the operator panel front within the assigned time (default = 3
minutes):
MD9006 $MM_DISPLAY_BLACK_TIME
(time for screen darkening), the screen is automatically darkened.
The screen lights up again the first time a button is pressed following darkening. Pressing a
button to lighten the screen will not generate an operator action.
Parameterization:
DB19 DBX0.1 = 0
MD9006 $MM_DISPLAY_BLACK_TIME > 0
DB19 DBX0.2 (key disable)
All inputs via the connected keyboard are inhibited.
DB19 DBX 0.3 / 0.4 (Delete cancel alarms / Delete recall alarms) (HMI Advanced)
Request to delete all currently pending alarms with Cancel or Recall delete criterion. Deletion
of the alarms is acknowledged via the following interface signals.
DB19 DBX20.3 (cancel alarm deleted)
DB19 DBX20.4 (recall alarm deleted)
DB19 DBX0.7 (actual values in WCS, 0=MCS)
Switching over of actual-value display between machine and workpiece coordinate system:
DB19 DBX0.7 = 0: Machine coordinate system (MCS)
DB19 DBX0.7 = 1: Workpiece coordinate system (WCS)
DB19 DBB13 (control of the file transfer via hard disk) (HMI Advanced only)
Job byte to control file transfer via hard disk. The jobs relate to the user control file in the
interface signals:
DB19 DBB16 (part program handling: Number of the control file for user file names)
DB19 DBB17 (part program handling: Index of the file to be transmitted from the user list)
DB19 DBB16 (control of file transfer via hard disk) (HMI Advanced only)
Control byte for file transfer via hard disk to define the index for the control file (job list). This
file is handled according to the job in the interface signal:
DB19 DBB13
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A2: Various NC/PLC interface signals and functions
2.2 NC/PLC interface signals - only 840D sl
DB19 DBB17 (part program handling: Index of the file to be transferred from the user list)
Control byte for file transfer via hard disk to indicate the line in the user control file in which the
control file to be transferred is stored
DB19 DBB26 (part program handling: Status)
Status byte for current status of data transfer for "select", "load" or "unload", or if an error
occurred during data transmission.
DB19 DBB27 (error program handling)
Output byte for error values for data transfer via hard disk.
2.2.5
Signals to channel
DB21, ... DBX6.2 (delete distance-to-go)
The rising edge on the interface signal generates a stop on the programmed path in the
corresponding NC channel with the currently active path acceleration. The path distance-togo is then deleted and the block change to the next part-program block is enabled.
2.2.6
Signals to axis/spindle
DB31, ... DBX1.0 (drive test travel enable)
NOTICE
Specifications for the drive test
It is the sole responsibility of the machine manufacturer / system startup engineer to take
suitable action / carry out appropriate tests to ensure that the machine axis can be traversed
during the drive test without putting personnel or machinery at risk.
If machine axes are traversed by special test functions such as "function generator", an explicit
drive-test-specific enable is requested for the motion:
DB31, ... DBX61.0 = 1 (drive test travel request)
The motion is carried out once the motion is enabled:
DB31, ... DBX1.0 == 1 (drive test travel enable)
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2.2 NC/PLC interface signals - only 840D sl
DB31, ... DBX1.3 (axis/spindle disable)
Stationary axis
If the interface signal is set for a stationary axis, all travel request are ignored as of this time.
The travel requests are retained. If the axis disable is cancelled when a traversing request is
pending DB31, ... DBX1.3 = 0 the motion is carried out.
Traversing axis
If the interface signal is set for a traversing axis, the axis is stopped using the currently active
brake characteristic. If the interface signal is reset while the travel request is still present,
traversing is continued.
Spindle
Open-loop control mode: Speed setpoint zero is output immediately
Positioning mode: See "Stationary axis" / "Traversing axis" above
DB31, ... DBX1.4 (follow-up mode)
The interface signal is only effective with the DB31, ... DBX2.1 (controller enable) interface
signal
DB31, ... DBX2.1
DB31, ... DBX1.4
Operating mode
Ineffective
Follow-up
Hold
In closed-loop control
Follow-up
In follow-up mode, the set position of the machine axis is continuously corrected to the actual
position (set position = actual position).
Feedback: DB31, ... DBX61.3 == 1 (follow-up active)
During follow-up mode, clamping or standstill monitoring are not active.
Note
If the DB31, ... DBX2.1 (controller enable) interface signal is set during follow-up mode,
repositioning to the last programmed position is performed with REPOSA (approach on a
straight line with all axes) when the NC program is active. In all other cases, all subsequent
motions start at the actual position.
Hold
In "Hold" mode, the set position of the machine axis does not follow the actual position. If the
machine axis is moved away from the set position, the difference between the set position and
the actual position increases constantly (following error). The following error is suddenly
corrected if the controller enable is set without complying with the axial acceleration
characteristic (speed jump).
Feedback: DB31, ... DBX61.3 == 0 (follow-up active)
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During "hold", clamping or standstill monitoring are active.
Note
The following error is suddenly corrected if the controller enable is set without complying with
the axial acceleration characteristic (speed jump).
Application example
Positioning response of machine axis Y following clamping when "controller enable" is set.
Clamping pushed the machine axis from the actual position Y1 to the clamping position Yk.
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2.2 NC/PLC interface signals - only 840D sl
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Trajectory for clamping and "follow-up"
Drives with analog setpoint interface
A drive with an analog setpoint interface is capable of traversing the machine axis with an
external setpoint. If "follow-up mode" is set for the machine axis, the actual position continues
to be acquired. Once follow-up mode has been cancelled, referencing is not required.
The following procedure is recommended:
1. Activate follow-up mode:
DB31, ... DBX2.1 = 0 (controller enable)
DB31, ... DBX1.4 = 1 (follow-up mode) (in the same or preceding OB1 cycle)
The axis/spindle is operating in follow-up mode
2. Deactivate external controller enable and external speed setpoint
Axis/spindle moves with external setpoint
NC continues to detect the actual position and corrects the set position to the actual
position
3. Deactivate external controller enable and cancel external speed setpoint
Axis/spindle stops
4. Cancelling follow-up mode
DB31, ... DBX2.1 = 1 (controller enable)
DB31, ... DBX1.4 = 0 (follow-up mode)
NC synchronizes to actual position. The next traversing motion begins at this position.
Note
"Follow-up mode" does not have to be cancelled because it only has an effect in
combination with "controller enable".
Cancelling follow-up mode
Once follow-up mode has been cancelled, the machine axis does not have to be referenced
again if the maximum permissible encoder limit frequency of the active measuring system was
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not exceeded during follow-up mode. If the encoder limit frequency is exceeded, the controller
will detect this:
DB31, ... DBX60.4 / 60.5 = 0 (referenced/synchronized 1 / 2)
Alarm: "21610 Encoder frequency exceeded"
Note
If "follow-up mode" is deactivated for a machine axis, which is part of an active
transformation (e.g. TRANSMIT), this can generate motions as part of repositioning
(REPOS) other machine axes involved in the transformation.
Monitoring
If a machine axis is in follow-up mode, the following monitoring mechanisms will not act:
Standstill monitoring
Clamping monitoring
Positioning monitoring
Effects on other interface signals:
DB31, ... DBX60.7 = 0 (position reached with exact stop fine)
DB31, ... DBX60.6 = 0 (position reached with exact stop coarse)
DB31, ... DBX1.5/1.6 (position measuring system 1/2)
Two measuring systems can be connected to one machine axis, e.g.
Indirect motor measuring system
Direct measuring system on load
Only one measuring system can be active at any one time. All closed-loop control, positioning
operations, etc. involving the machine axis always relate to the active measuring system.
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44
Position measuring systems 1 and 2
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2.2 NC/PLC interface signals - only 840D sl
Functionality of the "Position measuring system 1 / 2" interface signals in conjunction with the
"Controller enable":
DB31, ...
DBX1.5
DB31, ...
DBX1.6
DB31, ...
DBX2.1
Function
Any
Position measuring system 1 active
Position measuring system 2 active
"Parking" active
Spindle without position measuring system
(speed-controlled)
10
01
Switchover: Position measuring system 1 2
01
10
Switchover: Position measuring system 2 1
DB31, ... DBX2.1 (controller enable)
Setting the controller enable closes the machine axis position control loop. The machine axis
is in position control mode.
DB31, ... DBX2.1 == 1
Cancelling the controller enable opens the machine axis position control loop and, subject to
a delay, the machine axis speed control loop:
DB31, ... DBX2.1 == 0
Activation methods
The closed-loop controller enable for a machine axis is influenced by:
NC/PLC interface signal:
DB31, ... DBX2.1 (controller enable)
DB31, ... DBX21.7 (pulse enable)
DB31, ... DBX93.5 (drive ready)
DB10, DBX56.1 (emergency stop)
NCK-internal
Alarms that trigger cancellation of the controller enable on the machine axes. The alarm
responses are described in:
References:
Diagnostics Manual
Cancelling the controller enable when the machine axis is at standstill:
The machine axis position control loop opens
DB31, ... DBX61.5 == 0 (position controller active)
Cancelling the controller enable when the machine axis is in motion:
If a machine axis is part of an interpolatory path motion or coupling and the controller enable
for this is cancelled, all axes involved are stopped with a fast stop (speed setpoint = 0) and an
alarm is displayed:
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Alarm: "21612 Controller enable reset during motion"
The machine axis is decelerated taking into account the parameterized duration of the
braking ramp for error states with a fast stop (speed setpoint = 0):
MD36610 $MA_AX_EMERGENCY_STOP_TIME (max. duration of the braking ramp in the
event of errors)
An alarm is displayed:
Alarm: "21612 Controller enable reset during motion"
Note
The controller enable is cancelled at the latest when the cut-off delay expires:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
The machine axis position control loop opens. Feedback via interface signal:
DB31, ... DBX61.5 == 0 (position controller active).
The time for the parameterized cut-off delay of the controller enable is started by the
machine data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (OFF delay of the controller enable)
As soon as the actual speed has reached the zero speed range, the drive controller enable
is cancelled. Feedback via interface signal:
DB31, ... DBX61.6 == 0 (speed controller active)
The actual position value of the machine axis continues to be acquired by the controller.
At the end of the braking operation, the machine axis is switched to follow-up mode,
regardless of the corresponding NC/PLC interface signal. Standstill and clamping
monitoring are not effective. See the description above for the interface signal:
DB31, ... DBX1.4 (follow-up mode).
Synchronizing the actual value (reference point approach)
Once the controller enable has been set, the actual position of the machine axis does not need
to be synchronized again (reference point approach) if the maximum permissible limit
frequency of the measuring system was not exceeded during the time in which the machine
axis was not in position-control mode.
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2.2 NC/PLC interface signals - only 840D sl
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Cancelling the controller enable when the machine axis is in motion
DB31, ... DBX2.2 (distance-to-go/spindle reset (axis/spindle-specific))
"Delete distance-to-go" is effective in AUTOMATIC and MDA modes only in conjunction with
positioning axes. The positioning axis is decelerated to standstill following the current brake
characteristic. The distance-to-go of the axis is deleted.
Spindle reset
For a detailed description of the spindle reset, see Section "S1: Spindles (Page 1199)".
DB31, ... DBX9.0 / 9.1 / 9.2 (controller parameter set)
Request for activation of the specified controller parameter set.
Controller parameter set
DBX9.2
DBX9.1
DBX9.0
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Controller parameter set
DBX9.2
DBX9.1
DBX9.0
Parameter set changeover must be enabled via the machine data (not required for spindles):
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 1 or 2
For detailed information on the parameter set changeover, see Section "Parameter set
selection during gear step change (Page 1246)".
Parameter set changeover when machine axis is in motion
The response to a parameter set changeover depends on the consequential change in the
closed-loop control circuit gain factor KV:
MD32200 $MA_POSCTRL_GAIN (servo gain factor)
"Identical servo gain factors (KV)" or "position control not active":
The NC responds immediately to the parameter set changeover. The parameter set is also
changed during the motion.
"Unequal servo gain factors (KV)" or "position control not active":
In order to effect a changeover as smoothly as possible, changeover is not activated until
the axis "is stationary", i.e. once the parameterized zero speed has been reached or
undershot:
DB31, ... DBX61.4 = 1 (axis/spindle stationary)
MD36060 $MA_STANDSTILL_VELO_TOL (threshold velocity/speed "axis/spindle
stationary")
Parameter set changeover from the part program
For parameter set changeover from the part program, the user (machine manufacturer) must
define corresponding user-specific auxiliary functions and evaluate them in the PLC user
program. The PLC user program will then set the changeover request on the corresponding
parameter set.
For detailed information on the auxiliary function output, see Section "H2: Auxiliary function
outputs to PLC (Page 377)".
DB31, ... DBX9.3 (parameter set specification disabled by NC)
If the interface signal is set, a request for a parameter set changeover (DB31, ... DBX9.0 / 9.1 /
9.2) is ignored.
2.2.7
Signals from axis/spindle
DB31, ... DBX61.0 (drive test travel request)
If machine axes are traversed by special test functions such as "function generator", an explicit
drive-test-specific enable is requested for the movement:
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DB31, ... DBX61.0 == 1 (drive test travel request)
The motion is carried out once the motion is enabled:
DB31, ... DBX1.0 == 1 (drive test travel enable)
DB31, ... DBX61.3 (follow-up active)
The machine axis is in follow-up mode.
DB31, ... DBX61.4 (axis/spindle stationary (n < nmin)
"Axis/spindle stationary" is set by the NC if:
No new setpoints are to be output AND
The actual speed of the machine axis is lower than the parameterized zero speed:
MD36060 $MA_STANDSTILL_VELO_TOL (threshold velocity axis stationary)
DB31, ... DBX61.5 (position controller active)
The machine axis position control loop is closed and position control is active.
DB31, ... DBX61.6 (speed controller active)
The machine axis speed control loop is closed and speed control is active.
DB31, ... DBX61.7 (current controller active)
The machine axis current control loop is closed and current control is active.
DB31, ... DBX69.0 / 69.1 / 69.2 (parameter set servo)
Active parameter set Coding accordingly:
DB31, ... DBX9.0 / 9.1 / 9.2 (controller parameter set selection)
DB31, ... DBX76.0 (lubrication pulse)
Following a control POWER ON/RESET, the signal status is 0 (FALSE).
The "lubrication pulse" is inverted (edge change), as soon as the machine axis has covered
the parameterized traversing distance for lubrication:
MD33050 $MA_LUBRICATION_DIST (distance for lubrication by PLC)
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2.2.8
Signals to axis/spindle (digital drives)
DB31, ... DBX21.0 - 4 (requesting a switchover of a motor and/or drive data set)
The PLC issues a request to the drive to switch over to a new motor and/or drive data set.
The interface can be flexibly parameterized using: DB31, ... .DBX130.0 - 4 (see Chapter
"Switching over motor/drive data sets (Page 65)")
The active motor and/or drive data set is indicated using: DB31, ... DBX93.0 - 4
Note
Main spindle drive
For a main spindle drive, only motor data sets 1 and 2 are valid when switching over between
a star and delta connection.
Motor data set 1: Star
Motor data set 2: Delta
DB31, ... DBX21.5 (Motor selection done)
The PLC user program sends this signal to the drive to indicate successful motor selection.
The pulses are then enabled by the drive.
DB31, ... DBX21.6 (integrator disable, n-controller)
The PLC user program inhibits the integrator of the speed controller for the drive. The speed
controller is switched over from a PI to P controller.
If the speed controller integrator disable is activated, compensations might take place in certain
applications (e.g. if the integrator was already holding a load while stationary).
Feedback signal via: DB31, ... DBX93.6 = 1 (integrator n-controller disabled)
DB31, ... DBX21.7 (request pulse enable)
The pulse enable for the drive module is only requested if all enable signals (hardware and
software) are pending:
Trigger equipment enable
Controller and pulse enable
Pulse enable (safe operating stop)
Stored hardware input
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Setpoint enable
"Ready to run state"
No drive alarm (DClink1 error)
DC link connected
Ramp-up completed
Feedback signal via: DB31, ... DBX93.7 (pulses enabled)
2.2.9
Signals from axis/spindle (digital drives)
DB31, ... DBX92.1 (ramp-function generator disable active)
The drive signals back to the PLC that ramp-function-generator fast stop is active. The drive
is thus brought to a standstill without the ramp function (with speed setpoint 0).
DB31, ... DBX93.0 - 4 (indicates active motor and drive data set)
The drive signals back the active motor and drive data set to the PLC.
The interface can be flexibly parameterized using: DB31, ... .DBX130.0 - 4 (see Chapter
"Switching over motor/drive data sets (Page 65)")
The request to switch over motor and/or drive data set is realized using: DB31, ... DBX21.0 4
DB31, ... DBX93.5 (DRIVE ready)
Checkback signal indicating that the drive is ready. The conditions required for traversing the
axis/spindle are fulfilled.
DB31, ... DBX93.6 (integrator n-controller disabled)
The speed-controller integrator is disabled. The speed controller has thus been switched from
PI to P controller.
DB31, ... DBX93.7 (pulses enabled)
The pulse enable for the drive module is available. The axis/spindle can now be traversed.
DB31, ... DBX94.0 (motor temperature prewarning)
The temperature of the motor is higher than the set motor temperature warning threshold (drive
parameter p0604).
See also note below for "DB31, ... DBX94.1 (heat sink temperature prewarning)".
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DB31, ... DBX94.1 (heat sink temperature prewarning)
The temperature of the heat sink in the power unit is outside the permissible range. If the
overtemperature remains, the drive switches itself off after approx. 20 s.
Note
Temperature prewarning DB31, ... DBX94.0 and DBX94.1
The interface signals are derived from the following signals of the cyclic drive telegram:
Case 1: Temperature warning in the message word
DB31, ... DBX94.0 = MELDW, bit 6 (no motor overtemperature warning)
DB31, ... DBX94.1 = MELDW, bit 7 (no thermal overload in power unit warning)
Case 2: Warning of warning class B (only in interface mode "SIMODRIVE 611U", p2038 = 1)
DB31, ... DBX94.0 == 1 and DBX94.1 == 1, if the following applies:
Cyclic drive telegram, status word 1 (ZSW1), bits 11/12 == 2 (warning class B)
The interface signals are derived from the warning of warning class B if there is no specific
information from the message word.
An alarm is displayed. Alarm number = 200.000 + alarm value (r2124)
For a detailed description of the motor temperature monitoring setting, see:
References:
S120 Commissioning Manual, Section "Commissioning" > "Temperature sensors for
SINAMICS components"
S120 Function Manual, Section "Monitoring and protective functions"
S120 List Manual
MELDW, bit 6 BO: r2135.14 function diagram: 2548, 8016
MELDW, bit 7 BO: r2135.15 function diagram: 2548, 2452, 2456, 8016
DB31, ... DBX94.2 (run-up completed)
The actual speed value is within the parameterized tolerance band again after changing the
speed setpoint. The run-up procedure is now completed.
Any subsequent speed fluctuations, also outside the tolerance band, e.g. due to load changes,
will not affect the interface signal.
DB31, ... DBX94.3 (|Md| < Mdx)
The absolute value of the current torque |Md| is less than the parameterized threshold torque
Mdx (torque threshold value 2, p2194).
The threshold torque is set as a percentage [%] of the current speed-dependent torque
limitation.
DB31, ... DBX94.4 (|nact| < nmin)
The actual speed value nact is less than nmin (speed threshold value 3, p2161).
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2.3 Functions
DB31, ... DBX94.5 (|nact| < nx)
The actual speed value nact is less than nx (speed threshold value 2, p2155).
DB31, ... DBX94.6 (nact = nset)
The actual speed value is within the tolerance band (p2163) surrounding the speed setpoint.
DB31, ... DBX95.7 (warning of warning class C is pending)
The drive signals that a warning of warning class C is pending.
2.3
Functions
2.3.1
Screen refresh behavior for overload - only 840D sl
There are part programs, where the main run must wait until the preprocessing run provides
new blocks.
Preprocessing run and display refresh compete for NC processor time.
The following machine data can be used to set how the NC should behave if the preprocessing
run is too slow:
MD10131 $MN_SUPPRESS_SCREEN_REFRESH
Value
Meaning
If the preprocessing run of a channel is too slow, the display is not refreshed in all channels.
If the preprocessing run of a channel is too slow, the display is only refreshed in the time critical channels in order
to obtain processor time for the preprocessing run.
Display refresh is not suppressed.
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2.3 Functions
2.3.2
Settings for involute interpolation - only 840D sl
Introduction
The involute of the circle is a curve traced out from the end point on a "piece of string" unwinding
from the curve. Involute interpolation allows trajectories along an involute.
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Involute (unwound from base circle)
Programming
A general description of how to program involute interpolation can be found in:
References:
Programming Manual, Fundamentals
In addition to the programmed parameters, machine data is relevant in two instances of involute
interpolation; this data may need to be set by the machine manufacturer / end user.
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2.3 Functions
Accuracy
If the programmed end point does not lie exactly on the involute defined by the starting point,
interpolation takes place between the two involutes defined by the starting and end points (see
illustration below).
The maximum deviation of the end point is determined by the machine data:
MD21015 $MC_INVOLUTE_RADIUS_DELTA (end point monitoring for involute)
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MD21015 specifies the max. permissible deviation
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2.3 Functions
Limit angle
If AR is used to program an involute leading to the base circle with an angle of rotation that is
greater than the maximum possible value, an alarm is output and program execution aborted.
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Limited angle of rotation towards base circle
The alarm display can be suppressed using the following parameter settings:
MD21016 $MC_INVOLUTE_AUTO_ANGLE_LIMIT = TRUE (automatic angle limitation for
involute interpolation)
The programmed angle of rotation is then also limited automatically and the interpolated path
ends at the point at which the involute meets the base circle. This, for example, makes it easier
to program an involute which starts at a point outside the base circle and ends directly on it.
Tool radius compensation
2 1/2 D tool radius compensation is the only tool radius compensation function permitted for
involutes. If 3D tool radius compensation is active (both circumferential and face milling), when
an involute is programmed, machining is interrupted with alarm 10782.
With 2 1/2 D tool radius compensation, the plane of the involute must lie in the compensation
plane. or else alarm 10781 will be generated. It is however permissible to program an additional
helical component for an involute in the compensation plane.
Dynamic response
Involutes that begin or end on the base circle have an infinite curvature at this point. To ensure
that the velocity is adequately limited at this point when tool radius compensation is active,
without reducing it too far at other points, the "Velocity limitation profile" function must be
activated:
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2.3 Functions
MD28530 $MC_MM_PATH_VELO_SEGMENTS > 1 (number of memory elements for limiting
the path velocity)
A setting of 5 is recommended. This setting need not be made if only involute sections are
used which have radii of curvature that change over a relatively small area.
2.3.3
Activate DEFAULT memory - only 840D sl
GUD start values
The DEF... / REDEF... NC commands can be used to assign default settings to global user
data (GUD). To make these default values available at the parameterized initialization time,
e.g. with the attribute INIPO, after power on, they must be saved permanently in the system.
The required memory space must be enabled using the following machine data:
MD18150 $MM_GUD_VALUES_MEM (non-volatile memory space for GUD values)
References:
Function Manual, Extended Functions; S7: "Memory Configuration"
Programming Manual, Job Planning
2.3.4
Read and write PLC variable - only 840D sl
High-speed data channel
For high-speed exchange of information between the PLC and NC, a memory area is reserved
in the communications buffer on these modules (dual-port RAM). Variables of any type (I/O,
DB, DW, flags) may be exchanged within this memory area.
The PLC accesses this memory using 'Function Calls' (FC) while the NC uses system variables.
Organization of memory area
The user's programming engineer (NC and PLC) is responsible for organizing (structuring) this
memory area.
Every storage position in the memory can be addressed provided that the limit is selected
according to the appropriate data format (i.e. a DWORD for a 4-byte limit, a WORD for a 2byte limit, etc.).
The memory is accessed via the data type and the position offset within the memory area.
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2.3 Functions
Access from NC
System variables are available in the NC for fast access to PLC variables from a part program
or synchronized action. The data is read/written directly by the NC. The data type results from
the identifier of the system variables. The position within the memory area is specified as index
in bytes.
System variable
Data type
Range of values
$A_DBB[<index>]
Byte (8 bits)
0 <= x <= 255
$A_DBW[<index>]
Word (16 bits)
-32768 <= x <= 32767
$A_DBD[<index>]
Double word (32 bits)
-2147483648 <= x <= 2147483647
$A_DBR[<index>]
Floating point (32 bits)
(1.51045 <= x <= 3.41038)
Access from PLC
The PLC uses function calls (FC) to access the memory. The data is read and written
immediately in the DPR with the FC and not just at the beginning of the PLC cycle. Data type
and position in the memory area are transferred as parameters to the FC.
1& $B'%'>@
3/& &$//)&
2IIVHW [
2IIVHW [
'DWDW\SH '%' E\WHV
Figure 2-9
Communications buffer (DPR) for NC/PLC communication
Supplementary conditions
The structuring of the DPR memory area is the sole responsibility of the user. No checks
are made for matching configuration.
A total of 4096 bytes are available in the input and output directions.
Single-bit operations are not supported and must be linked back to byte operations by the
user.
Since the contents of variables are manipulated directly in the communications buffer, the
user must remember that intermediate changes in values occur as a result of multiple
access operations where a variable is evaluated several times or when variables are linked
(i.e. it may be necessary to store values temporarily in local variables or R parameters or
to set up a semaphore).
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The user's programming engineer is responsible for coordinating access operations to the
communications buffer from different channels.
Data consistency can be guaranteed only for access operations up to 16 bits (byte and
word). The user is solely responsible for ensuring consistent transmission of 32-bit variables
(double and real). A simple semaphore mechanism is available in the PLC for this purpose.
The PLC stores data in 'Little Endian' format in the DPR.
Values transferred with $A_DBR are subject to data conversion and hence to loss of
accuracy. The data format for floating-point numbers is DOUBLE (64 bits) in the NC, but
only FLOAT (32 bits) in the PLC. The format used for storage in the dual-port RAM is
FLOAT. Conversion takes place respectively before/after storage in the dual-port RAM.
If a read/write access is made from the NC to a variable in the dual-port RAM, the conversion
is performed twice. It is impossible to prevent differences between read and written values
because the data is stored in both formats.
Example
Bypassing the problem by means of comparison on "EPSILON" (minor deviation)
Program code
N10
DEF REAL DBR
N12
DEF REAL EPSILON = 0.00001
N20
$A_DBR[0]=145.145
N30
G4 F2
N40
STOPRE
N50
DBR=$A_DBR[0]
N60
IF ( ABS(DBR/145.145-1.0) < EPSILON ) GOTOF ENDE
N70
MSG ( "error" )
N80
M0
N90
END:
N99
M30
Activation
The maximum number of simultaneously writable output variables is adjustable via:
MD28150 $MC_MM_NUM_VDIVAR_ELEMENTS (number of elements for writing PLC
variables)
Example
A variable of type WORD is to be transferred from the PLC to the NC.
The position offset within the NC input (PLC output area) should be the fourth byte. The position
offset must be a whole-number multiple of the data width.
Writing from PLC:
Program code
Comment
. . .
CALL FC21 (
Enable
:=M10.0,
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Program code
Funct
Comment
:=B#16#4,
S7Var :=P#M 104.0 WORD1,
IVAR1
:=04,
IVAR2
:=-1,
Error
:=M10.1,
ErrCode :=MW12);
. . .
)
Reading in part program
Program code
Comment
. . .
PLCDATA = $A_DBW[4];
; Read a word
. . .
Behavior during POWER ON, block search
The DPR communications buffer is initialized during "POWER ON".
During a "block search", the PLC variable outputs are collected and transferred to the DPR
communications buffer with the approach block (analogous to writing of analog and digital
outputs).
Other status transitions have no effect in this respect.
References
A detailed description of the data exchange by the PLC with FC 21 can be found in:
SINUMERIK 840D sl: Section "FC21: transfer PLC NCK data exchange (Page 1037)"
2.3.5
Access protection via password and keyswitch
Access authorization
Access to functions, programs and data is useroriented and controlled via 8 hierarchical
protection levels. These are subdivided into:
Password levels for Siemens, machine manufacturer and end user
Keyswitch positions for end user
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Multi-level security concept
A multi-level security concept to regulate access rights is available in the form of password
levels and keyswitch settings.
Protection level
Type
User
Access to (examples)
Password
Siemens
All functions, programs and
data
Password
Machine manufacturer: De
velopment
defined functions, programs
and data;
Password
Machine manufacturer: Start defined functions, programs
up engineer
and data;
for example: entering options
for example: Bulk of machine
data
3
Password
End user: Service
Assigned functions, pro
grams and data
Keyswitch position 3
End user: Programmer, ma
chine setter
less than the protection level
Keyswitch position 2
Keyswitch position 1
Keyswitch position 0
0 to 3; established by the ma
chine manufacturer or end
user
End user: Skilled operator
without programming knowl
edge
less than the protection level
End user: Trained operator
without programming knowl
edge
Example:
End user: Semi-skilled oper
ator
Example:
0 to 3; established by the end
user
Program selection only, tool
wear entry, and work offset
entry
no inputs and program selec
tion possible,
only machine control panel
operable
Access features
Protection level 0 provides the greatest number of access rights, protection level 7 the least.
If certain access rights are granted to a protection level, these protection rights automatically
apply to any higher protection levels.
Conversely, protection rights for a certain protection level can only be altered from a higher
protection level.
Access rights for protection levels 0 to 3 are permanently assigned by Siemens and cannot
be altered (default).
Access rights can be set by querying the current keyswitch positions and comparing the
passwords entered. When a password is entered it overwrites the access rights of the
keyswitch position.
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Options can be protected on each protection level. However, option data can only be
entered in protection levels 0 and 1.
Access rights for protection levels 4 to 7 are only suggestions and can be altered by the
machine tool manufacturer or end user.
2.3.5.1
Password
Set password
The password for a protection level (0 3) is entered via the HMI user interface.
Example:
DIAGNOSTIC operating area, softkey: SET PASSWORD
References:
Commissioning Manual SINUMERIK 840D sl base software and HMI sl
Delete password
Access rights assigned by means of setting a password remain effective until they are explicitly
revoked by deleting the password.
Example:
DIAGNOSTIC operating area, softkey: DELETE PASSWORD
References:
Commissioning Manual SINUMERIK 840D sl base software and HMI sl
Note
Access rights and password status (set/deleted) are not affected by POWER OFF/ON!
Maximum number of characters
A password may contain up to eight characters. We recommend that you confine yourself to
the characters available on the operator panel front when defining the password. Where a
password consists of less than eight characters, the additional characters are interpreted as
blanks.
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Defaults
The following default passwords are defined for protection levels 1 to 3:
Protection level 1: SUNRISE
Protection level 2: EVENING
Protection level 3: CUSTOMER
Note
Following NC-CPU ramp-up in commissioning mode (NCK commissioning switch: position
1) the passwords for protection levels 1 3 are reset to the default settings. For reasons
of data protection, we strongly recommend that you change the default settings.
2.3.5.2
Keyswitch positions (DB10, DBX56.4 to 7)
Key switch
The keyswitch has four positions, to which protection levels 4 to 7 are assigned. The keyswitch
comprises a number of keys in a variety of colors which can be set to different switch positions.
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Switch positions 0 to 3
Switch positions
Switch position 0 has the most restricted access rights. Switch position 3 has the least restricted
access rights.
DB10, DBX56.4 / .5 / .6 / .7 (switch positions 0 / 1 / 2 / 3)
Machine-specific enables for access to programs, data and functions can be assigned to the
switch positions. For detailed information, please refer to:
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References
CNC Commissioning Manual: NCK, PLC, Drives, Fundamentals,
Section: Basics on the protection levels
Commissioning Manual SINUMERIK Operate (IM9); General Settings,
Section: Access levels
Default settings via the PLC user program
The keyswitch positions are transferred to the NC/PLC interface via the basic PLC program.
The corresponding interface signals can be modified via the PLC user program. In this context,
from the point of view of the NC, only one switch position should ever be active, i.e. the
corresponding interface signal set to 1. If, from the point of view of the NC, a number of switch
positions are active at the same time, switch position 3, i.e. the keyswitch position with the
least restricted access rights, will be activated internally by the NC.
2.3.5.3
Parameterizable protection levels
Parameterizable protection level
The parameter level can be freely parameterized for a variety of functions and data areas. The
protection level is set via operator-panel machine data, designated as follows:
$MM_USER_CLASS_<Function_DataArea>
Examples:
$MM_USER_CLASS_READ_TOA
$MM_USER_CLASS_WRITE_TOA
$MM_USER_CLASS_READ_PROGRAM
$MM_USER_CLASS_WRITE_PROGRAM
Read tool offsets
Write tool offsets
Read part programs
Write/edit part programs
Default values
On delivery or following standard commissioning, with very few exceptions, the default value
for the protection level will be set to 7, i.e. the lowest protection level.
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2.3.6
Switching over motor/drive data sets
2.3.6.1
General Information
Motor and drive data sets
For optimum adaptation to the particular machining situation or because of different machine
configurations, it may be necessary that several different data sets are available in a drive for
motors, drive parameters and encoders. The creation of the basic data sets of the drive objects
is performed during startup with the aid of the "Drive wizard".
Note
References
Commissioning Manual: CNC: NCK, PLC, Drive, Section "Commissioning NC-controlled
drives"
The following duplication and management of the data sets is performed via the user interface:
SINUMERIK Operate: Operating area "Start-up" > "Drive system" > "Drives" > "Data sets"
The activation of the motor data set (MDS) or drive data set (DDS) required for a machine axis
in a specific machining situation, must be made from the PLC user program via the interfaces
described below.
Axial NC/PLC interface
The interfaces in the axial NC/PLC interface for switching the motor and drive data sets is
divided into three areas:
Formatting interface (Page 65)
Request interface (Page 66)
Display interface (Page 67)
2.3.6.2
Formatting interfaces
Formatting
The formatting interface is used to set which bits of the request and display interface are used
to address the motor data sets (MDS) and which are used to address the drive data sets (DDS):
DB31, ... DBX130.0 - 4, with bit x = <value>
<value>
Meaning
Bit position for motor data set (MDS) or invalid bit position
Bit position for drive data set (DDS)
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Motor and drive data sets in the drive
Formatting depends on the number of motor data sets (MDS) and drive data sets (DDS) in the
drive. The number can be determined using the following drive parameters:
p0130 (number of motor data sets)
p0180 (number drive data sets)
Validity of the interfaces
After powering up, as soon as the control has received all the required information from the
drive and this has been evaluated by the NC, the request (Page 66) and display interfaces
(Page 67) are shown as valid:
DB31, ... DBX130.7 == 1 (request and display interfaces valid)
If no or incompatible information is transferred from the drive, the request and display interfaces
are shown as invalid.
Note
With invalid request and display interfaces, it however remains the sole responsibility of the
user / machine manufacturer to perform a data set switchover via the invalid request and
display interfaces.
See also
Example (Page 67)
Overview of the interfaces (Page 68)
2.3.6.3
Request interface
The switchover to a new motor (MDS) and/or drive data sets (DDS) is requested via the
interface:
DB31, ... DBX21.0 - .4 = <MDS/DDS index>
Value range
Addressing a motor or drive data set n, with n = 1, 2, 3, ..., is realized based on its index i, with
i = n - 1 = 0, 1, 2, ...
Motor data sets: MDS[ 0, 1, 2, ... 15 ]
Drive data sets: DDS[ 0, 1, 2, ... 31 ]
Formatting interfaces
Formatting the request interface, i.e. which bits are used to address the motor data sets (MDS)
and which are used to address the drive data sets (DDS) is set via the formatting interface
(Page 65).
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Motor and drive data sets in the drive
The number of motor data sets (MDS) and drive data sets (DDS) in the drive can be determined
using the following drive parameters:
p0130 (number of motor data sets)
p0180 (number drive data sets)
Motor data set (MDS) for main spindle drives
For main spindle drives, the following association applies:
MDS[ 0 ] star operation
MDS[ 1 ] delta operation
2.3.6.4
Display interface
The active motor data set (MDS) and drive data set (DDS) are displayed via the interface:
DB31, ... DBX93.0 - .4 == <MDS / DDS index>
Value range and formatting are identical to the request interface (Page 66).
2.3.6.5
Example
Two motor data sets (MDS) and two drive data sets (DDS) are available in the drive for each
motor data set. This corresponds to "No.": 9 of the possible data set combinations displayed
in the Figure 2-11 Principle of the motor/drive data set switchover (Page 69).
Format
Bit positions for drive data set switchover (DDS):
DB31, ... DBX130.0 == 1
Bit positions for motor data set switchover (MDS):
DB31, ... DBX130.1 == 0
Invalid bit positions:
DB31, ... DBX130.2 == 0
DB31, ... DBX130.3 == 0
DB31, ... DBX130.4 == 0
Interfaces of the drive data sets (DDS)
Relevant bit positions of the request and display interfaces:
DB31, ... DBX21.0 / DBX93.0
DB31, ... DBX21.0 / DBX93.0 == 0 1st drive data set DDS[0]
DB31, ... DBX21.0 / DBX93.0 == 1 2nd drive data set DDS[1])
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Interfaces of the motor data sets (MDS)
Relevant bit positions of the request and display interfaces:
DB31, ... DBX21.1 / DBX93.1
DB31, ... DBX21.1 / DBX93.1 == 0 1st motor data set MDS[0]
DB31, ... DBX21.1 / DBX93.1 == 1 2nd motor data set MDS[1])
Invalid bit positions (MDS/DDS)
Invalid bit positions of the request and display interfaces:
DB31, ... DBX21.1 / DBX93.2 == 0
DB31, ... DBX21.1 / DBX93.3 == 0
DB31, ... DBX21.1 / DBX93.4 == 0
See also
Overview of the interfaces (Page 68)
2.3.6.6
Overview of the interfaces
Table 2-1
68
Configurable MDS / DDS combinations
Number of MDS (motors)
Number of DDS (drives) per MDS
1 ... 32
1, 2, 4, 8, 16
1, 2, 4, 8
1, 2, 4, 8
1, 2, 4
1, 2, 4
1, 2, 4
1, 2, 4
1, 2
10
1, 2
11
1, 2
12
1, 2
13
1, 2
14
1, 2
15
1, 2
16
1, 2
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2.3 Functions
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MDS
Number of motor data sets
DDS per MDS
Number of drive data sets per motor data set
DB31, ... DBX21.x
Request interface
DB31, ... DBX93.x
Display interface
DB31, ... DBX130.x
Formatting interface
Figure 2-11
2.3.6.7
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Principle of the motor/drive data set switchover
Supplementary conditions
Variable number of drive data sets for the "last" motor data set
The "last" motor data set is the motor data set with the highest number or index.
Generally, the same number of drive data sets is created for each motor data set (number of
"DDS per MDS") in the drive. Only the "last" motor data set can differ from this; any number
(a) of drive data sets can be parameterized:
1 a (number of "DDS per MDS")
Example
4 motor data sets (MDS) and 8 drive data sets (DDS) per motor data set (DDS per MDS) are
to be parameterized. This corresponds to "No.": 22 of the possible data set combination
displayed in the Figure 2-11 Principle of the motor/drive data set switchover (Page 69):
Motor data sets: MDS[ 0 ], MDS[ 1 ], ... MDS[ 3 ] ("last" motor data set)
Drive data sets per motor data set: DDS[ 0 ] ... DDS[ 7 ]
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2.4 Examples
The number of drive data sets for the individual motor data sets is therefore:
Motor data set (MDS)
Number of drive data sets (DDS) per motor data set (MDS)
MDS[ 0 ] ... MDS[ 2 ]
MDS[ 3 ]
1-8
Switchover instant: Drive parameter set
In principle it is possible to switch over drive parameter sets at any point in time. While an axis
is traversing, especially when switching over speed controller parameters and the motor speed
scaling, torque jumps/steps can occur. We therefore recommend that a drive parameter set is
only switched over for stationary states, especially when the axis is at a standstill.
See also
Overview of the interfaces (Page 68)
2.4
Examples
2.4.1
Parameter set changeover
Parameter set changeover
A parameter set changeover is performed to change the position control gain (KVfactor) from
KV = 4.0 to KV = 0.5 for machine axis X1.
Preconditions
The parameter set changeover must be enabled by the machine data:
MD35590 $MA_PARAMSET_CHANGE_ENABLE [AX1] = 1 or 2 (parameter set change
possible)
The 1st parameter set for machine axis X1 is set, in accordance with machine data with index
"0" NC/PLC interface:
DB31, DBX9.0 - DBX9.2 = 0 (controller parameter set)
Parameter-set-dependent machine data
Parameter-set-dependent machine data are set as follows:
Machine data
Comment
MD32200 $MA_POSCTRL_GAIN [0, AX1] = 4.0
KV setting for parameter set 1
MD32200 $MA_POSCTRL_GAIN [1, AX1] = 2.0
KV setting for parameter set 2
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Machine data
Comment
MD32200 $MA_POSCTRL_GAIN [2, AX1] = 1.0
KV setting for parameter set 3
MD32200 $MA_POSCTRL_GAIN [3, AX1] = 0.5
KV setting for parameter set 4
MD32200 $MA_POSCTRL_GAIN [4, AX1] = 0.25
KV setting for parameter set 5
MD32200 $MA_POSCTRL_GAIN [5, AX1] = 0.125
KV setting for parameter set 6
MD31050 $MA_DRIVE_AX_RATIO_DENOM [0, AX1] = 3
Denominator load gearbox for parameter set 1
MD31050 $MA_DRIVE_AX_RATIO_DENOM [1, AX1] = 3
Denominator load gearbox for parameter set 2
MD31050 $MA_DRIVE_AX_RATIO_DENOM [2, AX1] = 3
Denominator load gearbox for parameter set 3
MD31050 $MA_DRIVE_AX_RATIO_DENOM [3, AX1] = 3
Denominator load gearbox for parameter set 4
MD31050 $MA_DRIVE_AX_RATIO_DENOM [4, AX1] = 3
Denominator load gearbox for parameter set 5
MD31050 $MA_DRIVE_AX_RATIO_DENOM [5, AX1] = 3
Denominator load gearbox for parameter set 6
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [0, AX1] = 5
Counter load gearbox for parameter set 1
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [1, AX1] = 5
Counter load gearbox for parameter set 2
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [2, AX1] = 5
Counter load gearbox for parameter set 3
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [3, AX1] = 5
Counter load gearbox for parameter set 4
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [4, AX1] = 5
Counter load gearbox for parameter set 5
MD31060 $MA_DRIVE_AX_RATIO_NUMERA [5, AX1] = 5
Counter load gearbox for parameter set 6
MD35130 $MA_AX_VELO_LIMIT [0...5, AX1]
Setting for each parameter set*)
MD32800 $MA_EQUIV_CURRCTRL_TIME [0..5, AX1]
Setting for each parameter set*)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME [0..5, AX1]
Setting for each parameter set*)
MD32910 $MA_DYN_MATCH_TIME [0...5, AX1]
Setting for each parameter set*)
*) The appropriate line must be specified separately for each parameter set according to the applicable syntax rules.
Switchover
In order to switch over the position-control gain, the PLC user program selects the 4th
parameter set for machine axis X1.
Request by PLC user program:
DB31, DBX9.0 DBX9.2 = 3 (parameter set servo)
A request to change over to the 4th parameter set is sent for machine axis AX1.
The parameter set is changed over once a delay has elapsed.
Parameter set 4 is now active, in accordance with machine data with index "3"
Feedback by NC:
DB31, DBX69.0 DBX69.2 = 3 (parameter set servo)
The NC confirms/acknowledges the parameter-set changeover.
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2.5 Data lists
2.5
Data lists
2.5.1
Machine data
2.5.1.1
Display machine data
Number
Identifier: $MM_
Description
9000
LCD_CONTRAST
Contrast
9001
DISPLAY_TYPE
Monitor type
9004
DISPLAY_RESOLUTION
Display resolution
SINUMERIK Operate
2.5.1.2
NC-specific machine data
Number
Identifier: $MN_
Description
10350
FASTIO_DIG_NUM_INPUTS
Number of active digital NCK input bytes
10360
FASTIO_DIG_NUM_OUTPUTS
Number of active digital NCK output bytes
10361
FASTIO_DIG_SHORT_CIRCUIT
Short-circuit digital inputs and outputs
11120
LUD_EXTENDED_SCOPE
Activate programglobal variables (PUD)
11270
DEFAULT_VALUES_MEM_MSK
Activ.
Function: Save DEFAULT values of GUD.
18150
MM_GUD_VALUES_MEM
Reserve memory space for GUD
2.5.1.3
Channelspecific machine data
Number
Identifier: $MC_
Description
21015
INVOLUTE_RADIUS_DELTA
NC start disable without reference point
21016
INVOLUTE_AUTO_ANGLE_LIMIT
Automatic angle limitation for involute interpolation
27800
TECHNOLOGY_MODE
Technology in channel
28150
MM_NUM_VDIVAR_ELEMENTS
Number of write elements for PLC variables
28530
MM_PATH_VELO_SEGMENTS
Number of storage elements for limiting path velocity
in block
2.5.1.4
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
30350
SIMU_AX_VDI_OUTPUT
Output of axis signals for simulation axes
33050
LUBRICATION_DIST
Lubrication pulse distance
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2.5 Data lists
Number
Identifier: $MA_
Description
35590
PARAMSET_CHANGE_ENABLE
Parameter set definition possible from PLC
36060
STANDSTILL_VELO_TOL
Maximum velocity/speed when axis/spindle stationary
36610
AX_EMERGENCY_STOP_TIME
Length of the braking ramp for error states
36620
SERVO_DISABLE_DELAY_TIME
Cutout delay servo enable
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2.5 Data lists
2.5.2
System variables
Names
Description
$P_FUMB
Unassigned part program memory (Free User Memory Buffer)
$A_DBB[n]
Data on PLC (data type BYTE)
$A_DBW[n]
Data on PLC (WORD type data)
$A_DBD[n]
Data on PLC (DWORD type data)
$A_DBR[n]
Data on PLC (REAL type data)
2.5.3
Signals
2.5.3.1
Signals to NC
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Keyswitch setting 0 to 3
DB10.DBX56.4 - 7
DB2600.DBX0.4 - 7
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Remote diagnostics active (HMI alarm is pending)
DB10.DBX103.0
AT box ready
DB10.DBX103.5
HMI temperature limit
DB10.DBX103.6
HMI battery alarm
DB10.DBX103.7
NC ready
DB10.DBX104.7
Operator panel 2: "ready"
DB10.DBX108.1
Operator panel at MPI: "ready"
DB10.DBX108.2
Operator panel at OPI: "ready"
DB10.DBX108.3
DB2700.DBX2.3
Drives in cyclic operation
DB10.DBX108.5
DB2700.DBX2.5
Drives ready
DB10.DBX108.6
DB2700.DBX2.6
NC Ready
DB10.DBX108.7
DB2700.DBX2.7
NC alarm is active
DB10.DBX109.0
DB2700.DBX3.0
NCU heat sink temperature alarm
DB10.DBX109.5
Air temperature alarm
DB10.DBX109.6
DB2700.DBX3.6
NC battery alarm
DB10.DBX109.7
2.5.3.2
74
Signals from NC
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2.5 Data lists
2.5.3.3
Signals to operator panel front
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Screen bright
DB19.DBX0.0
Screen dark
DB19.DBX0.1
DB1900.DBX5000.1 1)
Key disable
DB19.DBX0.2
DB1900.DBX5000.2
Delete Cancel alarms (HMI Advanced only)
DB19.DBX0.3
Delete Recall alarms (HMI Advanced only)
DB19.DBX0.4
Actual value in the WCS, (1) / MCS (0)
DB19.DBX0.7
DB1900.DBX5000.7
Unload part program
DB19.DBX13.5
Load part program
DB19.DBX13.6
Part program selection
DB19.DBX13.7
DB1700.DBX1000.7
File system active (0) / passive (1)
DB19.DBX14.7
Part program handling: Number of the control data for user
file names
DB19.DBB16 2)
DB1700.DBB1001 2)
Part program handling: Index of the file to be transferred
from the user list
DB19.DBB17
DB1700.DBB1002
Mode change disable
DB19.DBX44.0
1)
For SINUMERIK 828D, the bright/dark control is realized using DB1900.DBX5000.1:
DB1900.DBX5000.1=0: Screen bright
DB1900.DBX5000.1=1: Screen dark
DB1900.DBX5000.0 has no significance for the screensaver function.
2)
Bit 7: Always 1
2.5.3.4
Signals from operator panel front
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Screen is dark
DB19.DBX20.1
Switch over MCS/WCS
DB19.DBX20.7
DB1900.DBX0.7
Part program handling status: Error
DB19.DBX26.0
DB1700.DBX2000.2
Part program handling status: OK
DB19.DBX26.1
DB1700.DBX2000.1
Part program handling status: Active
DB19.DBX26.3
DB1700.DBX2000.3
Part program handling status: Unloading
DB19.DBX26.5
DB1700.DBX2000.5
Part program handling status: Loading
DB19.DBX26.6
DB1700.DBX2000.6
Part program handling status: Selection
DB19.DBX26.7
DB1700.DBX2000.7
FC9: Start "Measuring in JOG"
DB19.DBX42.0
FC9 Out: Active
DB19.DBX45.0
FC9 Out: Done
DB19.DBX45.1
FC9 Out: Error
DB19.DBX45.2
FC9 Out: StartErr
DB19.DBX45.3
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2.5 Data lists
2.5.3.5
Signals to channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Delete distancetogo (channelspecific)
DB21, ... .DBX6.2
DB320x.DBX6.2
SINUMERIK 840D sl
SINUMERIK 828D
Channel-specific NC alarm is present
DB21, ... .DBX36.6
DB330x.DBX4.6
NC alarm with machining stop active
DB21, .DBX36.7
DB330x.DBX4.7
Overstore active
DB21, ... .DBX318.7
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Axis/spindle disable
DB31, ... .DBX1.3
DB380x.DBX1.3
Follow-up mode
DB31, ... .DBX1.4
DB380x.DBX1.4
Position measuring system 1
DB31, ... .DBX1.5
DB380x.DBX1.5
Position measuring system 2
DB31, ... .DBX1.6
DB380x.DBX1.6
Controller enable
DB31, ... .DBX2.1
DB380x.DBX2.1
Delete distance-to-go (axis-specific) / spindle reset
DB31, ... .DBX2.2
DB380x.DBX2.2
Motor/drive data set: Request interface
DB31, ... .DBX21.0 - 4
DB380x.DBX4001.0 - 4
Motor being selected
DB31, ... .DBX21.5
DB380x.DBX4001.5
Speed controller integrator disable
DB31, ... .DBX21.6
DB380x.DBX4001.6
Pulse enable
DB31, ... .DBX21.7
DB380x.DBX4001.7
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Referenced/synchronized, encoder 1/2
DB31, ... .DBX60.4/5
DB390x.DBX0.4/5
Traversing command minus/plus
DB31, ... .DBX64.6/7
DB390x.DBX4.6/7
Follow up active
DB31, ... .DBX61.3
DB390x.DBX1.3
Axis/spindle stationary (n < nmin)
DB31, ... .DBX61.4
DB390x.DBX1.4
Position controller active
DB31, ... .DBX61.5
DB390x.DBX1.5
Speed controller active
DB31, ... .DBX61.6
DB390x.DBX1.6
Current controller active
DB31, ... .DBX61.7
DB390x.DBX1.7
Lubrication pulse
DB31, ... .DBX76.0
DB390x.DBX1002.0
Motor/drive data set: Display interface
DB31, ... .DBX93.0 - 4
DB390x.DBX4001.0 - 4
Drive ready
DB31, ... .DBX93.5
DB390x.DBX4001.5
Speed controller integrator disabled
DB31, ... .DBX93.6
DB390x.DBX4001.6
2.5.3.6
Signals from channel
Signal name
2.5.3.7
2.5.3.8
76
Signals to axis/spindle
Signals from axis/spindle
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A2: Various NC/PLC interface signals and functions
2.5 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Pulses enabled
DB31, ... .DBX93.7
DB390x.DBX4001.7
Motor temperature prewarning
DB31, ... .DBX94.0
DB390x.DBX4002.0
Heat sink temperature prewarning
DB31, ... .DBX94.1
DB390x.DBX4002.1
Run-up completed
DB31, ... .DBX94.2
DB390x.DBX4002.2
|Md| < Mdx
DB31, ... .DBX94.3
DB390x.DBX4002.3
|nact| < nmin
DB31, ... .DBX94.4
DB390x.DBX4002.4
|nact| < nx
DB31, ... .DBX94.5
DB390x.DBX4002.5
nact = nset
DB31, ... .DBX94.6
DB390x.DBX4002.6
Motor/drive data set: Formatting interface
DB31, ... .DBX130.0 - 4
DB390x.DBX4008.0 - 4
Motor/drive data set: Formatting is valid
DB31, ... DBX130.7
DB390x.DBX4008.7
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2.5 Data lists
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3.1
Brief description
3.1.1
Axis monitoring functions
Comprehensive monitoring functions are present in the controller for protection of people and
machines:
Contour monitoring
Positioning monitoring
Zero-speed monitoring
Clamping monitoring
Speed-setpoint monitoring
Actual-velocity monitoring
Measuring system monitoring
Limit-switch monitoring
Monitoring of the working area limitation
3.1.2
Protection zones
With the help of protection zones, elements of the machine (e.g. spindle chuck, tool changer,
toolholder, tailstock, movable probe, etc.) and the workpiece can be protected against
collisions.
During automatic execution of part programs in the AUTOMATIC or MDA mode, the NC checks
at the start of every part program block whether a collision between protection zones can occur
upon moving along the programmed path.
After manual deactivation of an active protection zone, traversing can be performed in this
zone. After leaving the protection zone, the protection zone automatically becomes active
again.
The definition, activation and deactivation of protection zones takes place via part program
instructions.
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
3.2
Axis monitoring functions
3.2.1
Contour monitoring
3.2.1.1
Contour error
Contour errors are caused by signal distortions in the position control loop.
Signal distortions can be linear or non-linear.
Linear signal distortions
Linear signal distortions are caused by:
Speed and position controller not being set optimally
Different servo gain factors (KV) of the feed axes involved in creating the path
With the same servo gain factor (KV) for two linear-interpolated axes, the actual position
follows the set position along the same path but with a time delay. With different servo gain
factors (KV), a parallel offset arises between the set and actual path.
Unequal dynamic response of the feed drives
Unequal drive dynamic responses lead to path deviations especially on contour changes.
Circles are distorted into ellipses by unequal dynamic responses of the two feed drives.
Non-linear signal distortions
Non-linear signal distortions are caused by:
Activation of the current limitation within the machining area
Activation of the limitation of the speed setpoint
Backlash within and/or outside the position control loop
When traversing a circular path, contour errors occur primarily due to the reversal error and
friction.
During motion along straight lines, a contour error arises due to a reversal error outside the
position control loop, e.g. due to a tilting milling spindle. This causes a parallel offset
between the actual and the set contour. The shallower the gradient of the straight line, the
larger the offset.
Nonlinear friction behavior of slide guides
3.2.1.2
Following-error monitoring
Function
In control engineering terms, traversing along a machine axis always produces a certain
following error, i.e. a difference between the set and actual position.
80
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
The following error that arises depends on:
Position control loop gain
MD32200 $MA_POSCTRL_GAIN (servo gain factor)
Maximum acceleration
MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
Maximum velocity
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
With activated feedforward control:
Precision of the path model and the parameters:
MD32610 $MA_VELO_FFW_WEIGHT (factor for the velocity feedforward control)
MD32800 $MA_EQUIV_CURRCTRL_TIME (equivalent time constant current control loop
for feedforward control)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop
for feedforward control)
In the acceleration phase, the following error initially increases when traversing along a
machine axis. After a time depending on the parameterization of the position control loop, the
following error then remains constant in the ideal case. Due to external influences, more or
less large fluctuations in the following error always arise during a machining process. To
prevent these fluctuations in the following error from triggering an alarm, a tolerance range
within which the following error may change must be defined for the following-error monitoring:
MD36400 $MA_CONTOUR_TOL (Contour monitoring tolerance range)
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Figure 3-1
Following-error monitoring
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
Effectiveness
The following-error monitoring only operates with active position control and the following axis
types:
Linear axes with and without feedforward control
Rotary axes with and without feedforward control
Position-controlled spindles
Fault
If the configured tolerance limit is exceeded, the following alarm appears:
25050 "Axis <Axis name> Contour monitoring"
The affected axis/spindle is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
3.2.2
Positioning, zero speed and clamping monitoring
3.2.2.1
Correlation between positioning, zero-speed and clamping monitoring
Overview
The following overview shows the correlation between the positioning, zero speed and
clamping monitoring functions:
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3.2.2.2
Positioning monitoring
Function
At the end of a positioning operation:
Set velocity = 0 AND
DB31, ... DBX64.6/7 (motion command minus/plus) = 0
checks the position monitoring to ensure that the following error of every participating machine
axis is smaller than the exact-stop fine tolerance during the delay time.
MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
MD36020 $MA_POSITIONING_TIME (delay time exact stop fine)
After reaching "Exact stop fine", the position monitoring is deactivated.
Note
The smaller the exact stop fine tolerance is, the longer the positioning operation takes and the
longer the time until block change.
Rules for MD setting
MD36010 $MA_STOP_LIMIT_FINE
MD36020 $MA_POSITIONING_TIME
Large
Can be selected relatively short
Small
Must be selected relatively long
MD32200 $MA_POSCTRL_GAIN
(servo gain factor)
MD36020 $MA_POSITIONING_TIME
Small
Must be selected relatively long
Large
Can be selected relatively short
Effectiveness
The position monitoring only operates with active position control and the following axis types:
Linear axes
Rotary axes
Position-controlled spindles
Fault
If the configured position-monitoring time is exceeded, the following alarm appears:
25080 "Axis <Axis name> Position monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
3.2.2.3
Zero-speed monitoring
Function
At the end of a positioning operation:
Set velocity = 0 AND
DB31, ... DBX64.6/7 (motion command minus/plus) = 0
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3.2 Axis monitoring functions
checks the zero-speed monitoring to ensure that the following error of every participating
machine axis is smaller than the standstill tolerance during the delay time.
MD36040 $MA_STANDSTILL_DELAY_TIME (zero-speed monitoring delay time)
MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
After reaching the required exact-stop state, the positioning operation is completed:
DB31, ... DBX60.6/7 (position reached with exact stop coarse/fine) = 1
The position-monitoring function is deactivated and is replaced by the zero-speed monitoring.
Zero-speed monitoring monitors the adherence to the standstill tolerance. If no new travel
request is received, the machine axis must not depart from the standstill tolerance.
Effectiveness
The zero-speed monitoring only operates with active position control and the following axis
types:
Linear axes
Rotary axes
Position-controlled spindles
Fault
If the delay time and/or the standstill tolerance is exceeded, the following alarm appears:
25040 "Axis <Axis name> Zero-speed monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
3.2.2.4
Parameter set-dependent exact stop and standstill tolerance
For adaptation to different machining situations and/or axis dynamics, e.g.:
Operating state A: High precision, long machining time
Operating state B: Lower precision, shorter machining time
Changing of the mass relationships after gear change
the positioning tolerances:
MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)
MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
can be weighted with a common factor depending on the parameter set:
MD36012 $MA_STOP_LIMIT_FACTOR (exact stop coarse/fine and standstill factor)
Because the factor applies in common for all three position tolerances, the relationship
between the values remains constant.
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
3.2.2.5
Clamping monitoring
Function
For machine axes that are mechanically clamped upon completion of a positioning operation,
larger motions can result from the clamping process (> standstill tolerance). As a result,
standstill monitoring is replaced by clamping monitoring during the clamping process.
Clamping monitoring monitors the adherence to the configured clamping tolerance:
MD36050 $MA_CLAMP_POS_TOL (clamping tolerance)
Activation
The clamping monitoring is activated by the following interface signal:
DB31, ... DBX2.3 (clamping in progress) = 1
Note
The clamping monitoring is not active in "follow-up mode" (DB31, ... DBX1.4 = 1).
Error case
If the clamping tolerance is exceeded, alarm 26000 "clamping monitoring" is displayed: The
affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME (maximum time for braking ramp when a
fault occurs)
Automatic stop to release the clamping
If a clamped axis must be traversed again in continuous-path mode, the NC stops the path
motion for Look Ahead at the start of the motion block of the clamped axis until the clamped
axis can once again be traversed. If the clamping is released before stopping, the path motion
is not stopped.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H01' (special function for clamped axis)
Note
The NC detects whether an axis is clamped based on the "servo enable" state of the axis:
DB31, ... DBX2.1 = 0: No servo enable axis is clamped
DB31, ... DBX2.1 = 1: Servo enable axis is not clamped
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3.2 Axis monitoring functions
Requirements for the PLC user program
The axis is always removed from the clamp when a travel command is pending.
The following is always valid for the axis:
DB31, ... DBX2.1 (controller enable) = 0: Axis is clamped.
DB31, ... DBX2.1 (controller enable) = 1: Axis is not clamped.
The following figure shows an example of the interface signals and states upon releasing of
the axis clamp:
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Figure 3-2
Release axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H01'
The part program blocks N310 and N410 refer to the following programming example:
Program code
Comment
N100 G0 X0 Y0 Z0 A0 G90 G54 F500
N101 G641 ADIS=.1 ADISPOS=5
N210 G1 X10
; Machining
N220 G1 X5 Y20
N310 G0 Z50
; Retract
N410 G0 A90
; Turn rotary table
N510 G0 X100
; Approach
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3.2 Axis monitoring functions
Program code
Comment
N520 G0 Z2
N610 G1 Z-4
; Machining
N620 G1 X0 Y-20
Optimized release of the axis clamping via travel command
If a clamped axis is to be traversed in continuous-path mode, a travel command is issued for
the clamped axis in the rapid traverse blocks (G0) immediately before the traversing block of
the clamped axis. This way, the PLC user program can release the axis clamp again in time.
Note
The travel command is set to a maximum of two rapid traverse blocks prior (including
intermediate blocks) to retain the reference to the initiating part program block.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H03' (special function for clamped axis)
Requirements for the PLC user program
The axis is removed from the clamp as soon as a travel command is pending.
The axis may be removed from the clamping even when only positioning is being performed
(G0).
The following figure shows an example of the interface signals and states upon releasing of
the axis clamp:
88
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3.2 Axis monitoring functions
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Figure 3-3
Release axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H03'
Automatic stop to set the clamping
If an axis is to be clamped in continuous-path mode, the NC stops the path motion before the
next "Non-rapid traverse block" if the axis has not been clamped by then, i.e. the PLC has set
the feedrate override value to zero.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H04' (special function for clamped axis)
Requirements for the PLC user program
The axis is always clamped when no travel command is pending.
The axis does not have to be clamped during positioning of the other axes.
It can be seen whether the axes are being positioned depending on whether rapid traverse
(G0) is programmed.
The stop command is therefore not set immediately at the beginning of the block containing
the axis, but rather at the beginning of the next machining block (traversing block that is
not traversed with rapid traverse).
The axis is clamped if the feedrate override of a machining block is not equal to 0.
If the axis is clamped before the next machining block, i.e. the feedrate override is other
than 0 again, no stop is generated.
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3.2 Axis monitoring functions
The following figure shows an example of the interface signals and states upon setting of the
axis clamp. The part program blocks N410, N510, N520 and N610 refer to the schematic
example under supplementary conditions.
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Figure 3-4
Set axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H04'
Supplementary conditions
Continuous-path mode
For the above-mentioned functions:
Automatic stop to release the clamping
Optimized release of the axis clamping via travel command
Automatic stop to set the clamping
the "Look Ahead" function must be active.
90
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3.2 Axis monitoring functions
Part program blocks without path motion (e.g. M82/M83) interrupt continuous-path mode and
thus also the "Look Ahead" function.
Example:
The part program blocks N320 and N420 are inserted in the programming example used.
Program code
Comment
N100 G0 X0 Y0 Z0 A0 G90 G54 F500
N101 G641 ADIS=.1 ADISPOS=5
N210 G1 X10
; Machining
N220 G1 X5 Y20
N310 G0 Z50
; Retract
N320 M82
; No path motion
N410 G0 A90
; Turn rotary table
N420 M83
; No path motion
N510 G0 X100
; Approach
N520 G0 Z2
N610 G1 Z-4
; Machining
N620 G1 X0 Y-20
The function behaves as follows:
MD36052 $MA_STOP_ON_CLAMPING = 'H03'
No longer has an effect.
The travel command is set in Look Ahead mode only for blocks with active continuous-path
mode. M82 generates a stop and thus interrupts the continuous-path mode. The Look
Ahead stopping on N410 would not be necessary because stopping occurs anyway.
MD36052 $MA_STOP_ON_CLAMPING = 'H04'
Generates a stop irrespective of M83 which is executed as a function of "feedrate override
0%". The axis is thus stopped before the first machining block.
Note
MD36052 $MA_STOP_ON_CLAMPING = 'H01' or 'H04'
Both functions can be used irrespective of the clamping of axes:
MD36052 $MA_STOP_ON_CLAMPING = 'H01'
Generates a Look Ahead stop for the path motion if no servo enable signal is active for
the relevant axis.
MD36052 $MA_STOP_ON_CLAMPING = 'H04'
Generates a Look Ahead stop for the path motion if the feedrate override = 0% at the
transition from the part program blocks with rapid traverse to part program blocks without
rapid traverse.
Both functions ensure that the path motion in continuous-path mode is already stopped
before the start of the relevant part program block and not just within the part program block.
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3.2 Axis monitoring functions
Block change criterion: Clamping tolerance
After activation of clamping monitoring (DB31, ... DBX2.3 = 1), the block change criterion for
traversing blocks in which the axis stops at the end of the block no longer acts as the
corresponding exact-stop condition, but rather as the configured clamping tolerance:
MD36050 $MA_CLAMP_POS_TOL (clamping tolerance with interface signal "Clamping
active")
Behavior upon releasing of the clamp
If the axis was moved by the clamping process, it is returned by the NC to the position setpoint
after releasing of the clamp and setting of the servo enable state. Repositioning depends on
whether "Follow-up mode" was activated for the axis:
Without follow-up mode:
With follow-up mode:
Repositioning by position controller
Repositioning by interpolator
See also interface signal DB31, ... DBX1.4 (follow-up mode).
Note
The following interface signals can be evaluated by the PLC user program as the criterion for
activation of the "Follow-up mode":
DB31, ... DBX60.6 / 7 (position reached with exact stop coarse/fine)
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3.2.3
Speed-setpoint monitoring
Function
The speed setpoint comprises:
Speed setpoint of the position controller
Speed setpoint portion of the feedforward control (with active feedforward control only)
Dift compensation (only for drives with analog setpoint interface)
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Speed setpoint calculation
The speed-setpoint monitoring ensures by limiting the control or output signal (10 V for analog
setpoint interface or rated speed for digital drives) that the physical limitations of the drives are
not exceeded:
MD36210 $MA_CTRLOUT_LIMIT (maximum speed setpoint)
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Speed setpoint limitation
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Speed-setpoint monitoring delay
To prevent an error reaction from occurring in every speed-limitation instance, a delay time
can be configured:
MD36220 $MA_CTRLOUT_LIMIT_TIME (speed-setpoint monitoring delay)
Only if the speed limitation is required for longer than the configured time does the
corresponding error reaction occur.
Effectiveness
The speed-setpoint monitoring is only active for closed-loop position-controlled axes and
cannot be deactivated.
Fault
If the configured delay time is exceeded, the following alarm appears:
25060 "Axis <Axis name> Speed-setpoint limitation"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
Note
Upon reaching the speed-setpoint monitoring, the position feedback loop of the axis becomes
non-linear due to the limitation. Contour errors result if the axis is involved in generating the
contour.
3.2.4
Actual-velocity monitoring
Function
The actual-velocity monitoring checks that the actual velocity of a machine axis/spindle does
not exceed the configured threshold:
MD36200 $MA_AX_VELO_LIMIT (velocity-monitoring threshold)
The threshold should be 10-15% above the configured maximum velocity.
For axes:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
For spindles:
MD35110 $MA_GEAR_STEP_MAX_VELO_LIMIT[n] (maximum speed of gear stage)
If you use this setting the speed will not normally exceed the velocity-monitoring threshold
(exception: Drive error).
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Activation
The actual-velocity monitoring is activated as soon as the active measuring system returns
valid actual values (encoder limit frequency not exceeded).
Effectiveness
The actual-velocity monitoring only operates with active position control and the following axis
types:
Linear axes
Rotary axes
Open-loop-controlled and position-controlled spindles
Fault
If the threshold is exceeded, the following alarm is displayed:
25030 "Axis <Axis name> Actual-velocity alarm limit"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
3.2.5
Measuring system monitoring
The NC has no direct access to the measuring system hardware, therefore measuring system
monitoring is mainly performed by the drive software.
Monitoring functions in the drive
Monitoring of hardware faults (e.g. measuring system failure, wire breakage)
Zero-mark monitoring
References:
Drive Functions SINAMICS S120
Measuring system monitoring functions carried out in the drive are mapped on the NCK alarms
(alarm 25000 and following) or NC reactions (e.g. abort of referencing or on-the-fly measuring).
The exact behavior of the NC depends on the setting in the machine data:
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MD36310 $MA_ENC_ZERO_MONITORING
Value
Meaning
=0
Monitoring of HW faults:
ON
If a hardware fault is detected in the active measuring system,
POWER ON alarm 25000 is displayed:
"Axis <Axis name> Hardware fault active encoder"
The affected axis is stopped via the configured braking ramp in
follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME (maximum time
for braking ramp when a fault occurs)
If a hardware fault is detected in the passive measuring system,
alarm 25001 is displayed:
"Axis <Axis name> Hardware fault passive encoder"
There is no further alarm response.
Zero-mark monitoring:
OFF
Alarms 25020 and 25021 (see below) are suppressed.
= 100
No zero-mark monitoring as well as hiding of all encoder monitoring functions (i.e. in addition to alarm
25020 (25021)), alarms 25000 (25001) and 25010 (25011) are suppressed.
> 0 but < 100
Monitoring of HW faults:
ON (see above)
Zero-mark monitoring:
ON
If zero-mark monitoring is tripped in the active measuring system,
alarm 25020 is displayed:
"Axis <Axis name> Zero-mark monitoring active encoder"
The affected axis is stopped via the configured braking ramp in
follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME (maximum time
for braking ramp when a fault occurs)
If zero-mark monitoring is tripped in the passive measuring system,
alarm 25021 is displayed:
"Axis <Axis name> Zero-mark monitoring passive encoder"
There is no further alarm response.
> 100
Monitoring of HW faults:
ON with attenuated error message:
The POWER ON alarm 25000 is replaced by the reset alarm 25010
and the reset alarm 25001 replaced by the cancel alarm 25011.
Zero-mark monitoring:
ON (see above)
For details on the alarms, see:
References:
Diagnostics Manual
Note
For hardware faults, the referencing status of the machine axis is reset:
DB31, ... DBX60.4/5 (referenced/synchronized 1/2) = 0
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Monitoring functions in the NCK
Encoder-limit-frequency monitoring
Plausibility check for absolute encoders
3.2.5.1
Encoder-limit-frequency monitoring
Function
The NC encoder-limit-frequency monitoring is based on the configuration and telegram
information of the drive. It monitors that the encoder frequency does not exceed the configured
encoder limit frequency:
MD36300 $MA_ENC_FREQ_LIMIT (encoder limit frequency)
Encoder-limit-frequency monitoring always refers to the active measuring system selected in
the NC/PLC interface:
DB31, ... DBX1.5/1.6 (position measuring system 1/2)
Effectiveness
The encoder limit frequency is operative for:
Linear axes
Rotary axes
Open-loop-controlled and position-controlled spindles
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Fault
Upon exceeding of the encoder limit frequency, the following occurs:
Message to the PLC:
DB31, ... DBX60.2 or 60.3 = 1 (encoder limit frequency exceeded 1 or 2)
Spindles
Spindles are not stopped but continue to turn with speed control.
If the spindle speed is reduced so much that the encoder frequency passes below the
encoder limit frequency, the actual value system of the spindle is automatically
resynchronized.
Axes
The following alarm is displayed:
21610 "Channel <Channel number> Axis <Axis name> Encoder <Encoder number >
Frequency exceeded"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
Note
If the encoder limit frequency is exceeded, a position-controlled machine axis must be rereferenced (see Section "R1: Referencing (Page 1149)").
3.2.5.2
Plausibility check for absolute encoders
Function
With absolute encoders (MD30240 $MA_ENC_TYPE = 4), absolute values supplied by the
measuring system are used to check the plausibility of the actual value.
During the check, the NC compares the cyclic position value held in the position control cycle
clock based on the incremental information from the encoder with a new position value
generated directly from the absolute and incremental information and checks that the
calculated position difference does not exceed the permissible deviation.
MD36310 $MA_ENC_ZERO_MONITORING (permissible deviation in 1/2 coarse increments
between the absolute and the incremental encoder track)
Note
The plausibility check of absolute encoders specifically detects all deviations caused by dirt
on the absolute track or by faults when transferring the absolute value. However, small errors
in the incremental track (burst interference, impulse errors) are not detected. In such instances
the plausibility check only responds to deviations in the millimeter range. This form of
monitoring should therefore serve as additional monitoring to assist the diagnosis of absoluteposition faults.
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Note
Rotary absolute encoders
If the plausibility check is to be used for a rotary absolute encoder, the SINAMICS parameter
p0979 must be taken into account when setting the modulo range (MD34220
$MA_ENC_ABS_TURNS_MODULO).
Note
Upgrading the NCK software
If the plausibility check is activated in absolute encoders (MD36310 > 0), the existing MD36310
settings must be checked and, if necessary, increased during an upgrade of the NCK software.
Zero mark diagnostics
With absolute encoders, the permissible deviation must be determined for the plausibility check
during commissioning. This can be performed via the machine data:
MD36312 $MA_ENC_ABS_ZEROMON_WARNING (zero-mark monitoring warning threshold)
Value
Meaning
No zero mark diagnostics
>0
Permissible deviation in 1/2 coarse increments between the absolute and the incremental
encoder track
Procedure when commissioning the system:
1. Deactivate zero-mark monitoring:
MD36310 $MA_ENC_ZERO_MONITORING = 0
2. Activate zero-mark diagnostics:
MD36312 $MA_ENC_ABS_ZEROMON_WARNING = 1
3. Move axis and monitor system variable $VA_ENC_ZERO_MON_ERR_CNT (number of
detected limit value violations).
4. If $VA_ENC_ZERO_MON_ERR_CNT 0:
Increase MD36312 value and repeat step 3.
5. If $VA_ENC_ZERO_MON_ERR_CNT = 0 (over a longer period of time!):
The correct value for MD36310 is located! Apply the value from MD36312 to MD36310 and
then set MD36312 to "0".
Note
Depending on the rigidity of the machine (minimal load masses / moments of inertia are
optimum) and the controller settings, the control play "oscillates" with varying degrees of
intensity. Account must be taken of this by entering machine-specific limit values in MD36310.
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Fault
Alarm 25020
If the plausibility check is tripped in the active measuring system, alarm 25020 is displayed:
"Axis <Axis name> Zero-mark monitoring active encoder"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(maximum time for braking ramp when an error occurs)
Alarm 25021
If the plausibility check is tripped in the passive measuring system, alarm 25021 is displayed:
"Axis <Axis name> Zero-mark monitoring passive encoder"
There is no further alarm response.
Note
In the event of a fault, the adjustment of the absolute encoder is lost and the axis is no longer
referenced. The absolute encoder must be readjusted (see Section "Referencing with absolute
encoders (Page 1179)").
Note
Errors in the incremental track that cannot be detected with amplitude monitoring can cause
position deviations in the millimeter range. The deviation depends on the lattice pitch/line count
and the traversing velocity of the axis when the error occurs.
Complete position monitoring is only possible through redundancy, i.e. through comparison
with an independent second measuring system.
3.2.5.3
Customized error reactions
Customized zero-mark monitoring
The default alarm and reaction behavior of the zero-mark monitoring can be adapted in
absolute measuring systems (MD30240 $MA_ENC_TYPE = 4) with the aid of system
variables. This allows you to perform your own monitoring using a synchronized action or OEM
application and to use all of the reaction options available in this application, e.g.:
Transmit alarm
Use cycles (e.g. approach tool-change position)
...
Example:
Users can adjust the alarm and reaction behavior so that when machining an expensive
workpiece, which could be damaged if the axis is stopped as a result of an alarm, machining
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stops before the machining quality of the workpiece is assessed using appropriate
synchronized action commands.
Effectiveness
Customized monitoring can be activated in parallel to or as an alternative to standard zeromark monitoring, depending on the setting in machine data:
MD36310 $MA_ENC_ZERO_MONITORING
Value
Meaning
If only user-specific monitoring is to be implemented, the default zero-mark monitoring
must be deactivated:
MD36310 = 0
and
MD36312 = 0
>0
Customized monitoring and standard zero-mark monitoring operate in parallel.
100
All encoder monitoring functions are deactivated.
If both monitoring functions are active (MD36310 > 0), you can perform cascaded monitoring.
Example:
If a value falls below the threshold specified in MD36310, customized monitoring triggers a
prewarning; standard zero-marking monitoring will only detect a fault if the threshold is
exceeded and will then deactivate automatically.
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System variables
You can implement customized error reactions using the following system variables:
System variable
Meaning
$VA_ENC_ZERO_MON_ERR_CNT[<n>,<axis>]
Number of detected limit value violations.
Contains the current number of detected limit value violations
when comparing the absolute and the incremental encoder
tracks.
The value is reset to 0 at:
POWER ON
Selection/deselection of parking
Reset does not cause a reset.
$VA_ABSOLUTE_ENC_DELTA_INIT[<n>,<axis>]
Initial difference for absolute encoders.
Contains the initial difference between the last buffered absolute
position in the static NC memory and the current absolute posi
tion.
Format of the difference value: Number of internal increments
(see MD10200 $MN_INT_INCR_PER_MM or MD10210
$MN_INT_INCR_PER_DEG)
The value is updated at:
POWER ON
Warm restart
Deselection of parking
Return below the encoder limit frequency
There is no reset at reset.
<n>: Encoder number
<axis>: Axis name
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3.2.6
Limit-switch monitoring
Overview of the end stops and possible limit-switch monitoring:
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3.2.6.1
Hardware limit switch
Function
A hardware limit switch is normally installed at the end of the traversing range of a machine
axis. It serves to protect against accidental overtravelling of the maximum traversing range of
the machine axis while the machine axis is not yet referenced.
If the hardware limit switch is triggered, the PLC user program created by the machine
manufacturer sets the corresponding interface signal:
DB31, ... DBX12.0/1 = 1 (hardware limit switch minus/plus)
Parameterization
The braking behavior of the machine axis upon reaching the hardware limit switch is
configurable via the machine data:
MD36600 $MA_BRAKE_MODE_CHOICE (braking behavior on hardware limit switch)
Value
Meaning
Braking with the configured axial acceleration
Rapid stop (set velocity = 0)
Effectiveness
The hardware limit-switch monitoring is active after the controller has ramped up in all modes.
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Effect
Upon reaching the hardware limit switch, the following occurs:
Alarm 21614 "Channel <Channel number> Axis <Axis name> Hardware limit switch
<Direction>"
The machine axis is braked according to the configured braking behavior.
If the axis/spindle is involved in interpolation with other axes/spindles, these are also braked
according to their configured braking behavior.
The traversing keys of the affected machine axis are blocked based on the direction.
3.2.6.2
Software limit switch
Function
Software limit switches serve to limit the traversing range of a machine axis. Per machine axis
and per traversing direction, two (1st and 2nd) software limit switches are available:
MD36100 POS_LIMIT_MINUS (1st software limit switch minus)
MD36110 POS_LIMIT_PLUS (1st software limit switch plus)
MD36120 POS_LIMIT_MINUS2 (2nd software limit switch minus)
MD36130 POS_LIMIT_PLUS2 (2nd software limit switch plus)
By default, the 1st software limit switch is active. The 2nd software limit switch can be activated
for a specific direction with the PLC user program:
DB31, ... DBX12.2 / 12.3 (2nd software limit switch minus/plus)
Effectiveness
The software limit switches are active:
Immediately after the successful referencing of the machine axis.
In all operating modes.
Boundary conditions
The software limit switches refer to the machine coordinate system.
The software limit switches must be inside the range of the hardware limit switches.
The machine axis can be moved to the position of the active software limit switch.
PRESET
After use of the function PRESET, the software limit-switch monitoring is no longer active.
The machine must first be re-referenced.
Endlessly rotating rotary axes
No software limit-switch monitoring takes place for endlessly rotating rotary axes:
MD30310 $MA_ROT_IS_MODULO == 1 (modulo conversion for rotary axis and spindle)
Exception: Setup-rotary axes
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Effects
Automatic operating modes (AUTOMATIC, MDA)
Without transformation, without overlaid motion, unchanged software limit switch:
A part program block with a programmed traversing motion that would lead to overrunning
of the software limit switch is not started.
With transformation:
Different reactions occur depending on the transformation type:
Behavior as above.
or
The part program block with a programmed traversing motion that would lead to
overrunning of the software limit switch is started. The affected machine axis stops at
the active software limit switch. The other machine axes participating in the traversing
motion are braked. The programmed contour is left during this process.
With overlaid motion
The part program block with a programmed traversing motion that would lead to overrunning
of the software limit switch is started. Machine axes that are traveling with overlaid motion
or have traveled with overlaid motion stop at the active software limit switch in question.
The other machine axes participating in the traversing motion are braked. The programmed
contour is left during this process.
Manual operating modes
JOG without transformation
The machine axis stops at the software limit switch position.
JOG with transformation
The machine axis stops at the software limit switch position. Other machine axes
participating in the traversing motion are braked. The preset path is left during this process.
General
Changing of the software limit switch (1st 2nd software limit switch)
If the actual position of the machine axis after changing lies behind the software limit switch,
it is stopped with the maximum permissible acceleration.
Overrunning the software limit switch in JOG mode
If the position of the software limit switch is reached and renewed pressing of the traversing
button should cause further travel in this direction, an alarm is displayed and the axis is not
traversed farther:
Alarm 10621 "Channel <Channel number> Axis <Axis name> is at the software limit switch
<Direction>"
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3.2.7
Monitoring of the working area limitation
3.2.7.1
General
Function
The "working area limitation" function can be used to limit the traversing range of a channel's
geometry and special axes to a permissible operating range. The function monitors compliance
with working area limits both in AUTOMATIC mode and in JOG mode.
The following versions are available:
Working area limitation in the Basic Coordinate System (BCS)
The traversing range limits are specified relative to the Basic Coordinate System.
Working area limitation in the workpiece coordinate system (WCS) or adjustable zero
system (AZS)
The traversing range limits are specified relative to the workpiece coordinate system or to
the adjustable zero system.
The two types of monitoring are independent of each other. If they are both active at the same
time, the traversing range limit which most restricts the access will take effect, depending on
the direction of travel.
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Reference point at the tool
Taking into account the tool data (tool length and tool radius) and therefore the reference point
at the tool when monitoring the working area limitation depends on the status of the
transformation in the channel:
Transformation inactive
Without transformations during traversing motion with an active tool the position of the tool
tip P is monitored, i.e. during the monitoring the tool length is considered automatically.
Consideration of the tool radius must be activated separately:
MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS (Consideration of the tool radius in
the working area limitation)
Transformation active
In the case of certain transformations the monitoring of the working area limitation may
differ from the behavior without transformation:
The tool length is a component of the transformation
($MC_TRAFO_INCLUDES_TOOL_X = TRUE):
In this case the tool length is not considered, i.e. the monitoring refers to the tool carrier
reference point.
Transformation with change in orientation:
In the case of transformations with changes in orientation, monitoring is always based
on the tool center point. MD21020 has no influence.
Note
The machine data $MC_TRAFO_INCLUDES_TOOL_... is analyzed only in certain
transformations. Condition for a possible evaluation is that the orientation of the tool
with respect to the base coordinate system cannot be changed by the transformation.
With standard transformations, the condition is only fulfilled for the "inclined axis" type
of transformation.
Response
Automatic operating modes
With / without transformation
The parts program block with a programmed traversing motion that would lead to
overrunning of the working area limits is not executed.
With superimposed motion
The axis, which would violate the working area limitation due to a superimposed motion, is
braked with maximum acceleration and without jerk limits (BRISK), and will come to a stop
in the position of the working area limitation. Other axes involved in the movement are
braked according to current acceleration behavior (e.g. SOFT). The path correlation may
be lost due to different braking accelerations (contour violation).
Manual operating modes
JOG with / without transformation
The axis is positioned at the working area limitation and then stopped.
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Powerup response
If an axis moves outside the permissible working area when activating the working area limits,
it will be immediately stopped with the maximum permissible acceleration.
Overrunning of the working area limitation in JOG mode
In JOG mode, an axis is moved to no further than its working area limit by the control system.
When the traverse button is pressed again, an alarm is displayed and the axis does not traverse
any further.
Geo-axis replacement
Through the following machine data it is adjustable, whether during geometry axis change the
active working area limitation is retained or deactivated:
MD10604 $MN_WALIM_GEOAX_CHANGE_MODE = <value>
3.2.7.2
<value>
Meaning
The working area limitation is deactivated during the geometry axis change.
The working area limitation remains activated during the geometry axis change.
Working area limitation in BKS
Application
Using the "working area limitation in BCS", the working area of a machine tool is limited so
that the surrounding devices (e.g. tool revolver, measuring stations) are protected against
damage.
Working area limits
The lower and upper working area limits of each axes are adjusted through setting data or
programmed through part program commands:
Working area limitation through setting data
The adjustments are done through the immediately effective axis-specific setting data:
SD43420 $SA_WORKAREA_LIMIT_PLUS (working area limitation plus)
SD43430 $SA_WORKAREA_LIMIT_MINUS (working area limitation minus)
Programmed working area limitation
The programming is done using the G commands:
G25 X Y Z
G26 X Y Z
108
lower working area limitation
upper working area limitation
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Programmed working area limitation
The programmed working area limitation has priority and overwrites the values entered in
SD43420 and SD43430.
Activation/Deactivation
Working area limitation through setting data
The activation/deactivation of the working area limitation for each axis takes place in a directionspecific manner via the immediately effective setting data:
SD43400 $SA_WORKAREA_PLUS_ENABLE (working area limitation active in the positive
direction)
SD43410 $SA_WORKAREA_MINUS_ENABLE (working area limitation active in the negative
direction)
Value
Meaning
The working area limitation in positive or negative direction is switched off.
The working area limitation in positive or negative direction is active.
Programmed working area limitation
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Activation or deactivation of the overall "working area limitation in the BCS" is arranged via
part program commands:
WALIMON
or
WALIMOF
Working area limitation ON
Working area limitation OFF
Changing the working area limitation
Working area limitation through setting data
HMI user interface: Operating area "Parameter"
Automatic modes:
Changes: Possible only in the RESET state
Effectiveness: Immediately
Manual operating modes:
Changes: Always possible
Effectiveness: At the start of the next traversing motion
Programmed working area limitation
The working area limitation can be changed in the part program via G25or G26 <Axis name>
<value>. The change takes effect immediately.
The new working area limitation value is retained after and NC RESET and POWER ON if the
back-up process has been activated in the NCK's retentive data storage for SD43420 and
SD43430:
MD10710 $MN_PROG_SD_RESET_SAVE_TAB[0] = 43420
MD10710 $MN_PROG_SD_RESET_SAVE_TAB[1] = 43430
Reset position
The reset position for the working area limitation (WALIMON or WALIMOF) is configurable via:
MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups)
3.2.7.3
Working area limitation in WCS/SZS
Application
The "working area limitation" in the WCS/SZS enables a channel-specific, flexible workpiecespecific limitation of the traversing range of the channel axes in the workpiece coordinate
system (WCS) or settable zero system (SZS). It is intended mainly for use in conventional
lathes.
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Requirement
The channel axes must be referenced.
Working area limitation group
In order that the axis-specific working area limits do not have to be rewritten for all channel
axes when switching axis assignments, e.g. when switching transformations or the active
frame on/off, working area limitation groups are available.
A working area limitation group comprises the following data:
Working area limits for all channel axes
Reference system of the working area limitation
The number of the working area limitation groups is set in the machine data:
MD28600 $MC_MM_NUM_WORKAREA_CS_GROUPS
Set working area limits
The working area limits are set channel-specifically for each channel axis via the following
system variables:
$P_WORKAREA_CS_LIMIT_PLUS[<group>, <channel axis name>]
$P_WORKAREA_CS_LIMIT_MINUS[<group>, <channel axis name>]
With <group> = number of the working area limitation group
Enable working area limits
The working area limits are enabled channel-specifically for each channel axis via the following
system variables:
$P_WORKAREA_CS_PLUS_ENABLE[<group>, <channel axis name>]
$P_WORKAREA_CS_MINUS_ENABLE[<group>, <channel axis name>]
With <group> = number of the working area limitation group
There is no activation through the enable.
Select reference system
The reference system for a working area limitation group is set via the following system variable
for each specific channel:
$P_WORKAREA_CS_COORD_SYSTEM[<group>] = <value>
<value>
Meaning
Working area limitation based on the workpiece coordinate system
Working area limitation based on the AZS
With <group> = number of the working area limitation group
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Activation of working area limits
The working area limits of a working area limitation group are activated in the part program
with the command:
WALCSn (activation of the working area limits of group n, where n = 1, 2, ... )
Deactivation of working area limits
The working area limits of a working area limitation group are deactivated in the part program
with the command:
WALCS0 (deactivation of the working area limits active in the channel)
Change working area limits
The working area limits can be changed at any time via the system variables mentioned above.
Changes take effect with the next activation of the working area limitation group (WALCSn).
Data storage
The system variables of the working area limits are stored retentively in the static memory of
the NC.
Note
For the storage of the limiting values for the linear axes, the default setting is considered for
the system of units (MD10240 $MN_SCALING_SYSTEM_IS_METRIC).
Data backup
The system variables of the working area limits can be backed up in separate files:
Backup file
For the backup of:
_N_CHx_WAL
Values of the system variables for the channel x.
_N_COMPLETE_WAL
Values of the system variables for all channels.
Note
The system variables of the working area limits are part of the "_N_INITIAL_INI" file.
Behavior in JOG mode
Initial situation:
In JOG mode, several geometry axes traverse simultaneously (e.g. using several
handwheels)
A rotating frame is active between the basic coordinate system (BCS) and the reference
coordinate system of the working area limitation (WCS or SZS)
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Behavior when a working area limitation responds:
The traversing motions of the geometry axes that are not affected are continued
The affected geometry axis is stopped at the working area limit
Set initial setting
The specification of the working area limitation group that is to take effect at power up, reset
or end of the part program and start of the part program is performed channel-specifically via
the machine data:
MD20150 $MC_GCODE_RESET_VALUE[59] = <group>
The working area limitation group that is to take effect is still dependent on the setting in the
machine data:
MD20152 $MC_GCODE_RESET_MODE[59] = <mode>
<mode> Meaning
3.2.8
The working area group takes effect in accordance with MD20150
The last active working area group remains active
Parking a machine axis
If a machine axis is brought into the"Parking" state, then for this particular axis, no encoder
actual values are acquired, and all of the monitoring functions described in the preceding
sections (measuring system, standstill, clamping monitoring, etc.) are deactivated.
Activation / deactivation
Activation
"Parking" a machine axis activated by resetting the axis-specific NC/PLC interface signals for
the parameterized position measuring systems and the controller enable of the machine axis:
DB31, ... DBX1.5 (position measuring system 1) = 0
DB31, ... DBX1.6 (position measuring system 2) = 0
DB31, ... DBX2.1 (controller enable) = 0
The encoder status of the position measuring system of the axis is then set to "Not referenced":
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 0
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 0
The following further NC/PLC interface signals are also reset:
DB31, ... DBX61.5 (position controller active) == 0
DB31, ... DBX61.6 (speed controller active) == 0
DB31, ... DBX61.7 (current controller active) == 0
DB31, ... DBX93.7 (pulses enabled) == 0
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DB31, ... DBX102.5 (position measuring system 1 activated) == 0
DB31, ... DBX102.6 (position measuring system 2 activated) == 0
Deactivation
"Parking" a machine axis is deactivated by setting the axis-specific NC/PLC interface signals
for the position measuring system to be activated and the controller enable of the machine
axis:
DB31, ... DBX1.5 (position measuring system 1) = 1
or
DB31, ... DBX1.6 (position measuring system 2) = 1
DB31, ... DBX2.1 (controller enable) = 1
The position control for the machine axis becomes active again at the current position.
The encoder state of the position measuring systems depends on the measuring system type:
Incremental position measuring system "not referenced" state
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 0
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 0
Absolute position measuring system "referenced/synchronized" state
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 1
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 1
The following NC/PLC interface signals are also set again:
DB31, ... DBX61.5 (position controller active) == 1
DB31, ... DBX61.6 (speed controller active) == 1
DB31, ... DBX61.7 (current controller active) == 1
DB31, ... DBX93.7 (pulses enabled) == 1
DB31, ... DBX102.5 (position measuring system 1 activated) == 1
DB31, ... DBX102.6 (position measuring system 2 activated) == 1
Incremental position measuring systems
After deactivation of the "parking" state, incremental position measuring systems have to be
referenced before they have "referenced" encoder status.
WARNING
Incorrect synchronization of the position measuring system caused by offset of the actual
machine axis position
If changes have been made to the position measuring system during "parking" that require a
change to the parameterized machine data, for example, another encoder has been mounted,
the position measuring system must be completely remeasured and referenced See Section
"R1: Referencing (Page 1149)."
114
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Machine axis without position measuring system
For a machine axis without a position measuring system (speed-controlled spindle), a status
equivalent to "parking" is activated by canceling the controller enable:
DB31, ... DBX2.1 (controller enable) = 0
3.2.9
Parking the passive position measuring system
3.2.9.1
Function
Contrary to the "Parking a machine axis (Page 113)" function, for which all position measuring
systems of a machine axis are deactivated, using the "Park the passive position measuring
system" function, users have the option, of only "parking" the passive position measuring
system of a machine axis (i.e. to deactivate the encoder evaluation and monitoring in the drive
and in the control), while the active position measuring system can remain operational.
Note
For an explanation of active/passive measuring system, refer to "Setpoint/actual-value
system (Page 336)".
Application
The "Park passive measuring system" function can, for example, be used in the following cases:
Changing attachment heads with and without integrated encoder
Using the "Park passive position measuring system" function, it is possible to mount
attachment heads alternating with and without integrated encoder for different machining
tasks on the main spindle, without the missing encoder signals initiating drive and control
faults.
See also:
Example: Changing an attachment head for a direct position measuring system
(Page 119)
Example: Changing an attachment head for two direct position measuring systems
(Page 123)
Using linear position measuring systems, which are not available over the complete
traversing range of a machine axis
Using the "Park passive position measuring system" function, it is possible to pass through
the range outside the linear position measuring system, without the missing encoder signals
initiating drive and control faults.
See also:
"Example: Measuring system switchover when encoders are missing in certain parts
of the range (Page 127)".
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Activation / deactivation
Activation
The passive position measuring system of a machine axis is parked under the following
conditions:
"Park passive position measuring system" function is active for the measuring system:
MD31046 $MA_ENC_PASSIVE_PARKING[<n>] = 1
with <n> = 0 (position measuring system 1) or 1 (position measuring system 2)
Note
MD31046 is not active:
for axes with fewer than two encoders:
MD30200 $MA_NUM_ENCS < 2
for simulated encoders:
MD30240 $MA_ENC_TYPE = 0
Note
For position measuring systems, which are used as motor measuring systems, the "Park
passive position measuring system" function should be deactivated (MD31046 = 0)!
and
The user sets the following NC/PLC interface signal to "0":
DB31, ... DBX1.5 (position measuring system 1) = 0
or
DB31, ... DBX1.6 (position measuring system 2) = 0
The controller then sets the status for the activation state of the position measuring system to
"0":
DB31, ... DBX102.5 (position measuring system 1 activated) == 0
or
DB31, ... DBX102.6 (position measuring system 2 activated) == 0
The position measuring system is now no longer monitored and updated.
Deactivation
"Park" is deactivated if the user activates the position measuring system:
DB31, ... DBX1.5 (position measuring system 1) = 1
or
DB31, ... DBX1.6 (position measuring system 2) = 1
The controller then sets the status for the activation state of the position measuring system
back to "1":
DB31, ... DBX102.5 (position measuring system 1 activated) == 1
or
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DB31, ... DBX102.6 (position measuring system 2 activated) == 1
Note
Switching over to a parked position measuring system takes longer than to a non-parked
position measuring system. Because of the time taken, we recommend switching over while
the axes are stationary.
Position of the position measuring system
Absolute position measuring systems
For absolute position measuring systems, the position after deactivating "park" corresponds
to the actual absolute encoder position.
The position measuring system is referenced:
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 1
or
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 1
Incremental position measuring systems
For incremental position measuring systems, the position after deactivating "park" always
corresponds to the last deactivation position of the position measuring system.
Switching over to the parked position measuring system is only realized if the parameterized
permissible deviation between the actual values of the two position measuring systems (see
MD36500 $MA_ENC_CHANGE_TOL) is not exceeded. Otherwise, users must apply the "Park
a machine axis" function, in which case such a check is not made.
The position measuring system is not referenced:
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 0
or
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 0
Incremental position measuring systems with position transfer
Alternatively, for incremental position measuring systems, when the "Park passive position
measuring system" is active (MD31046 $MA_ENC_PASSIVE_PARKING[<n>] = 1) it is
possible, after deactivating "Park" to transfer the position, and where relevant, also the
"Referenced" status, from the previously active position measuring system.
For every position measuring system of a machine axis, this function can be activated using
machine data:
MD34210 $MA_ENC_REFP_STATE[<n>]
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with <n> = 0 (position measuring system 1) or 1 (position measuring system 2)
Value
Meaning
Only the position from the previous active position measuring system is transferred.
The position measuring system is not referenced:
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 0
or
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 0
Position and "Referenced" status are transferred from the previously active position measur
ing system.
The position measuring system is referenced:
DB31, ... DBX60.4 (referenced/synchronized, position measuring system 1) == 1
or
DB31, ... DBX60.5 (referenced/synchronized, position measuring system 2) == 1
Note
Position and "Referenced" status of the previously active position measuring system are only
transferred for incremental position measuring systems, depending on MD34210
$MA_ENC_REFP_STATE[<n>] and only when the "Park passive position measuring system"
function is active (MD31046 $MA_ENC_PASSIVE_PARKING[<n>] = 1).
The transferred position has the accuracy of the previous active position measuring system.
The position measuring system should be rereferenced if this accuracy is not adequate.
WARNING
Incorrect synchronization of the position measuring system caused by offset of the actual
machine axis position
If changes have been made to the position measuring system during "parking" that require a
change to the parameterized machine data, for example, another encoder has been mounted,
the position measuring system must be completely remeasured and referenced See Chapter
"R1: Referencing (Page 1149)".
3.2.9.2
Supplementary conditions
Interaction with "dual position feedback"
The "Park passive position measuring system" function cannot be used in conjunction with the
"dual position feedback" function (MD32960 $MA_POSCTRL_DUAL_FEEDBACK_TIME > 0).
Interaction with "position difference input"
The "Park passive position measuring system" function cannot be used in conjunction with the
"position difference input" function (MD32950 $MA_POSCTRL_DAMPING > 0).
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Interaction with APC (option for SINUMERIK 840D sl)
The "Park passive measuring system" function cannotbe used in conjunction with the
"Advanced positioning control (APC)" drive function.
Interaction with encoder safety protection concept
Only the 1 encoder safety protection concept can be used in conjunction with the "Park passive
position measuring system" function.
Interaction when connecting and disconnecting at the DRIVE-CLiQ
If, instead of the encoder cable, the DRIVE-CLiQ cables, e.g. between the SMC and Motor
Module are unplugged and plugged, such encoders can only be unparked without fault via the
"Parking a machine axis (Page 113)" function.
3.2.9.3
Example: Changing an attachment head for a direct position measuring system
Initial situation
Attachment head "A" has an encoder E2.
Attachment head "B" does not have an encoder.
Spindle "SP" has an encoder E1.
One of the following two telegram types is configured in MD13060
$MN_DRIVE_TELEGRAM_TYPE (standard telegram type for PROFIdrive):
Telegram 116 (motor encoder + an external encoder)
or
Telegram 136 (motor encoder + an external encoder, and torque precontrol)
The following position measuring systems are configured in the spindle "SP":
Motor encoder E1 as position measuring system 1
Direct encoder E2 as position measuring system 2
Attachment head "A" with encoder E2 is currently mounted on the spindle.
Position measuring system 2 is the active measuring system:
DB31, ... DBX1.6 = 1
Position measuring system 1 is passive.
The "Park passive position measuring system" function is:
not active for position measuring system 1:
MD31046 $MA_ENC_PASSIVE_PARKING [ 0 ] = 0
active for position measuring system 2:
MD31046 $MA_ENC_PASSIVE_PARKING [ 1 ] = 1
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3.2 Axis monitoring functions
Objective
The user would like to change from attachment head "A" to attachment head "B."
Implementation
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3.2 Axis monitoring functions
Before changing an attachment head, using the function "Parking a machine axis
(Page 113)", the user must deactivate all position measuring systems of the machine
axis:
DB31, ... DBX1.5 (position measuring system 1) = 0
DB31, ... DBX1.6 (position measuring system 2) = 0
The controller then resets the status signals for the position measuring systems:
DB31, ... DBX102.5 (position measuring system 1 activated) == 0
DB31, ... DBX102.6 (position measuring system 2 activated) == 0
The user waits for the status signals and only now removes the attachment head "A"
from the spindle. This electrically disconnects the encoder cable between the attach
ment head "A" and coupling. The absence of encoder E2 does not generate any NC or
drive faults.
Attachment head "B" is now mounted on the spindle.
The user only activates position measuring system 1:
DB31, ... DBX1.5 (position measuring system 1) = 1
The control then sets the status signal:
DB31, ... DBX102.5 (position measuring system 1 activated) == 1
The "Park passive position measuring system" function is active for position measuring
system 2. This means that position measuring system 2 does not become passive, but
remains in the "Park" state.
Objective
The user now wishes to remount attachment head "A" again.
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3.2 Axis monitoring functions
Implementation
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Using the "Park machine axis" function, the user deactivates position measuring system
1:
DB31, ... DBX1.5 (position measuring system 1) = 0
The controller then resets the status signal for the position measuring system:
DB31, ... DBX102.5 (position measuring system 1 activated) == 0
The user waits for the status signal and only now removes the attachment head "B" from
the spindle.
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3.2 Axis monitoring functions
3.2.9.4
Attachment head "A" is now mounted on the spindle.
The user activates position measuring system 2:
DB31, ... DBX1.6 (position measuring system 2) = 1
As a consequence, position measuring system 1 is also simultaneously activated; This
is because the "Park passive position measuring system" function is not active for po
sition measuring system 1 (motor measuring system!). Position measuring system 1
becomes a passive position measuring system.
The controller then sets the status signals for the position measuring systems:
DB31, ... DBX102.5 (position measuring system 1 activated) == 1
DB31, ... DBX102.6 (position measuring system 2 activated) == 1
Example: Changing an attachment head for two direct position measuring systems
Initial situation
Attachment head "A" has an encoder E3.
Attachment head "B" does not have an encoder.
Spindle "SP" has two encoders E1 and E2.
One of the following two telegram types is configured in MD13060
$MN_DRIVE_TELEGRAM_TYPE (standard telegram type for PROFIdrive):
Telegram 118 (two external encoders)
or
Telegram 138 (two external encoders, plus torque precontrol)
References:
For information with regard to the encoder assignment, see:
Commissioning Manual, CNC Commissioning: NC, PLC, Drive;
Section: "Communication between the NC and the drive" > "Drives: Assign axis"
The following position measuring systems are configured in the spindle "SP":
Direct encoder E2 as position measuring system 1
Direct encoder E3 as position measuring system 2
Attachment head "A" with encoder E3 is currently mounted on the spindle.
Position measuring system 2 is the active measuring system:
DB31, ... DBX1.6 = 1
Position measuring system 1 is passive.
The "Park passive position measuring system" function is:
Not active for position measuring system 1:
MD31046 $MA_ENC_PASSIVE_PARKING [ 0 ] = 0
Active for position measuring system 2:
MD31046 $MA_ENC_PASSIVE_PARKING [ 1 ] = 1
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3.2 Axis monitoring functions
Objective
The user would like to change from attachment head "A" to attachment head "B."
Implementation
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
Before changing an attachment head, using the function "Parking a machine axis
(Page 113)", the user must deactivate all position measuring systems of the machine
axis:
DB31, ... DBX1.5 (position measuring system 1) = 0
DB31, ... DBX1.6 (position measuring system 2) = 0
The controller then resets the status signals for the position measuring systems:
DB31, ... DBX102.5 (position measuring system 1 activated) == 0
DB31, ... DBX102.6 (position measuring system 2 activated) == 0
The user waits for the status signals and only now removes the attachment head "A"
from the spindle. This electrically disconnects the encoder cable between the attach
ment head "A" and coupling. The absence of encoder E3 does not generate any NC or
drive faults.
Attachment head "B" is now mounted on the spindle.
The user only activates position measuring system 1:
DB31, ... DBX1.5 (position measuring system 1) = 1
The control sets the status signal:
DB31, ... DBX102.5 (position measuring system 1 activated) == 1
The "Park passive position measuring system" function is active for position measuring
system 2. This means that position measuring system 2 does not become passive, but
remains in the "Park" state.
Objective
The user now wishes to remount attachment head "A" again.
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A3: Axis Monitoring, Protection Zones
3.2 Axis monitoring functions
Implementation
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Using the "Park machine axis" function, the user deactivates position measuring system
1:
DB31, ... DBX1.5 (position measuring system 1) = 0
The controller then resets the status signal for the position measuring system:
DB31, ... DBX102.5 (position measuring system 1 activated) == 0
The user waits for the status signal and only now removes the attachment head "B" from
the spindle.
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3.2 Axis monitoring functions
3.2.9.5
Attachment head "A" is now mounted on the spindle.
The user activates position measuring system 2:
DB31, ... DBX1.6 (position measuring system 2) = 1
As a consequence, position measuring system 1 is also simultaneously activated; This
is because the "Park passive position measuring system" function is not active for po
sition measuring system 1. Position measuring system 1 becomes a passive position
measuring system.
The controller then sets the status signals for the position measuring systems:
DB31, ... DBX102.5 (position measuring system 1 activated) == 1
DB31, ... DBX102.6 (position measuring system 2 activated) == 1
Example: Measuring system switchover when encoders are missing in certain parts of
the range
In the following example, the direct linear position measuring system is only available in the
machining zones, while only the motor measuring system is available outside the machining
zones.
Initial situation
Linear axis "X" has two incremental encoders:
Motor encoder E1
Direct linear encoder E2
Direct linear encoder E2 is only available in the machining range.
One of the following two telegram types is configured in MD13060
$MN_DRIVE_TELEGRAM_TYPE (standard telegram type for PROFIdrive):
Telegram 116 (motor encoder + an external encoder)
or
Telegram 136 (motor encoder + an external encoder, and torque precontrol)
The following position measuring systems are configured for the machine axis:
Motor encoder E1 as position measuring system 1
Direct linear encoder E2 as position measuring system 2
When the machine is switched on, the user activates both position measuring systems:
DB31, ... DBX1.5 (position measuring system 1) = 1
DB31, ... DBX1.6 (position measuring system 2) = 1
When both position measuring systems are simultaneously activated, then the control
selects position measuring system 1 as active position measuring system.
Position measuring system 2 is selected for machining:
DB31, ... DBX1.5 (position measuring system 1) = 0
DB31, ... DBX1.6 (position measuring system 2) = 1
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The "Park passive position measuring system" function is:
not active for position measuring system 1:
MD31046 $MA_ENC_PASSIVE_PARKING [ 0 ] = 0
active for position measuring system 2:
MD31046 $MA_ENC_PASSIVE_PARKING [ 1 ] = 1
Transfer of the position and the "referenced" status is activated for position measuring
system 2:
MD34210 $MA_ENC_REFP_STATE[ 1 ] = 2
Objective
When passing through the range outside linear position measuring system E2, the missing
encoder signals should not initiate any faults in the drive and in the control.
128
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Implementation
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Before the table reaches the end of the linear position measuring system, a switchover
must be made to the motor measuring system. The user does this by activating both
position measuring systems:
DB31, ... DBX1.5 (position measuring system 1) = 1
DB31, ... DBX1.6 (position measuring system 2) = 1
Using the "Park passive position measuring system" function, the linear position meas
uring system, which is passive after the measuring system switchover, is parked by the
control.
The control resets the status signal:
DB31, ... DBX102.6 (position measuring system 2 activated) == 0
The user waits for the status signal before continuing to traverse in the range outside
the linear position measuring system.
Traversing through the range outside the linear position measuring system with the
motor measuring system.
If the table returns to the linear position measuring system range, at standstill, the user
switches from the motor measuring system to the linear position measuring system:
DB31, ... DBX1.5 (position measuring system 1) = 0
DB31, ... DBX1.6 (position measuring system 2) = 1
The control sets the status signal:
DB31, ... DBX102.6 (position measuring system 2 activated) == 1
The motor measuring system becomes a passive position measuring system.
Result
Both position measuring systems are referenced. The position of the linear position measuring
system corresponds to the position of the motor measuring system at the switchover instant.
The linear position measuring system must be rereferenced if the position accuracy is not
sufficient.
3.3
Protection zones
3.3.1
General
Function
Protection zones are static or moveable in 2- or 3-dimensional ranges within a machine to
protect machine elements against collisions.
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
The following elements can be protected:
Permanent parts of the machine and attachments (e.g. toolholding magazine, swiveling
probe). Only the elements that can be reached by possible axis constellations are relevant.
Moving parts belonging to the tool (e.g. tool, toolholder)
Moving parts belonging to the workpiece (e.g. parts of the workpiece, clamping table,
clamping shoe, spindle chuck, tailstock).
Protection zones are defined via part program instructions or system variables so that they
completely surround the element to be protected. The activation and deactivation of protection
zones also takes place via part program instructions.
Protection-zone monitoring by the NC is channelspecific, i.e. all the active protection zones of
a channel monitor one another for collisions.
Definition of a protection zone
It is possible to define 2dimensional or 3dimensional protection zones as polygons with a
maximum of ten corner points. The protection zones can also contain arc contour elements.
Polygons are defined in a previously defined plane.
Expansion in the 3rd dimension can be limited between - to + .
The following four cases are possible:
Dimension of the protection zone from - to +
Dimension of the protection zone from - to the upper limit
Dimension of the protection zone from the lower limit to +
Dimension of protection zone from lower limit to upper limit.
Coordinate system
The definition of a protection zone takes place with reference to the geometric axis of a channel
in the basic coordinate system.
Reference
Tool-related protection zones
Coordinates for toolrelated protection zones must be given as absolute values referred to
the tool carrier reference point F.
Workpiece-related protection zones
Coordinates for workpiecerelated protection zones must be given as absolute values
referred to the zero point of the basic coordinate system.
Note
If no toolrelated protection zone is active, the tool path is checked against the workpiecerelated protection zones.
If no workpiece-oriented protection zone is active, protection-zone monitoring does not take
place.
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Orientation
The orientation of the protection zones is determined by the plane definition (abscissa/
ordinate), in which the contour is described, and the axis perpendicular to the contour (vertical
axis).
The orientation of the protection zones must be the same for the tool and workpiecerelated
protection zones.
3.3.2
Types of protection zone
Machine-defined and channel-defined protection zones
Machine-defined protection zone
Data for machine-related protection zones are defined once in the control. These protection
zones can be activated by all channels.
Channel-defined protection zones
Data for channel-related protection zones are defined in a channel. These protection zones
can be activated only by this channel.
Example: Doubleslide turning machine
The toolrelated protection zones are assigned to channel 1 or 2.
The workpiecerelated protection zones are assigned to the machine.
The coordinate system must be identical for both channels.
Maximum number of protection areas
The maximum definable number of machine- and channel-related protection zones is set via:
MD18190 $MN_MM_NUM_PROTECT_AREA_NCK (Number of files for machine-related
protection zones)
MD28200 $MC_MM_NUM_PROTECT_AREA_CHAN (Number of files for channel-specific
protection zones)
Coordinates
The coordinates of a protection zone must always be programmed as absolute values with
respect to the reference point of the protection zone. When the protection zone is activated
via the part program it is possible to apply a relative offset to the reference point of the protection
zone.
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Examples
In the following figures some examples for protection zones have been presented:
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Example of application on turning machine
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
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134
Example of a turning machine with relative protection zone for tailstock
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
3.3.3
Definition via part program instruction
General
A protection-zone definition must contain the following information:
Protection zone type (workpiece- or tool-related)
Orientation of the protection zone
Type of limitation in the third dimension
Upper and lower limits of the protection zone in the third dimension
Activation type ("Protection zone immediately active": only possible via system variable)
Contour elements
Definition of protection zones
The following systematics must be maintained in the definition of protection zones:
Definition of the working plane: G17, G18 or G19
Definition beginning
Channel-specific protection zones: CPROTDEF(...)
Machine or NC-specific protection zone: NPROTDEF(...)
Contour description for protection zone
End of definition: EXECUTE(...)
Definition of the working plane
The desired working plane to which the contour description of the protection zone refers must
be selected with G17, G18, G19 before start of the definition. It may not be changed before the
end of the definition. Programming of the applicate is not permitted between start and end of
the definition.
Definition beginning
The definition start is defined by the corresponding subroutine:
CPROTDEF(n, t, applim, appplus, appminus)
NPROTDEF(n, t, applim, appplus, appminus)
Parameters Type
Description
INT
Number of defined protection zone
BOOL
Protection zone type
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TRUE
Tool-oriented protection zone
FALSE
Workpiece-related protection zone
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Parameters Type
applim
INT
Description
Type of limitation in the third dimension
0
No limitation
Limit in plus direction
Limit in minus direction
Limit in positive and negative direction
appminus
REAL
Value of the limit in the negative direction in the 3rd dimension 1)
appplus
REAL
Value of the limit in the positive direction in the 3rd dimension 1)
1)
The following must be true: appplus > appminus
Contour description for protection zone
The contour of a protection zone is described with traversing motions. These are not executed
and have no connection to previous or subsequent geometry descriptions. They only define
the protection zone.
The contour of a protection zones is specified with up to eleven traversing movements in the
selected working plane. The first traversing movement is the movement to the contour. The
last point in the contour description must always coincide with the first point of the contour
description. In the case of rotationsymmetrical contours (e.g. spindle chuck), the whole contour
must be described (not merely the contour to the turning center).
The valid protection zone is the zone left of the contour:
Internal protection zone
The contour of an internal protection zone must described in the counterclockwise direction.
External protection zones (permitted only for workpiece-related protection zones)
The contour of an external protection zone must be described in the clockwise direction.
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Examples: External and internal protection zone
Toolrelated protection zones must be convex. If a concave protection zone is required, the
protection zone must be divided up into several convex protection zones.
136
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
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Examples: convex and concave tool-related protection zones
Contour elements
The following contour elements are permissible:
G0, G1 for straight contour elements
G2 for circle segments in the clockwise direction
Permissible only for workpiece-related protection zones.
Not permissible for tool-related protection zones because they must be convex.
G3 for circular segments in the counterclockwise direction
A protection zone cannot be described by a complete circle. A complete circle must be divided
into two half circles.
The sequence G2, G3 or G3, G2 is not permitted. A short G1 block must be inserted between
the two circular blocks.
Constraints
During the definition of a protection zone, the following functions must not be active or used:
Tool radius compensation (cutter radius compensation, tool nose radius compensation)
Transformation
Reference point approach (G74)
Fixed point approach (G75)
Dwell time (G4)
Block search stop (STOPRE)
End of program (M17, M30)
M functions: M0, M1, M2
Programmable frames (TRANS, ROT, SCALE, MIRROR) and configurable frames (G54 to G57)
are ineffective.
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Inch/metric switchovers with G70/G71 or G700/G710 are effective.
End of definition
The end of definition is defined by the following subroutine:
EXECUTE(NOT_USED)
Parameters
Type
Description
NOT_USED
INT
Error variable has no effect in protection zones with EXECUTE.
The definition of a machine-specific or channel-specific protection zone is completed with the
subroutine EXECUTE(n).
3.3.4
Definition as per system variable
General
When the protection zones are defined via part program instructions (see Section "Definition
via part program instruction (Page 135)"), the protection zone data is stored in system
variables. The system variables can also be written directly so that the definition of protection
areas can also be performed directly in the system variables.
The same supplementary conditions apply for the definition of the contour of a protection zone
as for a protection zone definition via part program instructions.
System variables
The protection zone definitions cover following system variables:
System variable
Type
Meaning
$SN_PA_ACTIV_IMMED[n]
$SC_PA_ACTIV_IMMED[n]
BOOL
Activation type
The protection zone is active / not active immediately after
the power up of the controller and the referencing of the axes.
$SN_PA_T_W[n]
$SC_PA_T_W[n]
$SN_PA_ORI[n]
$SC_PA_ORI[n]
138
INT
INT
FALSE
Not immediately active
TRUE
Immediately active
Protection zone type
0
Workpiece-related protection zone
Reserved
Reserved
Tool-related protection zone
Orientation of the protection zone, i.e. polygon definition in
the plane of:
0
1st and 2nd geometry axis
3rd and 1st geometry axis
2nd and 3rd geometry axis
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
System variable
Type
Meaning
$SN_PA_LIM_3DIM[n]
$SC_PA_LIM_3DIM[n]
INT
Type of limitation in the third dimension
0
No limitation
Limit in plus direction
Limit in minus direction
Limit in positive and negative direction
$SN_PA_PLUS_LIM[n]
$SC_PA_PLUS_LIM[n]
REAL
Value of the limit in the positive direction in the 3rd dimension
$SN_PA_MINUS_LIM[n]
$SC_PA_MINUS_LIM[n]
REAL
Value of the limit in the negative direction in the 3rd dimension
$SN_PA_CONT_NUM[n]
$SC_PA_CONT_NUM[n]
INT
Number of valid contour elements
$SN_PA_CONT_TYP[n, i]
$SC_PA_CONT_TYP[n, i]
INT
Contour type[i], contour type (G1, G2, G3) of the nth contour
element
$SN_PA_CONT_ABS[n, i]
$SC_PA_CONT_ABS[n, i]
REAL
End point of the contour[i], abscissa value
$SN_PA_CONT_ORD[n, i]
$SC_PA_CONT_ORD[n, i]
REAL
End point of the contour[i], ordinate value
$SN_PA_CENT_ABS[n, i]
$SC_PA_CENT_ABS[n, i]
REAL
Center point of the circular contour[i], absolute abscissa value
$SN_PA_CENT_ORD[n, i]
$SC_PA_CENT_ORD[n, i]
REAL
Center point of the circular contour[i], absolute ordinate value
$SN_... are system variables for NC and machine-specific protection zones.
$SC_... are system variables for channel-specific protection zones.
The index "n" corresponds to the number of the protection zone: 0 = 1. Protection zone
The index "i" corresponds to the number of the contour element: 0 = 1. Contour element
The contour elements must be defined in ascending order.
Note
The system variables of the protection zone definitions are not restored with REORG.
Data of the protection zone definitions
Data storage
The protection zone definitions are stored in the following files:
File
Blocks
_N_NCK_PRO
Data block for NC-specific protection zones
_N_CHAN1_PRO
Data block for channel-specific protection zones in channel 1
_N_CHAN2_PRO
Data block for channel-specific protection zones in channel 2
Data backup
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
The protection zone definitions are saved in the following files:
3.3.5
File
Blocks
_N_INITIAL_INI
All data blocks of the protection zones
_N_COMPLETE_PRO
All data blocks of the protection zones
_N_CHAN_PRO
All data blocks of the channel-specific protection zones
Activating and deactivating protection zones
The activation state of a protection zone can have the following values:
Activated
Preactivated
Preactivated with conditional stop
Deactivated
Activation, preactivation and deactivation via part program
The activation status of a protection zone can be changed in the part program at any time via
the following functions:
Channel-specific protection zone:
CPROT(<n>, <state>[, <xMov>, <yMov>, <zMov>])
Machine-specific protection zone:
NPROT(<n>, <state>[, <xMov>, <yMov>, <zMov>])
Parameters
Type
Description
<n>:
INT
Protection area number
<state>:
INT
Activation status
<xMov>,
<yMov>,
<zMov>:
REAL
Deactivated
Preactivated
Activated
Preactivated with conditional stop
Additive offset values depending on the reference system:
Workpiece-related protection zone: Machine zero
Tool-related protection zone: Toolholder reference point
Note
A protection zone is only taken into account after the referencing of all geometry axes of the
channel in which it has been activated.
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Activation via NC/PLC interface signals
Only protection zones that have been preactivated via the part program (see paragraph below
"Preactivation via part program") can be activated in the PLC user program via the NC/PLC
interface signals:
DB21, ... DBX8.0 - 9.1 = 1 (activate machine-related protection zone 1 - 10)
DB21, ... DBX10.0 - 11.1 = 1 (activate channel-specific protection zone 1 - 10)
For preactivation, see paragraph below "Preactivation via part program"
The activation of preactivated protection zones must be performed prior to the traversing
motion of the geometry axes. If the activation is performed during the traversing motion, these
protection zones are not taken into account in the current traversing motion. Reaction:
Alarm "10704 Protection zone monitoring is not guaranteed"
DB21, ... DBX39.0 = 1 (protection zone monitoring not guaranteed)
Note
The activation of preactivated protection zones must be performed prior to the traversing
motion of the geometry axes.
Automatic activation after the NC powers up
Protection zones that are to take effect immediately after the NC powers up can be specified
via the following system variables:
Channel-specific protection zones:
$SC_PA_ACTIV_IMMED[<protection zone number>]
Machine-specific protection zones:
$SN_PA_ACTIV_IMMED[<protection zone number>]
Note
With automatic activation, no relative offset of a protection zone is possible.
Note
A protection zone is only taken into account after the referencing of all geometry axes of
the channel in which it has been activated.
Preactivation via part program
Protection zones that are to be activated at a later time from the PLC user program must be
preactivated in the part program:
CPROT or NPROT (<protection zone number>, 1)
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Preactivated protection zones are displayed via the following NC/PLC interface signals:
DB21, ... DBX272.0 - 273.1 == 1 (machine-related protection zone 1 - 10 preactivated)
DB21, ... DBX274.0 - 275.1 == 1 (channel-specific protection zone 1 - 10 preactivated)
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Example: Turning machine with preactivated protection zone for a sensor.
Preactivation with conditional stop
NOTICE
Protection zone violation possible
If a preactivated protection zone with conditional stop is not activated in good time, the NC
may no longer be able to stop before the protection zone in good time because the braking
distance after the activation point has not been taken into account.
The preactivation of protection zones with conditional stop is performed in the part program
via:
CPROT or NPROT (<protection zone number>, 3)
In the case of a preactivated protection zone with conditional stop, a traversing motion is not
stopped before this if the traversing motion goes into the protection zone. A stop is only
performed when the protection zone has been activated. This behavior is to enable
uninterrupted machining controlled by the user when the protection zone is only required
temporarily.
Deactivation via part program
A protection zone that has been activated via the part program or an NC/PLC interface signal
can be deactivated again at any time from the part program with status = 0:
Channel-specific protection zone:
CPROT(n, 0)
Machine-specific protection zone:
NPROT(n, 0)
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Deactivation via NC/PLC interface signal
Only protection zones that have been preactivated via a part program and activated via the
NC/PLC interface signals, can be deactivated again via the NC/PLC interface signals:
DB21, ... DBX8.0 to DBX9.1 = 0 (activate machine-related protection zone 1 - 10)
DB21, ... DBX10.0 to DBX11.1 = 0 (activate channel-specific protection zone 1 - 10)
Protection zones that have been activated directly via a part program cannot be deactivated
from the PLC user program.
Note
It is recommended that protection zones which are to be activated via the PLC user program,
be configured specially for this. Preactivation in the part program is only useful for these
protection zones.
Automatic deactivation via machine data parameterization
When executing the Geometry axis change and Transformation change functions, the active
protection zones can be deactivated automatically. The setting is performed NC-specifically
via the machine data:
MD10618 $MN_PROTAREA_GEOAX_CHANGE_MODE
Bit
Value
Meaning
The active protection zones are deactivated during the transformation change.
The active protection zones remain active during the transformation change.
The active protection zones are deactivated during the geometry axis change.
The active protection zones remain active during the geometry axis change.
Display protection zone violation
Violations of activated protection zones or possible violations of preactivated protection zones,
if they would be activated, are displayed via the following NC/PLC interface signals:
DB21, ... DBX276.0 - 277.1 == 1 (machine-related protection zone 1 - 10 violated)
DB21, ... DBX278.0 - 279.1 == 1 (channel-specific protection zone 1 - 10 violated)
Behavior in special system states
Block search with calculation
For block search with calculation, the last programmed activation state of a protection zone is
always taken into account.
Program test
In the AUTOMATIC and MDI modes, activated and preactivated protection zones are also
monitored in the "Program test" state.
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
NC RESET and end of program
The activation status of a protection zone is retained even after an NC RESET and end of
program.
Memory requirements
The memory required for protection zones is parameterized via the following machine data:
Persistent memory
MD18190 $MN_MM_NUM_PROTECT_AREA_NCK (number of available machinedefined protection zones)
MD28200 $MC_MM_NUM_PROTECT_AREA_CHAN (number of available channeldefined protection zones)
Dynamic memory
MD28210 $MC_MM_NUM_PROTECT_AREA_ACTIVE (maximum number of
protection zones that can be activated simultaneously in the channel)
MD28212 $MC_MM_NUM_PROTECT_AREA_CONTUR (maximum number of
definable contour elements per protection zone)
See also
Definition via part program instruction (Page 135)
Definition as per system variable (Page 138)
3.3.6
Protection zone violation and temporary enabling of individual protection zones
Temporary enabling of protection zones
If a protection zone violation occurs when starting or during a traversing motion, under certain
circumstances, the protection zone can be enabled, i.e. for temporary traversing. In
AUTOMATIC and MDA mode as well as in JOG mode, the temporary enabling of protection
zones is performed via operator actions.
A temporary enable is only possible for workpiece-related protection zones.
Tool-related protection zones must either be deactivated in the part program or via the NC/
PLC interface in the "Preactivated" state.
Terminating the temporary enabling
Temporary enabling of a protection zone is terminated after the following events:
NC RESET
AUTOMATIC or MDA mode: The end of the block is outside the protection zone
JOG mode: The end of the traversing motion is outside the protection zone
The protection zone is activated
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
Behavior in the AUTOMATIC and MDA modes
In AUTOMATIC and MDA mode, no traversing motion is enabled into or through active
protection zones:
A traversing motion that would lead from outside into an active protection zone, is stopped
at the end of the last block located outside the protection zone.
A traversing motion that begins within an active protection zone is not started.
Temporary enabling of protection zones
If a traversing motion is stopped in AUTOMATIC or MDA mode because of a protection zone
violation, this is indicated to the operator by an alarm. If the operator decides that the traversing
motion can be continued, the crossing of protection zones can be enabled.
The enabling is only temporarily and is performed by triggering NC START:
DB21, ... DBX7.1 = 1 (NC START)
An alarm is displayed for each violated protection zone. An NC START signal must be triggered
by the operator for each protection zone to be enabled.
The traversing motion is continued when all protection zones that have resulted in the stopping
of the traversing motion, have been enabled.
Continuation of a traversing motion without temporary enabling
A traversing motion was stopped with an alarm because of a protection zone violation. If the
relevant protection zone is set to the "Preactivated" state via the NC/PLC interface, the
traversing motion can be continued with NC START, without the protection zone being
temporarily enabled.
Increased protection against the enabling of protection zones
If the enabling of a protection zone is to be protected better than just by NC START, this must
be performed by the machine manufacturer or user in the PLC user program.
Behavior in JOG mode
Simultaneous traversing of several geometry axes
In JOG mode, traversing motions can be performed simultaneously in several geometry axes.
The traversing range of every participating geometry axis is limited axis-specifically at the start
of the traversing motion with regard to the traversing range limits (software limit switches,
working area limitation, etc.) and active protection zones. However, safe monitoring of all active
protection zones cannot be guaranteed. The following is provided as feedback to the user:
Alarm: "10704 Protection zone monitoring is not guaranteed"
DB31, ... DBX39.0 = 1 (protection zone monitoring not guaranteed)
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
After the end of the traversing motion, the alarm is cleared automatically. If the current position
is within an activated or preactivated protection zone, the following is performed:
Alarm 10702 or 10703 is displayed
Further traversing motions are disabled
The NC/PLC interface signal for the relevant protection zone is set
DB21, DBX276.0 - 277.1 or DBX278.0 - 279.1 (protection zone violated)
To continue, see the paragraph below "Temporary enabling of protection zones" and Section
"Activating and deactivating protection zones (Page 140)".
Example: Three protection zones activated and simultaneous traversing of two geometry
axes
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Motion range of the geometry axes at the start time
At the start time of the traversing motions of the axes X and Y, the axial traversing range limits
are determined from the start time:
X axis
Positive traversing direction: Protection zone 2
Negative traversing direction: Absolute traversing range limit, e.g. software limit switch
Y axis
Positive traversing direction: Protection zone 1
Negative traversing direction: Absolute traversing range limit, e.g. working area limitation
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A3: Axis Monitoring, Protection Zones
3.3 Protection zones
The resulting maximum traversing range at the start time does not take protection zone 3 into
account. Therefore, a protection zone violation in protection zone 3 is possible.
Note
Activated and preactivated protection zones are also monitored in the manual operating modes
JOG, INC and DRF.
Limitation of traversing motion of an axis
If the traversing motion of an axis is limited because it has reached a protection zone, then a
selfresetting alarm "Protection zone reached in JOG" is generated. The alarm text specifies
the violated protection zone and the relevant axis. It is assured that no protection zone will be
violated when an axis is traversing in JOG. (This response is analogous to approaching
software limit switches or a working area limitation.)
The alarm is reset:
When an axis is traversed along a path that does not lead into the protection zone
When the protection zone is enabled
On NC RESET
If an axis starts to move towards a protection zone when it is at a protection zone limit, then a
selfresetting alarm "Protection zone reached in JOG" is output and the motion is not started.
Temporary enabling of protection zones
If a traversing motion is started within or on the limit of an activated protection zone, alarm
10702 or 10703 is displayed and the traversing motion is not started. The traversing motion
can be performed when the relevant protection zone is temporarily enabled. The following
actions must be performed for this:
Create a positive edge at the NC/PLC interface signal:
DB21, ... DBX1.1 (enable protection zone)
Start the same traversing motion again
Note
The NC/PLC interface signal "Protection zone violated" is still set when the temporarily
enabled protection zone is traversed:
DB21, DBX276.0 277.1 or DBX278.0 279.1
The enable is reset if a motion is started that does not lead into the enabled protection zone.
If further protection zones are affected by the traversing motion, additional alarms 10702 or
10703 are displayed for each protection zone. The protection zones displayed in the alarms
can be enabled by creating further positive edges on the NC/PLC interface signal:
DB21, ... DBX1.1 (enable protection zone)
Behavior at change of operating mode
The protection zones temporarily enabled in JOG mode are retained after a change to
AUTOMATIC or MDA mode. The temporary enables set the in the AUTOMATIC or MDA mode
are also retained after a change to JOG mode.
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Reset of an enable
The enable is reset internally and on the NC/PLC interface at the next standstill of a geometry
axis for which the temporarily enabled protection zone has been completely exited:
DB21, DBX276.0 - 277.1 or DBX278.0 - 279.1 = 0 (protection zone violated)
Behavior with axis replacement
With regard to the protection zones after an axis replacement, the starting position is the last
position approached in the relinquishing channel. Traversing motions in the channel taking
over are not taken into account. For this reason, you must make sure that an axis replacement
is not performed from a position with protection zone violation.
Behavior for superimposed motions
Superimposed motions that are included in the main run, cannot be taken into account by the
block preparation with regard to the active protection zones.
This results in the following reactions:
Alarm: "10704 Protection zone monitoring is not guaranteed"
DB31, ... DBX39.0 = 1 (protection zone monitoring not guaranteed)
3.3.7
Restrictions in protection zones
Restrictions in protection-zone monitoring
No protection-zone monitoring is possible under the following conditions:
Orientation axes
Protection-zone monitoring for fixed machine-related protection zones with TRANSMIT or
peripheral surface transformation.
Exception: Protection zones defined with rotation symmetry around the spindle axis. Here,
no DRF offset must be active.
Mutual monitoring of tool-related protection zones
Positioning axes
For positioning axes, only the programmed block end point is monitored.
An alarm is displayed during the traversing motion of the positioning axes:
Alarm: "10704 Protection-zone monitoring is not guaranteed".
Axis interchange
If an axis intended for the axis interchange is not active in a channel, the position of the axis
last approached in the channel is taken as the current position. If this axis has not yet been
traversed in the channel, zero is taken as the position.
148
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Machine-related protection zones
A machine-related protection zone or its contour is defined using the geometry axis, i.e. with
reference to the basic coordinate system (BCS) of a channel. In order that correct protectionzone monitoring can take place in all channels in which the machine-related protection zone
is active, the basic coordinate system (BCS) of all affected channels must be identical (position
of the coordinate point of origin with respect to the machine zero point and orientation of the
coordinate axes).
3.3.8
Checking for protection zone violation, working area limitation and software limit
switches (CALCPOSI)
Function
As of the start position, the CALCPOSI() function checks whether active limits have been
violated along the traversing distance in the workpiece coordinate system (WCS) with regard
to the geometry axes.
If the distance cannot be fully traversed because of limits, a positive, decimal-coded status
value and the maximum possible traversing distance are returned.
Definition
Syntax
INT CALCPOSI(VAR REAL[3] <Start>, VAR REAL[3] <Dist>, VAR REAL[5]
<Limit>,
VAR REAL[3] <MaxDist>, BOOL <System>, INT <TestLim>)
<Status> = CALCPOSI(VAR <Start>, VAR <Dist>, VAR <Limit>, VAR
<MaxDist>, <System>, <TestLim>)
Meaning
CALCPOSI:
Test for limit violations with regard to the geometry axes.
Preprocessing
stop:
No
Alone in the block:
Yes
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<Status>:
(Part 1)
Function return value. Negative values indicate error states.
Data type:
INT
Range of values:
-8 x 100000
Values
Meaning
The distance can be traversed completely.
-1
At least one component is negative in <Limit>.
-2
Error in a transformation calculation.
Example: The traversing distance passes through a singularity
so that the axis positions cannot be defined.
-3
The specified traversing distance <Dist> and the maximum
possible traversing distance <MaxDist> are linearly dependent.
Note
Can only occur in conjunction with <TestLim>, bit 4 == 1.
-4
The projection of the traversing direction contained in <Dist>
on to the limitation surface is the zero vector, or the traversing
direction is perpendicular to the violated limitation surface.
Note
Can only occur in conjunction with <TestLim>, bit 5 == 1.
-5
In <TestLim>, bit 4 == 1 AND bit 5 == 1
-6
At least one machine axis that has to be considered for check
ing the traversing limits has not been homed.
-7
Collision avoidance function: Invalid definition of the kinematic
chain or the protection zones.
-8
Collision avoidance function: This command cannot be execu
ted because of insufficient memory.
Units digit
<Status>:
(Part 2)
Note
If several limits are violated simultaneously, the limit with the greatest restriction on
the specified traversing distance is signaled.
1
Software limit switches are limiting the traversing distance
Working area limits are limiting the traversing distance
Protection zones are limiting the traversing distance
1x
The initial value violates the limit
2x
The specified straight line violates the limit.
Tens digit
This value is also returned if the end point does not violate any
limit itself, but the path from the starting point to the end point
would cause a limit value to be violated (e.g. by passing through
a protection zone, curved software limit switches in the WCS
for non-linear transformations, e.g. transmit).
150
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Hundreds digit
<Status>:
(Part 3)
1xx
AND units digit == 1 or 2:
The positive limit value has been violated.
AND units digit == 3 1):
An NC-specific protection zone has been violated.
2xx
AND units digit == 1 or 2:
The negative limit value has been violated.
AND units digit == 3 1):
A channel-specific protection zone has been violated.
Thousands digit
<Status>:
(Part 4)
1xxx
AND units digit == 1 or 2:
Factor with which the axis number is multiplied that violates the
limit. Numbering of the axes begins with 1.
Reference:
Software limit switch: Machine axes
Working area limitation: Geometry axes
AND units digit == 3 1):
Factor with which the number of the violated protection zone is
multiplied.
Hundred thousands digit
<Status>:
(Part 5)
0xxxxx
Hundred thousands digit == 0: <Dist> remains unchanged
1xxxxx
A direction vector is returned in <Dist> which defines the further
motion direction on the limitation surface.
Can only occur with the following supplementary conditions:
Software limit switch or working area limit violated (not in
the starting point)
A transformation is not active
<TestID>, bit 4 or bit 5 == 1
<Start>:
Reference to a vector with the start positions:
<Start> [0]: Abscissa
<Start> [1]: Ordinate
<Start> [2]: Applicate
Parameter type:
Input
Data type:
VAR REAL [3]
Range of values:
-max. REAL value x[n] +max. REAL value
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3.3 Protection zones
<Dist>:
Reference to a vector.
Input: Incremental traversing distance
<Dist> [0]: Abscissa
<Dist> [1]: Ordinate
<Dist> [2]: Applicate
Output (only for set hundred thousands digit in <Status>):
<Dist> contains a unit vector v as output value which defines the further travers
ing direction in the WCS.
Case 1: Formation of vector v for <TestID>, bit 4 == 1
The input vectors <Dist> and <MaxDist> span the motion plane. This plane is
cut by the violated limitation surface. The intersecting line of the two planes
defines the direction of vector v. The orientation (sign) is selected so that the
angle between the input vector <MaxDist> and v is not greater than 90 degrees.
Case 2: Formation of vector v for <TestID>, bit 5 == 1
Vector v is the unit vector in the projection direction of the traversing vector
contained in <Dist> on the limitation surface. If the projection of the traversing
vector on the limitation surface is the zero vector, an error is returned.
<Limit>:
Parameter type:
Input/output
Data type:
VAR REAL [3]
Range of values:
-max. REAL value x[n] +max. REAL value
Reference to an array of length 5.
<Limit> [0 - 2]: Minimum clearance of the geometry axes to the limits:
<Limit> [0]: Abscissa
<Limit> [1]: Ordinate
<Limit> [2]: Applicate
The minimum clearances are observed with:
Working area limitation: No restrictions
Software limit switch: If no transformation is active, or a transformation is
active in which a clear assignment of the geometry axes to the linear machine
axes is possible, e.g. 5-axis transformations.
<Limit> [3]: Contains the minimum clearance for linear machine axes which, for
example, cannot be assigned a geometry axis because of a non-linear
transformation. This value is also used as limit value for the monitoring of the
conventional protection zones and the collision avoidance protection zones.
<Limit> [4]: Contains the minimum clearance for rotary machine axes which, for
example, cannot be assigned a geometry axis because of a non-linear
transformation.
Note
This value is only active for the monitoring of the software limit switches for special
transformations.
152
Parameter type:
Input
Data type:
VAR REAL [5]
Range of values:
-max. REAL value x[n] +max. REAL value
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<MaxDist>:
Reference to a vector with the incremental traversing distance in which the specified
minimum clearance of an axis limit is not violated by any of the relevant machine
axes:
<Dist> [0]: Abscissa
<Dist> [1]: Ordinate
<Dist> [2]: Applicate
If the traversing distance is not restricted, the contents of this return parameter are
the same as the contents of <Dist>.
With <TestID>, bit 4 == 1: <Dist> and <MaxDist>
<MaxDist> and <Dist> must contain vectors as input values that span a motion plane.
The two vectors must be mutually linearly dependent. The absolute value of <MaxD
ist> is arbitrary. For the calculation of the motion direction, see the description for
<Dist>.
<System>:
Parameter type:
Output
Data type:
VAR REAL [3]
Range of values:
-max. REAL value x[n] +max. REAL value
Measuring system (inch/metric) for position and distance specifications (optional)
Data type:
BOOL
Default value:
FALSE
Value
FALSE
Meaning
Measuring system corresponding to the currently active G func
tion from G group 13 (G70, G71, G700, G710).
Note
If G70 is active and the basic system is metric (or G71 is active
and the basic system is inch), the system variables $AA_IW
and $AA_MW are provided in the basic system and, if used,
must be converted for CALCPOSI().
TRUE
Measuring system corresponding to the set basic system:
MD52806 $MN_ISO_SCALING_SYSTEM
<TestLim>:
Bit-coded selection of the limits to be monitored (optional)
Data type:
INT
Default value:
Bit 0, 1, 2, 3 == 1 (15)
Bit
Decimal
Meaning
Software limit switch
Working area limitation
Activated conventional protection zones
Preactivated conventional protection zones
16
With violated software limit switches or working area limits in
<Dist>, return the traversing direction as in Case 1 (see above).
32
With violated software limit switches or working area limits in
<Dist>, return the traversing direction as in Case 2 (see above).
64
Activated collision avoidance protection zones
128
Preactivated collision avoidance protection zones
256
Pairs of activated and preactivated collision avoidance protec
tion zones
1) If several protection zones are violated, the protection zone with the greatest restriction on the
specified traversing distance is returned.
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3.3 Protection zones
Example
In the example (see figure), the active software limit switches and working area limits in the XY plane and the following three protection zones are displayed
C2: Tool-related, channel-specific protection zone, active, circular, radius = 2 mm
C4: Workpiece-related, channel-specific protection zone, preactivated, square, side length
= 10 mm
N3: NC-specific protection zone, active, rectangular, side length = 10 mm x 15 mm
The protection zones and working area limits are defined first in the NC program. The
CALCPOSI() function is then called with different parameterizations.
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Program code
N10
N20
N30
N40
N50
N60
DEF
DEF
DEF
DEF
DEF
DEF
REAL _STARTPOS[3]
REAL _MOVDIST[3]
REAL _DLIMIT[5]
REAL _MAXDIST[3]
INT _SB
INT _STATUS
: Toolrelated protection zone C2
N70 CPROTDEF(2, TRUE, 0)
N80 G17 G1 X-2 Y0
N90 G3 I2 X2
N100 I-2 X-2
N110 EXECUTE(_SB)
154
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3.3 Protection zones
Program code
; Workpiece-related protection zone C4
N120 CPROTDEF(4, FALSE, 0)
N130 G17 G1 X0 Y15
N140 X10
N150 Y25
N160 X0
N170 Y15
N180 EXECUTE(_SB)
; Machine-related protection zone N3
N190 NPROTDEF(3, FALSE, 0)
N200 G17 G1 X10 Y5
N210 X25
N220 Y15
N230 X10
N240 Y5
N250 EXECUTE(_SB)
; Activate or
N260 CPROT(2,
N270 CPROT(4,
N280 NPROT(3,
preactivate protection zones
2, 0, 0, 0)
1, 0, 0, 0)
2, 0, 0, 0)
; Define working area limits
N290 G25 XX=-10 YY=-10
N300 G26 XX=20 YY=21
N310 _STARTPOS[0] = 0.
N320 _STARTPOS[1] = 0.
N330 _STARTPOS[2] = 0.
N340 _MOVDIST[0] = 35.
N350 _MOVDIST[1] = 20.
N360 _MOVDIST[2] = 0.
N370
N380
N390
N400
N410
_DLIMIT[0]
_DLIMIT[1]
_DLIMIT[2]
_DLIMIT[3]
_DLIMIT[4]
=
=
=
=
=
0.
0.
0.
0.
0.
N420 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST)
N430 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,,3)
N440 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,,1)
N450 _STARTPOS[0] = 5.
N460 _STARTPOS[1] = 17.
N470 _STARTPOS[2] = 0.
N480 _MOVDIST[0] = 0.
N490 _MOVDIST[1] =-27.
N500 _MOVDIST[2] = 0.
N510 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,,14)
N520 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,, 6)
N530 _DLIMIT[1] = 2.
N540 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,, 6)
N550 _STARTPOS[0] = 27.
N560 _STARTPOS[1] = 17.1
N570 _STARTPOS[2] = 0.
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Program code
N580 _MOVDIST[0] =-27.
N590 _MOVDIST[1] = 0.
N600 _MOVDIST[2] = 0.
N610 _DLIMIT[3] = 2.
N620 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,,12)
N630 _STARTPOS[0] = 0.
N640 _STARTPOS[1] = 0.
N650 _STARTPOS[2] = 0.
N660 _MOVDIST[0] = 0.
N670 _MOVDIST[1] = 30.
N680 _MOVDIST[2] = 0.
N690 TRANS X10
N700 AROT Z45
N710 _STATUS = CALCPOSI(_STARTPOS,_MOVDIST, _DLIMIT, _MAXDIST)
; Delete frames from N690 and N700 again
N720 TRANS
N730 _STARTPOS[0] = 0.
N740 _STARTPOS[1] = 10.
N750 _STARTPOS[2] = 0.
; Vectors _MOVDIST and _MAXDIST define the motion plane
N760 _MOVDIST[0] = 30.
N770 _MOVDIST[1] = 30.
N780 _MOVDIST[2] = 0.
N790 _MAXDIST[0] = 1.
N800 _MAXDIST[1] = 0.
N810 _MAXDIST[2] = 1.
N820 _STATUS = CALCPOSI(_STARTPOS, _MOVDIST, _DLIMIT, _MAXDIST,,17)
N830 M30
Results of CALCPOSI():
N...
<status>
420
3123
8.040
4.594
N3 is violated.
430
1122
20.000
11.429
No limit is violated.
440
1121
30.000
17.143
Only monitoring of the software limit switches still active.
510
4213
0.000
0.000
Starting point violates C4
520
0000
0.000
-27.000
Preactivated C4 is not monitored. The specified distance can
be traversed completely.
540
2222
0.000
-25.000
Because _DLIMIT[1] = 2, the traversing distance is restricted
by the working area limitation.
620
4223
-13.000
0.000
Clearance to C4 is a total of 4 mm due to C2 and _DLIMIT[3].
Clearance C2 N3 of 0.1 mm does not result in limitation of
the traversing distance.
156
<MaxDist>[0] X
<MaxDist>[1] Y
Remarks
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3.3 Protection zones
N...
<status>
710
1221
<MaxDist>[0] X
0.000
<MaxDist>[1] Y
21.213
Remarks
Frame with translation and rotation active. The permissible
traversing distance in _MOVDIST applies in the shifted and
rotated WCS.
820
102121
18.000
18.000
The software limit switch of the Y axis is violated. The calcu
lation of a further traversing direction is requested with _TES
TLIM = 17. This direction is in _MOVDIST (0.707, 0.0, 0.707).
It is valid because the hundred thousands digit is set in
_STATUS.
Supplementary conditions
Axis status
All machine axes considered by CALCPOSI() must be homed.
Circle-related distance specifications
All circle-related distance specifications are always interpreted as radius specifications. This
must be taken into account particularly for transverse axes with activated diameter
programming (DIAMON/DIAM90).
Traversing distance reduction
If the specified traversing distance of an axis is limited, the traversing distance of the other
axes is also reduced proportionally in the <MaxDist> return value. The resulting end point is
therefore still on the specified path.
Rotary axes
Rotary axes are only monitored when they are not modulo rotary axes.
It is permissible that no software limit switches, working area limits or protection zones are
defined for one or more of the relevant axes.
Software limit switch and working area limitation status
Software limit switches and working area limits are only taken into account if they are active
during the execution of CALCPOSI(). The status can be influenced, for example, via:
Machine data: MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS
Setting data: $AC_WORKAREA_CS_...
NC/PLC interface signals DB31, ... DBX12.2 / 3
Commands: GWALIMON/WALIMOF
Software limit switches and transformations
With CALCPOSI(), the positions of the machine axes (MCS) cannot always be clearly
determined from the positions of the geometry axes (WCS) during various kinematic
transformations (e.g. TRANSMIT) because of ambiguities at certain positions of the traversing
distance. In normal traversing operation, the uniqueness generally results from the history and
the condition that a continuous motion in the WCS must correspond to a continuous motion in
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3.3 Protection zones
the MCS. Therefore, when monitoring the software limit switches, the machine position at the
time when CALCPOSI() is executed is used to resolve the ambiguity in such cases.
Note
Preprocessing stop
When using CALCPOSI() in conjunction with transformations, it is the sole responsibility of
the user to program a preprocessing stop (STOPRE) with the preprocessing before
CALCPOSI() for the synchronization of the machine axis positions.
Protection zone clearance and conventional protection zones
With conventional protection zones, there is no guarantee that the safety clearance set in
<Limit>[3] is maintained for all protection zones during a traversing movement on the
specified path. It is only guaranteed that no protection zone will be violated when the end point
returned in <Dist> is extended by the safety clearance in the traversing direction. However,
the straight line can pass very close to a protection zone.
Protection zone clearance and collision avoidance protection zones
With collision avoidance protection zones, there is a guarantee that the safety clearance set
in <Limit>[3] is maintained for all protection zones during a traversing movement on the
specified path.
The safety clearance specified in <Limit>[3] only takes effect when the following applies:
<Limit>[3] > (MD10619 $MN_COLLISION_TOLERANCE)
If bit 4 is set in <TestLim> (see above) (value 16) (calculation of the further direction), then
the direction vector received in _MOVDIST is only valid when the hundred thousands digit is
set in the function return value (status). If such a direction cannot be determined because either
protection zones have been violated or a transformation is active, the input value in _MOVDIST
remains unchanged, no further error message is issued.
References
Further information on working area limitation can be found in:
Programming Manual, Fundamentals
Section "Supplementary commands" > "Working area limitation"
Further information on software limit switches can be found in:
Function Manual, Basic Functions; (A3) Axis monitoring, protection zones,
Section "Axis monitoring" > "Limit switch monitoring"
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3.5 Examples
3.4
Supplementary conditions
3.4.1
Axis monitoring functions
Settings
For correct operation of the monitoring, the following settings must be made or checked, in
addition to the machine data mentioned:
General
MD31030 $MA_LEADSCREW_PITCH (leadscrew pitch)
MD31050 $MA_DRIVE_AX_RATIO_DENOM (denominator load gearbox)
MD31060 $MA_DRIVE_AX_RATIO_NUMERA (numerator load gearbox)
MD31070 $MA_DRIVE_ENC_RATIO_DENOM (denominator measuring gearbox)
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA (numerator measuring gearbox)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop
for feedforward control)
Encoder resolution
For the appropriate machine data, see Section "G2: Velocities, setpoint / actual value
systems, closed-loop control (Page 317)".
Only drives with analog speed setpoint interface
MD32260 $MA_RATED_VELO (rated motor speed)
MD32250 $MA_RATED_OUTVAL (rated output voltage)
3.5
Examples
3.5.1
Axis monitoring functions
3.5.1.1
Working area limitation in WCS/SZS
Available channel axes
Four axes are defined in the channel: X, Y, Z and A
The A-axis is a rotary axis (not modulo).
Parameterize the number of working area limitation groups
Three working area limitation groups will be provided:
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MD28600 $MC_MM_NUM_WORKAREA_CS_GROUP = 3
Define the working area limitation groups
Additionally two working area limitation groups will be defined:
Working area limitation group 1
In the first working area limitation group the axes in the SZS coordinate system will be limited:
X axis in the plus direction: 10 mm
X axis in the minus direction: No limitation
Y axis in the plus direction: No limitation
Y axis in the minus direction: 25 mm
Z axis in the plus direction: No limitation
Z axis in the minus direction: No limitation
A axis in the plus direction: 10 degrees
A axis in the minus direction: -40 degrees
The system variables are assigned as follows:
Program code
Comment
N1 $P_WORKAREA_CS_COORD_SYSTEM[1]=3
; The working area limitation of the working area
limitation group 1 applies in the SZS.
N10 $P_WORKAREA_CS_PLUS_ENABLE[1,X]=TRUE
N11 $P_WORKAREA_CS_LIMIT_PLUS[1,X]=10
N12 $P_WORKAREA_CS_MINUS_ENABLE[1,X]=FALSE
N20 $P_WORKAREA_CS_PLUS_ENABLE[1,Y]=FALSE
N22 $P_WORKAREA_CS_MINUS_ENABLE[1,Y]=TRUE
N23 $P_WORKAREA_CS_LIMIT_MINUS[1,Y]=25
N30 $P_WORKAREA_CS_PLUS_ENABLE[1,Z]=FALSE
N32 $P_WORKAREA_CS_MINUS_ENABLE[1,Z]=FALSE
N40 $P_WORKAREA_CS_PLUS_ENABLE[1,A]=TRUE
N41 $P_WORKAREA_CS_LIMIT_PLUS[1,A]=10
N42 $P_WORKAREA_CS_MINUS_ENABLE[1,A]=TRUE
N43 $P_WORKAREA_CS_LIMIT_MINUS[1,A]=-40
Working area limitation group 2
In the second working area limitation group the axes in the WCS coordinate system can be
limited:
X axis in the plus direction: 10 mm
X axis in the minus direction: No limitation
Y axis in the plus direction: 34 mm
Y axis in the minus direction: -25 mm
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3.5 Examples
Z axis in the plus direction: No limitation
Z axis in the minus direction: -600 mm
A axis in the plus direction: No limitation
A axis in the minus direction: No limitation
The system variables are assigned as follows:
Program code
Comment
N51 $P_WORKAREA_CS_COORD_SYSTEM[2]=1
; The working area limitation of working
area limitation group 2 applies in the
WCS.
N60 $P_WORKAREA_CS_PLUS_ENABLE[2,X]=TRUE
N61 $P_WORKAREA_CS_LIMIT_PLUS[2,X]=10
N62 $P_WORKAREA_CS_MINUS_ENABLE[2,X]=FALSE
N70 $P_WORKAREA_CS_PLUS_ENABLE[2,Y]=TRUE
N73 $P_WORKAREA_CS_LIMIT_PLUS[2,Y]=34
N72 $P_WORKAREA_CS_MINUS_ENABLE[2,Y]=TRUE
N73 $P_WORKAREA_CS_LIMIT_MINUS[2,Y]=25
N80 $P_WORKAREA_CS_PLUS_ENABLE[2,Z]=FALSE
N82 $P_WORKAREA_CS_MINUS_ENABLE[2,Z]=TRUE
N83 $P_WORKAREA_CS_LIMIT_PLUS[2,Z]=600
N90 $P_WORKAREA_CS_PLUS_ENABLE[2,A]=FALSE
N92 $P_WORKAREA_CS_MINUS_ENABLE[2,A]=FALSE
Activate working area limitation group 2
In order to activate the working area limitation group 2, the following instruction must exist in
the part program:
...
N100 WALCS2 ...
...
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A3: Axis Monitoring, Protection Zones
3.5 Examples
3.5.2
Protection zones
3.5.2.1
Definition and activation of protection zones
Requirement
The following internal protection zones are to be defined for a turning machine:
One machine- and workpiece-related protection zone for the spindle chuck, without
limitation in the third dimension
One channel-specific protection zone for the workpiece, without limitation in the third
dimension
One channel-specific, tool-related protection zone for the toolholder, without limitation in
the third dimension
The workpiece zero is placed on the machine zero to define the protection zone for the
workpiece.
When activated, the protection zone is then offset by 100 mm in the Z axis in the positive
direction.
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Example of protection zones on a turning machine
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
A3: Axis Monitoring, Protection Zones
3.5 Examples
Protection zone definition in the part program
Table 3-1
Part program excerpt for protection zone definition:
Program code
Comment
DEF INT AB
G18
Definition of the working plane
NPROTDEF(1,FALSE,0,0,0)
Start of definition: Protection zone
for spindle chuck
G01 X100 Z0
Contour definition: 1. Contour element
G01 X-100 Z0
Contour definition: 2. Contour element
G01 X-100 Z110
Contour definition: 3. Contour element
G01 X100 Z110
Contour definition: 4. Contour element
G01 X100 Z0
Contour definition: 5. Contour element
EXECUTE(AB)
End of definition: Protection zone
for spindle chuck
CPROTDEF(1,FALSE,0,0,0)
Start of definition: Protection zone
for workpiece
G01 X80 Z0
Contour definition: 1. Contour element
G01 X-80 Z0
Contour definition: 2. Contour element
G01 X-80 Z40
Contour definition: 3. Contour element
G01 X80 Z40
Contour definition: 4. Contour element
G01 X80 Z0
Contour definition: 5. Contour element
EXECUTE(AB)
End of definition: Protection zone
for workpiece
CPROTDEF(2,TRUE,0,0,0)
Start of definition: Protection zone
for toolholder
G01 X0 Z-50
Contour definition: 1. Contour element
G01 X-190 Z-50
Contour definition: 2. Contour element
G03 X-210 Z-30 I-20
Contour definition: 3. Contour element
G01 X-210 Z20
Contour definition: 4. Contour element
G01 X0 Z50
Contour definition: 5. Contour element
G01 X0 Z-50
Contour definition: 6. Contour element
EXECUTE(AB)
End of definition: Protection zone
for toolholder
Protection zone definition with system variables
Table 3-2
Protection zone: Spindle chuck
System variable
Val
ue
Remark
$SN_PA_ACTIV_IMMED[0]
; Protection zone for spindle chuck not immediately active
$SN_PA_T_W[0]
""
; Machine-related protection zone for spindle chuck
$SN_PA_ORI[0]
; Orientation of the protection zone: 1= 3. 1= 3rd and 1st geom
etry axis
$SN_PA_LIM_3DIM[0]
; Type of limitation in the third dimension: 0 = No limit
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A3: Axis Monitoring, Protection Zones
3.5 Examples
164
System variable
Val
ue
Remark
$SN_PA_PLUS_LIM[0]
; Value of the limit in the positive direction in the 3rd dimension
$SN_PA_MINUS_LIM[0]
; Value of the limitation in the negative direction in the 3rd di
mension
$SN_PA_CONT_NUM[0]
; Number of valid contour elements
$SN_PA_CONT_TYP[0,0]
; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 0
$SN_PA_CONT_TYP[0,1]
; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 1
$SN_PA_CONT_TYP[0,2]
; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 2
$SN_PA_CONT_TYP[0,3]
; Contour type[i] : 1 = G1 for even,
; Protection zone for spindle chuck, contour element 3
$SN_PA_CONT_TYP[0,4]
; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 4
$SN_PA_CONT_TYP[0,5]
; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 5
$SN_PA_CONT_TYP[0,6]
; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 6
$SN_PA_CONT_TYP[0,7]
; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 7
$SN_PA_CONT_TYP[0,8]
; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 8
$SN_PA_CONT_TYP[0,9]
; Contour type[i] : 0 = not defined,
; Protection zone for spindle chuck, contour element 9
$SN_PA_CONT_ORD[0,0]
-100
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 0
$SN_PA_CONT_ORD[0,1]
-100
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CONT_ORD[0,2]
100
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CONT_ORD[0,3]
100
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CONT_ORD[0,4]
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CONT_ORD[0,5]
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CONT_ORD[0,6]
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CONT_ORD[0,7]
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CONT_ORD[0,8]
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CONT_ORD[0,9]
; Endpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 9
$SN_PA_CONT_ABS[0,0]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 0
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
A3: Axis Monitoring, Protection Zones
3.5 Examples
System variable
Val
ue
Remark
$SN_PA_CONT_ABS[0,1]
110
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CONT_ABS[0,2]
110
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CONT_ABS[0,3]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CONT_ABS[0,4]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CONT_ABS[0,5]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CONT_ABS[0,6]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CONT_ABS[0,7]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CONT_ABS[0,8]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CONT_ABS[0,9]
; Endpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 9
$SN_PA_CENT_ORD[0,0]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 0
$SN_PA_CENT_ORD[0.1]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CENT_ORD[0,2]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CENT_ORD[0,3]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 3
$SN_PA_CENT_ORD[0,4]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CENT_ORD[0,5]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CENT_ORD[0,6]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CENT_ORD[0,7]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CENT_ORD[0,8]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CENT_ORD[0,9]
; Midpoint of contour[i], ordinate value
; Protection zone for spindle chuck, contour element 9
$SN_PA_CENT_ABS[0,0]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 0
$SN_PA_CENT_ABS[0.1]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 1
$SN_PA_CENT_ABS[0,2]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 2
$SN_PA_CENT_ABS[0,3]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 3
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3.5 Examples
System variable
Val
ue
Remark
$SN_PA_CENT_ABS[0,4]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 4
$SN_PA_CENT_ABS[0,5]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 5
$SN_PA_CENT_ABS[0,6]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 6
$SN_PA_CENT_ABS[0,7]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 7
$SN_PA_CENT_ABS[0,8]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 8
$SN_PA_CENT_ABS[0,9]
; Midpoint of contour[i], abscissa value
; Protection zone for spindle chuck, contour element 9
Table 3-3
166
Protection zone: Workpiece and toolholder
System variable
Val
ue
Remark
$SN_PA_ACTIV_IMMED[0]
; Protection zone for workpiece not immediately active
$SN_PA_ACTIV_IMMED[1]
; Protection zone for toolholder not immediately active
$SC_PA_TW[0]
""
; Protection zone for workpiece, channel-specific
$SC_PA_TW[1]
'H01' ; Protection zone for toolholder, channel-specific
$SC_PA_ORI[0]
; Orientation of the protection zone: 1= 3. and first geometry axis
; Protection zone for workpiece
$SC_PA_ORI[1]
; Orientation of the protection zone: 1= 3. and first geometry axis
; Protection zone for tool holder
$SC_PA_LIM_3DIM[0]
; Type of limitation in the third dimension: 0 = no limitation
; Protection zone for workpiece toolholder 0
$SC_PA_LIM_3DIM[1]
; Type of limitation in the third dimension: 0 = no limitation
; Protection zone for toolholder
$SC_PA_PLUS_LIM[0]
; Value of limitation in positive direction in the third dimension
; Protection zone for workpiece
$SC_PA_PLUS_LIM[1]
; Value of limitation in positive direction in the third dimension
; Protection zone for toolholder
$SC_PA_MINUS_LIM[0]
; Value of limitation in negative direction in the third dimension
; Protection zone for workpiece
$SC_PA_MINUS_LIM[1]
; Value of limitation in negative direction in the third dimension
; Protection zone for toolholder
$SC_PA_CONT_NUM[0]
; Number of valid contour elements
; Protection zone for workpiece
$SC_PA_CONT_NUM[1]
; Number of valid contour elements
; Protection zone for toolholder 1
$SN_PA_CONT_TYP[0,0]
; Contour type[i] : 1 = G1 for even
; Protection zone for workpiece, contour element 0
$SN_PA_CONT_TYP[0,1]
; Contour type[i] : 1 = G1 for even
; Protection zone for workpiece, contour element 1
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
A3: Axis Monitoring, Protection Zones
3.5 Examples
System variable
Val
ue
Remark
$SN_PA_CONT_TYP[0,2]
; Contour type[i] : 1 = G1 for even
; Protection zone for workpiece, contour element 2
$SN_PA_CONT_TYP[0,3]
; Contour type[i] : 1 = G1 for even
; Protection zone for workpiece, contour element 3
$SN_PA_CONT_TYP[0,4]
; Contour type[i] : 1 = G1 for even
; Protection zone for workpiece, contour element 4
$SN_PA_CONT_TYP[0,5]
; Contour type[i] : 0 = not defined
; Protection zone for workpiece, contour element 5
$SN_PA_CONT_TYP[0,6]
; Contour type[i] : 0 = not defined
; Protection zone for workpiece, contour element 6
$SN_PA_CONT_TYP[0,7]
; Contour type[i] : 0 = not defined
; Protection zone for workpiece, contour element 7
$SN_PA_CONT_TYP[0,8]
; Contour type[i] : 0 = not defined
; Protection zone for workpiece, contour element 8
$SN_PA_CONT_TYP[0,9]
; Contour type[i] : 0 = not defined
; Protection zone for workpiece, contour element 9
$SN_PA_CONT_TYP[1,0]
; Contour type[i] : 1 = G1 for even
; Protection zone for toolholder, contour element 0
$SN_PA_CONT_TYP[1,1]
; Contour type[i] : 3 = G3 for circuit element, counter-clockwise
; Protection zone for toolholder, contour element 1
$SN_PA_CONT_TYP[1,2]
; Contour type[i] : 1 = G1 for even
; Protection zone for toolholder, contour element 2
$SN_PA_CONT_TYP[1,3]
; Contour type[i] : 1 = G1 for even
; Protection zone for toolholder, contour element 3
$SN_PA_CONT_TYP[1,4]
; Contour type[i] : 1 = G1 for even
; Protection zone for toolholder, contour element 4
$SN_PA_CONT_TYP[1,5]
; Contour type[i] : 0 = not defined
; Protection zone for toolholder, contour element 5
$SN_PA_CONT_TYP[1,6]
; Contour type[i] : 0 = not defined
; Protection zone for toolholder, contour element 6
$SN_PA_CONT_TYP[1,7]
; Contour type[i] : 0 = not defined
; Protection zone for toolholder, contour element 7
$SN_PA_CONT_TYP[1,8]
; Contour type[i] : 0 = not defined
; Protection zone for toolholder, contour element 8
$SN_PA_CONT_TYP[1,9]
; Contour type[i] : 0 = not defined
; Protection zone for toolholder, contour element 9
$SN_PA_CONT_ORD[0,0]
-80
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 0
$SN_PA_CONT_ORD[0,1]
-80
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 1
$SN_PA_CONT_ORD[0,2]
80
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 2
$SN_PA_CONT_ORD[0,3]
80
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 3
$SN_PA_CONT_ORD[0,4]
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 4
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3.5 Examples
168
System variable
Val
ue
Remark
$SN_PA_CONT_ORD[0,5]
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 5
$SN_PA_CONT_ORD[0,6]
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 6
$SN_PA_CONT_ORD[0,7]
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 7
$SN_PA_CONT_ORD[0,8]
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 8
$SN_PA_CONT_ORD[0,9]
; Endpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 9
$SN_PA_CONT_ORD[1,0]
-190
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 0
$SN_PA_CONT_ORD[1,1]
-210
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 1
$SN_PA_CONT_ORD[1,2]
-210
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 2
$SN_PA_CONT_ORD[1,3]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 3
$SN_PA_CONT_ORD[1,4]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 4
$SN_PA_CONT_ORD[1,5]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 5
$SN_PA_CONT_ORD[1,6]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 6
$SN_PA_CONT_ORD[1,7]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 7
$SN_PA_CONT_ORD[1,8]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 8
$SN_PA_CONT_ORD[1,9]
; Endpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 9
$SN_PA_CONT_ABS[0,0]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 0
$SN_PA_CONT_ABS[0,1]
40
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 1
$SN_PA_CONT_ABS[0,2]
40
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 2
$SN_PA_CONT_ABS[0,3]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 3
$SN_PA_CONT_ABS[0,4]
-50
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 4
$SN_PA_CONT_ABS[0,5]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 5
$SN_PA_CONT_ABS[0,6]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 6
$SN_PA_CONT_ABS[0,7]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 7
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
A3: Axis Monitoring, Protection Zones
3.5 Examples
System variable
Val
ue
Remark
$SN_PA_CONT_ABS[0,8]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 8
$SN_PA_CONT_ABS[0,9]
; Endpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 9
$SN_PA_CONT_ABS[1,0]
-50
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 0
$SN_PA_CONT_ABS[1,1]
-30
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 1
$SN_PA_CONT_ABS[1,2]
20
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 2
$SN_PA_CONT_ABS[1,3]
50
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 3
$SN_PA_CONT_ABS[1,4]
-50
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 4
$SN_PA_CONT_ABS[1,5]
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 5
$SN_PA_CONT_ABS[1,6]
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 6
$SN_PA_CONT_ABS[1,7]
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 7
$SN_PA_CONT_ABS[1,8]
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 8
$SN_PA_CONT_ABS[1,9]
; Endpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 9
$SN_PA_CENT_ORD[0,0]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 0
$SN_PA_CENT_ORD[0.1]
-190
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 1
$SN_PA_CENT_ORD[0,2]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 2
$SN_PA_CENT_ORD[0,3]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 3
$SN_PA_CENT_ORD[0,4]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 4
$SN_PA_CENT_ORD[0,5]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 5
$SN_PA_CENT_ORD[0,6]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 6
$SN_PA_CENT_ORD[0,7]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 7
$SN_PA_CENT_ORD[0,8]
; Midpoint of contour[i], ordinate value
; Protection zone for workpiece, contour element 8
$SN_PA_CENT_ORD[0,9]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 9
$SN_PA_CENT_ORD[1.0]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 0
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A3: Axis Monitoring, Protection Zones
3.5 Examples
170
System variable
Val
ue
Remark
$SN_PA_CENT_ORD[1.1]
-190
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 1
$SN_PA_CENT_ORD[1.2]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 2
$SN_PA_CENT_ORD[1.3]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 3
$SN_PA_CENT_ORD[1.4]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 4
$SN_PA_CENT_ORD[1.5]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 5
$SN_PA_CENT_ORD[1.6]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 6
$SN_PA_CENT_ORD[1.7]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 7
$SN_PA_CENT_ORD[1.8]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 8
$SN_PA_CENT_ORD[1.9]
; Midpoint of contour[i], ordinate value
; Protection zone for toolholder, contour element 9
$SN_PA_CENT_ABS[0,0]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 0
$SN_PA_CENT_ABS[0.1]
-30
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 1
$SN_PA_CENT_ABS[0,2]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 2
$SN_PA_CENT_ABS[0,3]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 3
$SN_PA_CENT_ABS[0,4]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 4
$SN_PA_CENT_ABS[0,5]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 5
$SN_PA_CENT_ABS[0,6]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 6
$SN_PA_CENT_ABS[0,7]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 7
$SN_PA_CENT_ABS[0,8]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 8
$SN_PA_CENT_ABS[0,9]
; Midpoint of contour[i], abscissa value
; Protection zone for workpiece, contour element 9
$SN_PA_CENT_ABS[1.0]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 0
$SN_PA_CENT_ABS[1.1]
-30
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 1
$SN_PA_CENT_ABS[1.2]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 2
$SN_PA_CENT_ABS[1.3]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 3
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A3: Axis Monitoring, Protection Zones
3.6 Data lists
System variable
Val
ue
Remark
$SN_PA_CENT_ABS[1.4]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 4
$SN_PA_CENT_ABS[1.5]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 5
$SN_PA_CENT_ABS[1.6]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 6
$SN_PA_CENT_ABS[1.7]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 7
$SN_PA_CENT_ABS[1.8]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 8
$SN_PA_CENT_ABS[1.9]
; Midpoint of contour[i], abscissa value
; Protection zone for toolholder, contour element 9
Activation
Table 3-4
Part program excerpt for activating the three protection zones for spindle chuck, workpiece,
and toolholder:
Program code
Comment
NPROT(1, 2, 0, 0, 0)
Protection zone: Spindle chuck
CPROT(1, 2, 0, 0, 100)
Protection zone: Workpiece with 100 mm offset
in the Z axis
CPROT(2, 2, 0, 0, 0)
Protection zone: Toolholder
3.6
Data lists
3.6.1
Machine data
3.6.1.1
NC-specific machine data
Axis monitoring
Number
Identifier: $MN_
Description
10604
WALIM_GEOAX_CHANGE_MODE
Working area limitation during switchover of geometry
axes
10710
PROG_SD_RESET_SAVE_TAB
Setting data to be updated
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3.6 Data lists
Protection zones
Number
Identifier: $MN_
Description
10618
PROTAREA_GEOAX_CHANGE_MODE
Protection zone for switchover of geo axes
18190
MM_NUM_PROTECT_AREA_NCK
Number of files for machinerelated protection zones
3.6.1.2
Channelspecific machine data
Axis monitoring functions
Number
Identifier: $MC_
Description
20150
GCODE_RESET_VALUES
Initial setting of the G groups
21020
WORKAREA_WITH_TOOL_RADIUS
Allowance for tool radius with working area limitation
24130
TRAFO_INCLUDES_TOOL_1
Tool handling with active transformation 1.
24230
TRAFO_INCLUDES_TOOL_2
Tool handling with active transformation 2.
24330
TRAFO_INCLUDES_TOOL_3
Tool handling with active transformation 3.
24426
TRAFO_INCLUDES_TOOL_4
Tool handling with active transformation 4.
24436
TRAFO_INCLUDES_TOOL_5
Tool handling with active transformation 5.
24446
TRAFO_INCLUDES_TOOL_6
Tool handling with active transformation 6.
24456
TRAFO_INCLUDES_TOOL_7
Tool handling with active transformation 7.
24466
TRAFO_INCLUDES_TOOL_8
Tool handling with active transformation 8.
24476
TRAFO_INCLUDES_TOOL_9
Tool handling with active transformation 9.
24486
TRAFO_INCLUDES_TOOL_10
Tool handling with active transformation 10.
25106
TRAFO_INCLUDES_TOOL_11
Tool handling with active transformation 11.
25116
TRAFO_INCLUDES_TOOL_12
Tool handling with active transformation 12.
25126
TRAFO_INCLUDES_TOOL_13
Tool handling with active transformation 13.
25136
TRAFO_INCLUDES_TOOL_14
Tool handling with active transformation 14.
25146
TRAFO_INCLUDES_TOOL_15
Tool handling with active transformation 15.
25156
TRAFO_INCLUDES_TOOL_16
Tool handling with active transformation 16.
25166
TRAFO_INCLUDES_TOOL_17
Tool handling with active transformation 17.
25176
TRAFO_INCLUDES_TOOL_18
Tool handling with active transformation 18.
25186
TRAFO_INCLUDES_TOOL_19
Tool handling with active transformation 19.
25196
TRAFO_INCLUDES_TOOL_20
Tool handling with active transformation 20.
28600
MM_NUM_WORKAREA_CS_GROUPS
Number of coordinate system-specific working area
limitations
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3.6 Data lists
Protection zones
Number
Identifier: $MC_
Description
28200
MM_NUM_PROTECT_AREA_CHAN (SRAM)
Number of files for channelspecific protection zones
28210
MM_NUM_PROTECT_AREA_ACTIVE
Number of simultaneously active protection zones in
one channel
28212
MM_NUM_PROTECT_AREA_CONTUR
Elements for active protection zones (DRAM)
3.6.1.3
Axis/spindlespecific machine data
Axis monitoring functions
Number
Identifier: $MA_
Description
30200
NUM_ENCS
Number of encoders
30240
ENC_TYPE
Encoder type of the actual value sensing (position actual value)
30310
ROT_IS_MODULO
Modulo conversion for rotary axis / spindle
30800
WORK_AREA_CHECK_TYPE
Type of checking of working area limits
31046
ENC_PASSIVE_PARKING
Parking the passive position measuring system
32200
POSCTRL_GAIN [n]
Servo gain factor (KV)
32250
RATED_OUTVAL
Rated output voltage
32260
RATED_VELO
Rated motor speed
32300
MAX_AX_ACCEL
Maximum axis acceleration
32800
EQUIV_CURRCTRL_TIME
Equivalent time constant current control loop for feedforward control
32810
EQUIV_SPEEDCTRL_TIME
Equivalent time constant speed control loop for feedforward control
32910
DYN_MATCH_TIME [n]
Time constant for dynamic response adaptation
34210
ENC_REFP_STATE
Encoder status
35160
SPIND_EXTERN_VELO_LIMIT
Spindle speed limitation via PLCC
36000
STOP_LIMIT_COARSE
Exact stop coarse
36010
STOP_LIMIT_FINE
Exact stop fine
36020
POSITIONING_TIME
Delay time exact stop fine
36030
STANDSTILL_POS_TOL
Zero speed tolerance
36040
STANDSTILL_DELAY_TIME
Delay time zero-speed monitoring
36050
CLAMP_POS_TOL
Clamping tolerance with IS "Clamping active"
36052
STOP_ON_CLAMPING
Special functions for clamped axis
36060
STANDSTILL_VELO_TOL
Maximum velocity/speed "Axis/spindle stationary"
36100
POS_LIMIT_MINUS
1. software limit switch minus
36110
POS_LIMIT_PLUS
1. software limit switch plus
36120
POS_LIMIT_MINUS2
2. software limit switch minus
36130
POS_LIMIT_PLUS2
2. software limit switch plus
36200
AX_VELO_LIMIT
Threshold value for velocity monitoring
36210
CTRLOUT_LIMIT
Maximum speed setpoint
36220
CTRLOUT_LIMIT_TIME
Delay time for speed-setpoint monitoring
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3.6 Data lists
Number
Identifier: $MA_
Description
36300
ENC_FREQ_LIMIT
Encoder limit frequency
36302
ENC_FREQ_LIMIT_LOW
Encoder limit frequency for encoder resynchronization
36310
ENC_ZERO_MONITORING
Zero-mark monitoring
36312
ENC_ABS_ZEROMON_WARNING
Zero-mark monitoring warning threshold
36400
CONTOUR_TOL
Tolerance band contour monitoring
36500
ENC_CHANGE_TOL
Maximum tolerance for position actual value switchover
36510
ENC_DIFF_TOL
Measuring system synchronism tolerance
36600
BRAKE_MODE_CHOICE
Deceleration behavior on hardware limit switch
36610
AX_EMERGENCY_STOP_TIME
Maximum duration of the braking ramp for faults
36620
SERVO_DISABLE_DELAY_TIME
Cutout delay controller enable
Protection zones
None
3.6.2
Setting data
3.6.2.1
Axis/spindlespecific setting data
Axis monitoring functions
Number
Identifier: $SA_
Description
43400
WORKAREA_PLUS_ENABLE
Working-area limitation active in positive direction
43410
WORKAREA_MINUS_ENABLE
Working-area limitation active in negative direction
43420
WORKAREA_LIMIT_PLUS
Working-area limitation plus
43430
WORKAREA_LIMIT_MINUS
Working-area limitation minus
Protection zones
None
3.6.3
Signals
3.6.3.1
Signals to channel
Axis monitoring functions
None
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3.6 Data lists
Protection zones
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Enable protection zones
DB21, ... .DBX1.1
DB320x.DBX1.1
Feed disable
DB21, ... .DBX6.0
DB320x.DBX6.0
Activate machinerelated protection zones 1-8
DB21, ... .DBX8.0-7
DB320x.DBX8.0-7
Activate machinerelated protection zone 9
DB21, ... .DBX9.0
DB320x.DBX9.0
Activate machinerelated protection zone 10
DB21, ... .DBX9.1
DB320x.DBX9.1
Activate channelspecific protection zone 1-8
DB21, ... .DBX10.0-7
DB320x.DBX10.0-7
Activate channelspecific protection zone 9
DB21, ... .DBX11.0
DB320x.DBX11.0
Activate channelspecific protection zone 10
DB21, ... .DBX11.1
DB320x.DBX11.1
3.6.3.2
Signals from channel
Axis monitoring functions
None
Protection zones
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Machinerelated protection zones 1-8 preactivated
DB21, ... .DBX272.0-7
DB330x.DBX8.0-7
Machinerelated protection zone 9 preactivated
DB21, ... .DBX273.0
DB330x.DBX9.0
Machinerelated protection zone 10 preactivated
DB21, ... .DBX273.1
DB330x.DBX9.1
Channelspecific protection zones 1-8 preactivated
DB21, ... .DBX274.0-7
DB330x.DBX10.0-7
Channelspecific protection zone 9 preactivated
DB21, ... .DBX275.0
DB330x.DBX11.0
Channelspecific protection zone 10 preactivated
DB21, ... .DBX275.1
DB330x.DBX11.1
Machinerelated protection zones 1-8 violated
DB21, ... .DBX276.0-7
DB330x.DBX12.0-7
Machinerelated protection zone 9 violated
DB21, ... .DBX277.0
DB330x.DBX13.0
Machinerelated protection zone 10 violated
DB21, ... .DBX277.1
DB330x.DBX13.1
Channelspecific protection zones 1-8 violated
DB21, ... .DBX278.0-7
DB330x.DBX14.0-7
Channelspecific protection zone 9 violated
DB21, ... .DBX279.0
DB330x.DBX15.0
Channelspecific protection zone 10 violated
DB21, ... .DBX279.1
DB330x.DBX15.1
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Follow-up mode
DB31, ... .DBX1.4
DB380x.DBX1.4
Position measuring system 1 / 2
DB31, ... .DBX1.5/6
DB380x.DBX1.5/6
3.6.3.3
Signals to axis/spindle
Axis monitoring functions
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A3: Axis Monitoring, Protection Zones
3.6 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Controller enable
DB31, ... .DBX2.1
DB380x.DBX2.1
Clamping in progress
DB31, ... .DBX2.3
DB380x.DBX2.3
Velocity/spindle speed limitation
DB31, ... .DBX3.6
DB380x.DBX3.6
Feed stop/spindle stop
DB31, ... .DBX4.3
DB380x.DBX4.3
Hardware limit switch minus/Hardware limit switch plus
DB31, ... .DBX12.0/1
DB380x.DBX1000.0/1
Software limit switch minus / 2nd software limit switch plus DB31, ... .DBX12.2/3
DB380x.DBX1000.2/3
Protection zones
None
3.6.3.4
Signals from axis/spindle
Axis monitoring functions
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Encoder limit frequency exceeded 1 / 2
DB31, ... .DBX60.2/3
DB390x.DBX0.2
Referenced/synchronized 1/2
DB31, ... .DBX60.4/5
DB390x.DBX0.4/5
Travel command minus/plus
DB31, ... .DBX64.6/7
DB390x.DBX4.6/7
Position measuring system 1/2 activated
DB31, ... DBX102.5/6
DB390x.DBX5006.5/6
Protection zones
None
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B1: Continuous-path mode, Exact stop, Look Ahead
4.1
Brief Description
Exact stop or exact stop mode
In exact stop traversing mode, all axes involved in the traversing motion (except axes of modal
traversing modes) are decelerated at the end of each block until they come to a standstill. The
transition to the next block occurs only when all axes involved in the traversing motion have
reached their programmed target position with subject to the selected exact stop criterion.
Continuous-path mode
In continuous-path mode, the NC attempts to keep the programmed path velocity as constant
as possible. In particular, deceleration of the path axes at the block limits of the part program
is to be avoided.
LookAhead
LookAhead is a function for optimizing the continuous path mode.
Smooth machining of workpieces is necessary to ensure a high-quality surface finish. For this
reason, path velocity variations should be avoided during machining whenever possible.
Without LookAhead, the NC only takes the traversing block immediately following the current
traversing block into consideration when determining the possible path velocity. If the following
block contains only a short path, the NC must reduce the path velocity (decelerate in the current
block) to be able to stop in time at the end of the next block, if necessary.
When the NC "looks ahead" over a configurable number of traversing blocks following the
current traversing block, a much higher path velocity can be attained under certain
circumstances because the NC now has considerably more traversing blocks and more path
available for calculation.
This results in the following advantages:
Machining with higher path velocities on average
Improved surface quality by avoiding deceleration and acceleration processes
Smoothing the path velocity
"Smoothing the path velocity" is a function especially for applications (such as high speed
milling in mold and die production) that require an extremely steady path velocity. Deceleration
and acceleration processes that would cause high-frequency excitations of machine
resonances are avoided with the "Smoothing the path velocity" function.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.1 Brief Description
This results in the following advantages:
Improved surface quality and machining time by avoiding excitation of machine resonances.
Constant profile of path velocity and cutting rates by avoiding "unnecessary" acceleration
processes, i.e. acceleration processes that do not greatly improve the program run time.
Adaptation of the dynamic path response
In addition to "smoothing the path velocity", "dynamic path response adaptation" is another
function for avoiding high-frequency excitations of machine resonances while optimizing the
dynamic path response at the same time. To this end, highly frequent changes in path velocity
are automatically executed with lower jerk or acceleration values than the dynamic response
limit value parameters assigned in the machine data.
Thus, with low-frequency changes in path velocity, the full dynamic response limit values apply,
whereas with high-frequency changes, only the reduced dynamic response limit values act
due to the automatic dynamic response adaptation.
Dynamic response mode for path interpolation
Optimizing the path dynamic response also includes the technology-specific dynamic response
settings which are preset for different processing technologies (including tapping, roughing,
smoothing) and can be activated in the part program by calling the respective dynamic
response mode.
Free-form surface mode
Any fluctuation in curvature or torsion leads to a change in path velocity. This generally results
in unnecessary decelerating and accelerating during the processing of free-form surface
workpieces, which may adversely affect the quality of the surfaces of the workpieces.
The following functions are available for processing free-form surfaces.
"Free-form surface mode: Basic functions"
This makes the definition of the path velocity profile "less sensitive" to fluctuations in
curvature and torsion.
"Free-form surface mode: Extension function"
This extension in standard LookAhead functionality is used to calculate the path velocity
profile during the processing of free-form surfaces.
The advantages of free-form surface mode lie in a more homogeneous workpiece surface and
lower machine load.
NC block compression
When a workpiece design is completed with a CAD/CAM system, the CAD/CAM system
generally also compiles the corresponding part program to create the workpiece surface. To
do so, most CAD/CAM systems use linear blocks to describe even curved sections of the
workpiece surface. Many interpolation points are generally necessary to maintain the required
contour accuracy. This results in many linear blocks, typically with very short paths.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.1 Brief Description
The "NC block compressor" function uses polynomial blocks to perform a subsequent
approximation of the contour specified by the linear blocks. During this process, an assignable
number of linear blocks is replaced by a polynomial block. Furthermore, the number of linear
blocks that can be replaced by a polynomial block also depends on the specified maximum
permissible contour deviation and the contour profile.
Use of polynomial blocks provides the following advantages:
Reduction of the number of required part program blocks for describing the workpiece
contour
Higher maximum path velocities
Combine short spline blocks
A spline defines a curve which is formed from 2nd or 3rd degree polynomials. With spline
interpolation, the controller can generate a smooth curve characteristic from only a few
specified interpolation points of a set contour.
References:
Programming Manual, Advanced, Special motion commands,
chapter: Spline interpolation
The advantages of the spline interpolation as compared to the linear interpolation are:
Reduction of the number of required part program blocks for describing a curved contour.
Soft, mechanical system-limiting curve characteristic also during transition between the part
program blocks.
The disadvantages of the spline interpolation as compared to the linear interpolation are:
For a spline curve no exact curve characteristic, but only a tolerance band can be specified,
within which the spline curve should lie.
As with linear interpolation, the processing of splines can produce such short blocks that the
path velocity must be reduced to enable interpolation of the spline blocks. This is alao the case,
when the spline actually has a long, smooth curve. The "Combine short spline blocks" function
allows you to combine these spline blocks such that the resulting block length is sufficient and
does not reduce the path velocity.
Note
NC block compressor
The NC block compressor (COMPON, COMPCURV or COMPCAD) cannot be employed while
compressing spline blocks since it can only be used to compress linear blocks.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.2 Exact stop mode
4.2
Exact stop mode
Exact stop or exact stop mode
In exact stop traversing mode, all path axes and special axes involved in the traversing motion
that are not traversed modally, are decelerated at the end of each block until they come to a
standstill. The transition to the next block occurs only when all axes involved in the traversing
motion have reached their programmed target position with subject to the selected exact stop
criterion.
This results in the following response:
The program run time is considerably longer compared to continuous path mode due to
the deceleration of the axes and the wait time until "Exact stop" status is reached for all
machine axes involved.
In exact stop mode, undercuts can occur on the workpiece surface during machining.
Status "Exact stop"
The state of the machine axis based on the position difference relative to its position setpoint
at the end of a traversing motion is also called an exact stop. The machine axis reaches the
"exact stop" state, as soon as its following error is less than the specified position difference
(exact stop criterion).
Application
Exact stop mode should always be used when the programmed contour must be executed
exactly.
Activation
Exact stop mode can be activated on a modal basis or in blocks in the part program:
180
G command
Meaning
G60
Exact stop with modal effect
G9
Exact stop with block-by-block effect
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
B1: Continuous-path mode, Exact stop, Look Ahead
4.2 Exact stop mode
Exact stop criteria "Exact stop coarse" and "Exact stop fine".
The exact stop criteria "Exact stop coarse" and "Exact stop fine" are used to specify tolerance
windows for a machine axis reaching the "exact stop" state.
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Tolerance windows of exact stop criteria
Parameters are assigned to the two exact stop criteria via the machine data:
MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)
Note
The tolerance windows of the exact stop criteria "Exact stop coarse" and "Exact stop fine"
should be assigned in such a way that the following requirement is fulfilled:
"Exact stop coarse" > "Exact stop fine"
Exact stop criterion "Interpolator End"
In the case of the exact stop criterion "interpolator end" the block change to the next traversing
block takes place, as soon as all path axes and special axes involved in the traversing motion,
which do not traverse extending up to block, have reached their position according to set point
programmed in the block. That is, the interpolator has executed the block.
The actual position and the following error of the relevant machine axes are not taken into
consideration for exact stop criterion "Interpolator end". Thus, depending on the dynamic
response of the machine axes, this can result in a relatively large smoothing of the contour at
the block changes in comparison to the exact stop criteria "Exact stop coarse" and "Exact stop
fine".
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B1: Continuous-path mode, Exact stop, Look Ahead
4.2 Exact stop mode
Activation of an exact stop criterion
An exact stop criterion is activated in the part program by programming the appropriate G
command:
G command
Exact-stop criterion
G601
Exact stop fine
G602
Exact stop coarse
G603
Interpolator end
Block change depending on exact-stop criteria
The figure below illustrates the block change timing in terms of the selected exact stop criterion.
Y
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Figure 4-2
Block change accordance to selected exact stop criterion
Evaluation factor for exact stop criteria
A parameter set-dependent evaluation of the exact stop criteria can be specified via the
following axis-specific machine data:
MD36012 $MA_STOP_LIMIT_FACTOR (exact stop coarse/fine and standstill factor)
Applications:
Adaptation of the positioning response to different mass ratios, such as after a gearshift
Reduction in positioning time, depending on various machining states, such as roughing
and finishing
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B1: Continuous-path mode, Exact stop, Look Ahead
4.2 Exact stop mode
Assignable specification of the active exact stop criterion
The active exact stop criterion can be permanently specified for the part program commands
of the first G function group irrespective of the exact stop criterion programmed in the part
program. This specification can be made independently for each of the following part program
commands:
Rapid traverse: G0
Machining commands: G1, G2, G3, CIP, ASPLINE, BSPLINE, CSPLINE, POLY, G33, G34,
G35, G331, G332, OEMIPO01, OEMIPO02, CT
The setting is done in a channel-specific manner via the following machine data:
MD20550 $MC_EXACT_POS_MODE (exact stop conditions for G0 and G1)
Coding
Each exact stop criterion is location-coded:
MD20550 $MC_EXACT_POS_MODE = <ZE>
Ones position E: Rapid traverse
Tens position Z: all other part program commands in the first G function group
Z or E
Active exact stop criterion
Programmed exact stop criterion
G601 (Exact stop window fine)
G602 (Exact stop window coarse)
G603 (Interpolator end)
Example
MD20550 $MC_EXACT_POS_MODE = 02
Ones position = 2:
With rapid traverse, exact stop criterion G602 (Exact stop window coarse) is always active,
irrespective of any programming in the parts program.
Tens digit = 0:
For traversing with all other parts program commands of the first G function group, the exact
stop criterion programmed in the parts program is active.
Assignable exact stop criterion for rapid traverse transitions in continuous path mode
The behavior at the block transition of part program blocks before and after rapid traverse
blocks can be parameterized as follows:
MD20552 $MC_EXACT_POS_MODE_G0_TO_G1 = <value>
Value
Meaning
No additional stop at the block transition.
Stop at block transition: Same behavior as in the case of G601 (Exact stop window fine)
Stop at block transition: Same behavior as G602 (Exact stop window coarse).
Stop at block transition: Same behavior as G603 (Interpolator end).
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Value
Meaning
Like 0, in addition, the override of the next non-G0 block is taken into account with LookAhead
in the G0 block during the transition from G0 to non-G0.
Like 0; in addition, the override of the next block is taken into account with LookAhead during
the transition from G0 to non-G0 and from non-G0 to G0.
4.3
Continuous-path mode
4.3.1
General functionality
Continuous-path mode
In the continuous-path mode, the path velocity is not decelerated for the block change in order
to permit the fulfillment of an exact stop criterion. The objective of this mode is to avoid rapid
deceleration of the path axes at the block-change point so that the axis velocity remains as
constant as possible when the program moves to the next block. To achieve this objective, the
"LookAhead" function is also activated when the continuous-path mode is selected.
Continuous-path mode causes the smoothing and tangential shaping of angular block
transitions by local changes in the programmed contour. The extent of the change relative to
the programmed contour can be limited by specifying the overload factor or rounding criteria.
Continuous-path mode:
Contour rounding.
Reduces machining times by eliminating braking and acceleration processes that are
required to fulfill the exact-stop criterion.
Improves cutting conditions because of the more constant velocity.
Continuous-path mode is suitable if:
A contour must be traversed as quickly as possible (e.g. with rapid traverse).
The exact contour may deviate from the programmed contour within a specific tolerance
for the purpose of obtaining a continuous contour
Continuous-path mode is not suitable if:
A contour is to be traversed precisely.
An absolutely constant velocity is required.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Implicit exact stop
In some cases, an exact stop needs to be generated in continuous-path mode to allow the
execution of subsequent actions. In such situations, the path velocity is reduced to zero.
If auxiliary functions are output before the traverse motion, the previous block is only
terminated when the selected exact-stop criterion is fulfilled.
If auxiliary functions are to be output after the traverse motion, they are output after the
interpolator end of the block.
If an executable block (e.g. starting of a positioning axis) contains no travel information for
the path axes, the previous block is terminated on reaching the selected exact-stop criterion.
If a positioning axis is declared to be the geometry axis, the previous block is terminated
at the interpolator end when the geometry axis is programmed.
If a synchronized axis is programmed that was last programmed as a positioning axis or
spindle (initial setting of the special axis is positioning axis), the previous block is ended at
the interpolator end.
If the transformation is changed, the block previously processed is terminated with the
active exact-stop criterion.
A block is terminated on interpolator end if the following block contains the changeover of
the acceleration profile BRISK/SOFT (see Section "B2: Acceleration (Page 243)").
If the "empty buffer" function is programmed, the previous block is terminated when the
selected exact-stop criterion is reached.
Velocity = 0 in continuous-path mode
Regardless of the implicit exact stop response, the path motion is braked down to zero velocity
at the end of the block in cases where:
Positioning axes are programmed with the instruction POS, and their traversing time
exceeds that of the path axes. The block change occurs when the "exact stop fine" of the
positioning axes is reached.
The time taken to position a spindle programmed with the instruction SPOS is longer than
the traversing time of the path axes. The block change is carried out when the "exact stop
fine" of the positioning spindle is reached.
The current block contains traversing commands for geometry axes and the following block
traversing commands for synchronized axes or, alternatively, the current block contains
traversing commands for synchronized axes and the subsequent block traversing
commands for geometry axes.
Synchronization is required.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
4.3.2
Velocity reduction according to overload factor
Function
The function lowers the path velocity in continuou-path mode until the non-tangential block
transition can be traversed in one interpolation cycle while respecting the deceleration limit
and taking an overload factor into account.
With the reduced velocity, axial jumps in velocity are produced with a non-tangential contour
at the block transition. These jumps in velocity are also performed by the coupled motion
synchronized axes. The jump in velocity prevents the path velocity dropping to zero. This jump
is performed if the axial velocity was reduced with the axial acceleration to a velocity from
which the new setpoint can be reached with the jump. The magnitude of the setpoint jump can
be limited using an overload factor. Because the magnitude of the jump is axial, the minimum
jump of the path axes which are active during the block change is considered during block
transition.
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With a practically tangential block transition, the path velocity is not reduced if the permissible
axial accelerations are not exceeded. This means that very small bends in the contour (e.g.
0.5) are overtraveled directly.
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4.3 Continuous-path mode
Overload factor
The overload factor restricts step changes in the machine axis velocity at block ends. To ensure
that the velocity jump does not exceed the maximum load on the axis, the jump is derived from
the acceleration of the axis.
The overload factor indicates the extent by which the acceleration of the machine axis
(MD32300 $MA_MAX_AX_ACCEL) may be exceeded for an IPO-cycle.
The velocity jump results as follows:
Velocity jump = axis acceleration * (overload factor-1) * interpolator cycle.
The overload factor is saved in the machine data:
MD32310 $MA_MAX_ACCEL_OVL_FACTOR (overload factor for axial velocity jumps)
Factor 1.0 means that only tangential transitions with finite velocity can be traversed. For all
other transitions, the velocity is reduced to zero by changing the setpoint. This behavior is
equivalent to the function "Exact stop with interpolator end". This is undesirable for continuouspath mode, so the factor must be set to greater than 1.0.
Note
For startup and installation, please note that the factor must be reduced if the machine is likely
to be subject to vibrations during angular block transitions and rounding is not to be used.
By setting the following machine data, the block transitions are rounded independent of the
set overload factor with G641/G642:
MD20490 $MC_IGNORE_OVL_FACTOR_FOR_ADIS
Activation/deactivation
Continuous-path mode with a reduction in speed according to the overload factor can be
activated in any NC part program block by the modal command G64.
Selecting the exact stop which works on a block-by-block basis enables rounding to be
interrupted (G9).
Continuous-path mode G64 can be deactivated by selecting:
Modal exact stop G60
Rounding G641, G642, G643, G644 or G645
Implicit continuous-path mode
If it is not possible to insert rounding blocks in continuous-path mode with rounding G641 due
to the very short block path lengths (e.g. zero-clocked blocks), the mode is switched over to
continuous-path mode G64.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
4.3.3
Rounding
Function
The "Rounding" function adds intermediate blocks (positioning blocks) along a programmed
contour (path axes) at non-continuous (angular) block transitions so that the resulting new
block transition is continuous (tangential).
Synchronized axes
The rounding considers not only the geometry axes but also all synchronous axes. Although
a continuous block transition cannot be created for both axis types concurrently for the parallel
travel of path and synchronous axes. In this case, to favor path axes that always travel exactly,
only an approximately continuous block transition is created for synchronous axes.
Rounding for G64
Rounding is performed even when to observe the dynamic-response limits at the block
transition, a speed is required that for G64 exceeds the permitted speed at the block transition
(see Section "Velocity reduction according to overload factor (Page 186)" "Overload factor").
Impact on synchronization conditions
The use of rounding shortens the programmed blocks between which the rounding block(s)
are added. The programmed block boundary disappears and are then no longer available as
criterion for any synchronization conditions (e.g. auxiliary function output parallel to motion,
stop at block end).
Note
We recommend that when the "Rounding" function is used, synchronization conditions apply
to the end of the block before the rounding location rather than the end of the inserted rounding
block. The following block would then not be started and with a stop at the block end, the
contour of the following block can still be changed manually.
Exceptions
In the following cases, no rounding occurs at the block transition, for example, between the
N10 blocks after N20, i.e. no rounding block is added:
Implicit stopping of the traversing motion
Possible causes:
Auxiliary function output active before the traversing motion for N20
N20 does not contain any traversing motion for path axes
In N20, an axis that was previously a positioning axis traverses as a path axis for the first
time
In N20, an axis that was previously a path axis traverses as a positioning axis for the first
time
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4.3 Continuous-path mode
Geometry axes traverse in N10 but not in N20
Geometry axes traverse in N20 but not in N10
Activation of thread-cutting G33 in N20
Change from BRISK and SOFT
Transformation-relevant axes are not completely assigned to the path motion (e.g. for
oscillation axes, positioning axes).
The insertion of the rounding block would slow part program machining overproportionally
Possible causes:
A program or program section consists of a number of very short traversal blocks ( 1
interpolator cycle / traversal block; because each traversal block requires at least one
interpolator cycle, the inserted intermediate block would almost double the machining time)
G64 (path control operation without rounding) without speed reduction active for block
change
The parameterized overload factor (MD32310 $MA_MAX_ACCEL_OVL_FACTOR) permits
the traversal of the programmed contour without the path speed needing to be reduced.
See also: MD20490 $MC_IGNORE_OVL_FACTOR_FOR_ADIS
Path parameters inhibit the rounding
Possible causes:
G641 (path control operation with rounding in accordance with the path criterion) is active
but rapid traverse is active (G0) AND ADISPOS == 0 (rounding separation for G0)
G641 (path control operation with rounding in accordance with the path criterion) is active
but rapid traverse is not active AND ADIS == 0 (rounding separation for path functions G1,
G2, G3, ...)
G642 or G643 (path control operation with rounding while observing defined tolerances) is
active but all tolerances == zero
N10 or N20 does not contain traversing motion (zero block).
Normally no zero blocks are created. Exceptions:
Active synchronous action
Program jumps
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Impact on synchronization conditions
The programmed blocks between which the rounding contour is added are shortened during
rounding. The original programmed block boundary disappears and is then no longer available
for any synchronization conditions (e.g. auxiliary function output parallel to motion, stop at
block end).
Note
We recommend that when the "Rounding" function is used, synchronization conditions apply
to the end of the block before the rounding location rather than the end of the inserted rounding
block. The following block would then not be started and with a stop at the block end, the
contour of the following block can still be changed.
4.3.3.1
Rounding according to a path criterion (G641)
Function
In continuous-path mode with rounding according to a path criterion, the size of the rounding
area is influenced by the path criteria ADIS and ADISPOS.
The path criteria ADIS and ADISPOS describe the maximum distances which a rounding block
can occupy before and after a block.
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Acute angles produce rounding curves with a large degree of curvature and therefore cause
a corresponding reduction in velocity.
Note
ADISPOS is programmed in the same way as ADIS, but must be used specifically for
movements in rapid traverse mode G0.
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4.3 Continuous-path mode
Scope of the path criterion
ADIS or ADISPOS must be programmed. If the default is "zero", G641 behaves like G64.
If only one of the blocks involved is rapid traverse G0, the smaller rounding distance applies.
If a very small value is used for ADIS, the controller must make sure that every interpolated
block, even an intermediate rounding block, contains at least one interpolation point. The
maximum path velocity is thereby limited to ADIS / interpolator cycle.
Irrespective of ADIS and ADISPOS, the rounding area is limited by the block length.
In blocks with short distances (distance < 4* ADIS and < 4 * ADISPOS respectively), the
rounding distance is reduced so that a traversable part of the original block is retained. The
remaining length depends on the axis path and is approximately 60% of the distance still
to be traversed in the block. ADIS or ADISPOS is therefore reduced to the remaining 40%
of the distance to be traversed. This algorithm prevents a rounding block being inserted for
a very small change in contour. In this case, switchover to continuous-path mode G64 is
automatic until rounding blocks can be inserted again.
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Activation/deactivation
Continuous-path mode with rounding based on a path criterion can be activated in any NC
part program block by the modal command G641. Before or on selection, the path criteria
ADIS/ADISPOS must be specified.
Selecting the exact stop which works on a block-by-block basis enables rounding to be
interrupted (G9).
Continuous-path mode with rounding based on a path criterion (G641) can be deactivated by
selecting:
Modal exact stop (G60)
Continuous-path mode G64, G642, G643, G644 or G645
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Program example
Program code
Comment
N1 G641 Y50 F10 ADIS=0.5
; Continuous-path mode with rounding based on a path
criterion (rounding clearance: 0.5 mm)
N2 X50
N3 X50.7
N4 Y50.7
N5 Y51.4
N6 Y51.0
N7 X52.1
4.3.3.2
Rounding in compliance with defined tolerances (G642/G643)
Function
In continuous-path mode involving rounding in compliance with defined tolerances, the
rounding normally takes place while adhering to the maximum permissible path deviation.
Instead of these axis-specific tolerances, the maintenance of the maximum contour deviation
(contour tolerance) or the maximum angular deviation of the tool orientation (orientation
tolerance) can be configured.
Activation
Continuous-path mode with rounding in compliance with defined tolerances can be activated
in any NC part program block by the modal command G642 or G643.
Selecting the exact stop which works on a block-by-block basis enables rounding to be
interrupted (G9).
Continuous-path mode with rounding in compliance with defined tolerances (G642/G643) can
be deactivated by selecting:
Modal exact stop (G60)
Continuous-path mode G64, G641, G644 or G645
Differences between G642 - G643
With regard to their rounding behavior, commands G642 and G643 differ as follows:
192
G642
G643
With G642, the rounding path is determined on the
basis of the shortest distance for rounding all axes.
This value is taken into account when generating
a rounding block.
In the case of G643, each axis may have a differ
ent rounding path. The rounding travels are taken
into account axis-specifically and block-internally
( no separate rounding block).
With G642, the rounding area results from the
smallest tolerance setting.
Very different specifications for the contour toler
ance and the tolerance of the tool orientation can
only have effect with G643.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Parameterization
Maximum path deviation
The maximum path deviation permitted with G642/G643 is set for each axis in the machine
data:
MD33100 $MA_COMPRESS_POS_TOL
Contour tolerance and orientation tolerance
The contour tolerance and orientation tolerance are set in the channel-specific setting data:
SD42465 $SC_SMOOTH_CONTUR_TOL (maximum contour deviation)
SD42466 $SC_SMOOTH_ORI_TOL (maximum angular deviation of the tool orientation)
The settings data can be programmed in the NC program and can in this way be specified
differently for each block transition.
Note
The setting data SD42466 $SC_SMOOTH_ORI_TOL is effective only in active orientation
transformation.
Rounding behavior
Rounding behavior with G642 and G643 is configured via the machine data:
MD20480 $MC_SMOOTHING_MODE (rounding behavior with G64x)
The units positions (E) define the behavior for G643, the tens positions (Z) the behavior for
G642:
Value E or Z
Meaning
All axes:
Rounding by maintaining the maximum permitted path deviation:
MD33100 $MA_COMPRESS_POS_TOL
Geometry axes:
Rounding by maintaining the contour tolerance:
SD42465 $SC_SMOOTH_CONTUR_TOL
Remaining axes:
Rounding by maintaining the maximum permitted path deviation:
MD33100 $MA_COMPRESS_POS_TOL
Geometry axes:
Rounding by maintaining the orientation tolerance:
SD42466 $SC_SMOOTH_ORI_TOL
Remaining axes:
Rounding by maintaining the maximum permitted path deviation:
MD33100 $MA_COMPRESS_POS_TOL
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Value E or Z
Meaning
Geometry axes:
Rounding by maintaining the contour tolerance and the orientation tolerance:
SD42465 $SC_SMOOTH_CONTUR_TOL
SD42466 $SC_SMOOTH_ORI_TOL
Remaining axes:
Rounding by maintaining the maximum permitted path deviation:
MD33100 $MA_COMPRESS_POS_TOL
All axes:
The rounding length programmed with ADIS or with ADISPOS is used (as in case of
G641).
Any axis-specific tolerance or contour and orientation tolerance specifications are
ignored.
Profile for limit velocity
The use of a velocity profile for rounding in compliance with defined tolerances is controlled
via the hundreds position in MD20480:
Value
Meaning
< 100:
A profile of the limit velocity is calculated within the rounding area, based on the defined
maximum values for acceleration and jerk on the participating axes or path.
This can lead to an increase in the path velocity in the rounding area and therefore to the
acceleration of the participating axes.
100:
A profile of the limit velocity is not calculated for rounding blocks with G641/G642. A
constant velocity limit is specified instead.
This prevents the participating axes being accelerated into the rounding area during
rounding with G641/G642. However, in certain cases, this setting can cause the rounding
blocks to be traversed too slowly, especially in large rounding areas.
1xx:
No velocity profile for G641
2xx:
No velocity profile for G642
Note
MD28530 $MC_MM_PATH_VELO_SEGMENTS (number of memory elements for limiting the
path velocity)
Supplementary conditions
Restriction for protection zones with active radius compensation and tool orientation:
Although tool radius compensation is applied for a tool orientation, which is not perpendicular
to one of the three datum planes of the basic coordinate system, the protection zones are not
rotated onto the corresponding plane.
For G643 the following must apply:
MD28530 $MC_MM_PATH_VELO_SEGMENTS > 0 (number of memory elements for limiting
the path velocity)
If this condition is met, then it must be applicable for all axes:
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4.3 Continuous-path mode
MD35240 $MC_ACCEL_TYPE_DRIVE = FALSE (acceleration characteristic DRIVE for axes
on/off)
4.3.3.3
Rounding with maximum possible axial dynamic response (G644)
Function
Maximizing the dynamic response of the axes is key to this type of continuous-path mode with
rounding.
Note
Rounding with G644 is only possible if:
All the axes involved contain only a linear motion in both the observed blocks.
No kinematic transformation is active
In case an involved axis contains a polynomial (polynomial programmed, spline active,
compressor active) or a kinematic transformation is active, the block transition is rounded with
G642.
Activation
Continuous-path mode with rounding with the maximum possible axial dynamic response can
be activated in any NC part program block by the modal command G644.
Selecting the exact stop which works on a block-by-block basis enables rounding to be
interrupted (G9).
Continuous-path mode with rounding with the maximum possible axial dynamic response
(G644) can be deactivated by selecting:
Modal exact stop (G60)
Continuous-path mode G64, G641, G642, G643 or G645
Parameterization
Rounding behavior with G644 is configured via the thousands and tens of thousands places
in the machine data:
MD20480 $MC_SMOOTHING_MODE (rounding behavior with G64x)
Value
Meaning
Thousand's place:
0xxx:
When rounding with G644, the maximum deviations for each axis specified by the following
machine data are respected:
MD33100 $MA_COMPRESS_POS_TOL
If the dynamics of the axis permit, then any specified tolerance is not utilized.
1xxx:
Input the maximum rounding path by programming ADIS=... or ADISPOS=...(as for G641)
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
Value
Meaning
2xxx:
Input the maximum possible frequencies of each axis in the rounding area using the ma
chine data:
MD32440 $MA_LOOKAH_FREQUENCY (smoothing frequency for LookAhead)
The rounding area is defined so that no frequencies in excess of the specified maximum
can occur while the rounding motion is in progress.
3xxx:
Any axis that has a velocity jump at a corner traverses around the corner with the maximum
possible dynamic response (maximum acceleration and maximum jerk).
SOFT:
If SOFT is active, the maximum acceleration and the maximum jerk of each axis is main
tained.
BRISK:
If BRISK is active, only the maximum acceleration and not the maximum jerk of each axis
is maintained.
With this setting, neither the maximum deviations nor the rounding distance are checked.
The resulting deviations or rounding distances are determined exclusively by the dynamic
limits of the respective axis and the current path velocity.
4xxx:
As in case of 0xxx, the maximum deviations of each axis specified with the following ma
chine data are used:
MD33100 $MA_COMPRESS_POS_TOL
Contrary to 0xxx, the specified tolerance is also utilized, if possible. Therefore, the axis does
not attain its maximum possible dynamics.
5xxx:
As in case of 1xxx, the maximum possible rounding path is specified through programming
of ADIS=... or ADISPOS= respectively.
Contrary to 1xxx, the specified rounding path is also utilized, if possible. Therefore, the axes
involved do not attain their maximum possible dynamics.
Ten thousands digit
0xxxx
The velocity profiles of the axes in the rounding area are determined without jerk limiting
for BRISK and with jerk limiting for SOFT.
1xxxx
The velocity profiles of the axes in the rounding area are always determined with jerk limit
ing, regardless of whether BRISK or SOFT is active.
When specifying the maximum axial deviations (MD33100 $MA_COMPRESS_POS_TOL) or
the maximum rounding distance (ADIS / ADISPOS) the available rounding path is normally
not used, if permitted by the dynamics of the axes involved. Through this, the length of the
rounding path depends on the active path feedrate. In case of lower path speeds, one gets
lower deviations from the programmed contours. However, it can be set that in these cases
the specified maximum axial deviation or the specified rounding distance is utilized, if possible.
In this case the deviations depend on the programmed contour independent of the
programmed path feedrate.
Note
Apart from the ones mentioned, the following limitation can also become active additionally:
The rounding distance cannot exceed half the length of the original participating blocks.
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4.3 Continuous-path mode
Jerk limitation
The smoothing of the velocity jump on each axis and thus the shape of the rounding path
depends on whether an interpolation is performed with or without jerk limitation.
Without jerk limitation the acceleration of each axis reaches its maximum value in the entire
rounding area.
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B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
With jerk limitation, the jerk of each axis is limited to its maximum value within the rounding
area. The rounding motion thus generally consists of three phases:
Phase 1
During phase 1, each axis builds up its maximum acceleration. The jerk is constant and
equal to the maximum possible jerk on the respective axis.
Phase 2
During phase 2, the maximum permissible acceleration is applied.
Phase 3
During phase 3, which is the last phase, the acceleration of each axis is reduced back to
zero with the maximum permissible jerk.
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Rounding of tangential block transitions (G645)
Function
In continuous-path mode with rounding, rounding blocks are also only generated on tangential
block transitions if the curvature of the original contour exhibits a jump in at least one axis.
The rounding motion is defined here so that the acceleration of all axes involved remains
smooth (no jumps) and the parameterized maximum deviations from the original contour
(MD33120 $MA_PATH_TRANS_POS_TOL) are not exceeded.
In the case of angular, non-tangential block transitions, the rounding behavior is the same as
with G642 (see Section "Rounding in compliance with defined tolerances (G642/G643)
(Page 192)").
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4.3 Continuous-path mode
Activation/deactivation
Continuous-path mode with rounding of tangential block transitions can be activated in any
NC part program block by the modal command G645.
Selecting the exact stop which works on a block-by-block basis enables rounding to be
interrupted (G9).
Continuous-path mode with rounding of tangential block transitions (G645) can be deactivated
by selecting:
Modal exact stop (G60)
Continuous-path mode G64, G641, G642, G643 or G644
Comparison between G642 and G645
When rounding with G642, the only block transitions rounded are those which form a corner,
i.e. the velocity of at least one axis jumps. However, if a block transition is tangential, but there
is a jump in the curvature, no rounding block is inserted with G642. If this block transition is
traversed with finite velocity, the axes experience some degree of jump in acceleration which
(with the jerk limit activated!) may not exceed the parameterized limit (MD32432
$MA_PATH_TRANS_JERK_LIM). Depending on the level of the limit, the path velocity at the
block transition may be greatly reduced as a result. This constraint is avoided by using G645
because the rounding motion is defined here in such a way that no jumps occur in acceleration.
Parameterization
The following machine data indicates the maximum permissible path deviation for each axis
during rounding with G645:
MD33120 $MA_PATH_TRANS_POS_TOL
This value is only of relevance to tangential block transitions with variable acceleration. When
angular, non-tangential block transitions are rounded, (as with G642) the tolerance from
MD33100 $MA_COMPRESS_POS_TOL becomes effective.
See also
Free-form surface mode: Basic functions (Page 224)
4.3.3.5
Rounding and repositioning (REPOS)
If the machining in the area of the rounding contour is interrupted, a REPOS operation
cannot be used to position again directly on the rounding contour. In this case, positioning can
be made only on the programmed contour.
Example
Programmed: Two traversing blocks N10 and N20 with programmed rounding G641.
The traversing motion is interrupted in the rounding area. The axes, e.g. manually, are then
traversed to the REPOS start point. Depending on the selected REPOS mode, the
repositioning on the contour is made at the points , or .
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4.3 Continuous-path mode
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Repositioning at the interruption location
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Repositioning at the end of the interrupted traversal block
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Repositioning at the next contour point
1
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To the REPOS start point of the next contour point
Block end N10 / block start N20
4.3.4
LookAhead
4.3.4.1
Standard functionality
Function
LookAhead is a function which is active in continuous-path mode (G64, G64x) and determines
a foreseeable velocity control for multiple NC part program blocks over and beyond the current
block.
Note
LookAhead is only available for path axes, not for spindles and positioning axes.
If a part program contains consecutive blocks with very small paths, only one velocity is
reached per block without LookAhead, enabling deceleration of the axes at the end of the block
while maintaining acceleration limits. This means that the programmed velocity is not reached
at all. With LookAhead, however, it is possible to implement the acceleration and deceleration
phase over multiple blocks with approximately tangential block transitions, thereby achieving
a higher feedrate with shorter distances.
200
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4.3 Continuous-path mode
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Velocity control with short distances and exact stop G60 or continuous-path mode G64
with LookAhead
Deceleration to velocity limits is possible with LookAhead such that violation of the acceleration
and velocity limit is prevented.
LookAhead takes plannable velocity limits into consideration such as:
Exact stop at block end
Velocity limit in the block
Acceleration limit in the block
Velocity limit on block transition
Synchronization with block change at block transition.
Mode of operation
LookAhead carries out a block-specific analysis of velocity limits and specifies the required
brake ramp profile based on this information. LookAhead is adapted automatically to block
length, braking capacity and permissible path velocity.
For safety reasons, the velocity at the end of the last prepared block must initially be assumed
to be zero because the next block might be very small or be an exact-stop block, and the axes
must have been stopped by the end of the block.
With a series of blocks with high set velocity and very short paths, the speed can be increased
in each block depending on the velocity value currently calculated by the LookAhead function
in order to achieve the required set velocity. After this it can be reduced so that the velocity at
the end of the last block considered by the LookAhead function can be zero. This results in a
serrated velocity profile (see the following fig.) which can be avoided by reducing the set
velocity or increasing the number of blocks considered by the LookAhead function.
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4.3 Continuous-path mode
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Figure 4-6
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1
1
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Example for modal velocity control (number of blocks considered by the LookAhead
function = 2)
Activation/deactivation
LookAhead is activated by selecting continuous-path mode G64, G641, G642, G643, G644
or G645.
Selecting the exact stop which works on a non-modal basis enables rounding to be interrupted
(G09).
LookAhead is deactivated by selecting the modal exact stop (G60).
Parameterization
Number of blocks
To achieve reliable axis traversal in continuous-path mode, the feedrate must be adapted over
several blocks. The number of blocks considered by the LookAhead function is calculated
automatically and can, if required, be limited by a machine data. The default setting is "1",
which means that LookAhead only considers the following block for velocity control.
Because LookAhead is especially important for short blocks (relative to the deceleration path),
the number of blocks required is of interest for LookAhead braking. It is sufficient to consider
the path length to be equal to the deceleration path that is required to brake from maximum
velocity to standstill.
For a machine with a low axial acceleration of a = 1 m/s2 and a high feedrate of vpath = 10 m/
min, the following number of nLookAhead blocks are allocated to the controller where it has has
an attainable block cycle time of TB = 10 ms:
nLookAhead = Deceleration path/Block length = ( vpath2 / (2a)) / (vpath * TB) = 9
Considering these conditions, it is advisable to adapt the feedrate over 10 blocks. The number
of blocks entered for the LookAhead function forecast does not change the LookAhead
algorithm and memory requirement.
Since the machining velocity is very often set to a lower value than the maximum velocity in a
program, more blocks than are required would be predicted, overloading the processor
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4.3 Continuous-path mode
unnecessarily. For this reason, the required number of blocks is derived from the velocity which
is calculated from the following multiplication:
Programmed velocity * MD12100 $MN_OVR_FACTOR_LIMIT_BIN
(when using a binary-coded feedrate override switch)
Programmed velocity * MD12030 $MN_OVR_FACTOR_FEEDRATE[30]
(when using a gray-coded feedrate override switch)
The value for MD12100 or the 31st override value for MD12030 defines the dynamic response
reserves which the velocity control provides for when the path feed is overshot.
Note
The 31st override value for MD12030 should correspond to the highest override factor which
is actually used.
Note
The number of blocks considered by the LookAhead function is limited by the possible number
of NC blocks in the IPO buffer.
Velocity profiles
In addition to the fixed, plannable velocity limitations, LookAhead can also take account of the
programmed velocity. This makes it possible to achieve a lower velocity by applying
LookAhead beyond the current block.
Determination of the following block velocity
One possible velocity profile contains the determination of the following block velocity.
Using information from the current and the following NC block, a velocity profile is calculated
from which, in turn, the required velocity reduction for the current override is derived.
The calculated maximum value of the velocity profile is limited by the maximum path velocity.
With this function it is possible to initiate a speed reduction in the current block taking
override into account such that the lower velocity of the following block can be achieved. If
the reduction in velocity takes longer than the travel time of the current block, the velocity
is further reduced in the following block. Velocity control is only ever considered for the
following block.
The function is activated via the machine data:
MD20400 $MC_LOOKAH_USE_VELO_NEXT_BLOCK
Value
Meaning
TRUE
Function active
FALSE
Function not active
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4.3 Continuous-path mode
Definition of override points
If the velocity profile of the following block velocity is not sufficient because, for example,
very high override values (e.g. 200%) are used or a constant cutting rate G96/G961 is
active, with the result that the velocity must be further reduced in the following block,
LookAhead provides a way of reducing the programmed velocity over several NC blocks.
By defining override points, LookAhead calculates a limiting velocity profile for each value.
The required velocity reductions for the current override are derived from these profiles.
The calculated maximum value of the velocity profile is limited by the maximum path velocity.
The upper point should cover the velocity range that will be reached by the maximum value
set in the machine data:
MD12030 $MN_OVR_FACTOR_FEEDRATE [n] (evaluation of the path feedrate override
switch)
It can also be reached via the value of the machine data:
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary coded override switch)
In this way, a reduction of the velocity continuing into the block in which it is programmed
can be avoided.
If velocity reductions across block boundaries are required at a 100% override, a point
should be set in the lower override range as well.
The number of override points used per channel is specified in the machine data:
MD20430 $MC_LOOKAH_NUM_OVR_POINTS (number of override switch points for
LookAhead)
The associated points are stored in the machine data:
MD20440 $MC_LOOKAH_OVR_POINTS (prepared override velocity characteristics with
LookAhead)
Example:
Limiting velocity characteristics, whereby:
Override = 50%, 100% or 150%
Number of LookAhead blocks = 4
MD20430 $MC_LOOKAH_NUM_OVR_POINTS = 2
MD20440 $MC_LOOKAH_OVR_POINTS = 1.5, 0.5
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4.3 Continuous-path mode
MD20400 $MC_LOOKAH_USE_VELO_NEXT_BLOCK = 1
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A combination of both procedures (determination of following block velocity and determination
of override points) can be used to calculate the velocity profiles and is generally advisable
because the preset machine data for these functions already takes the widest range of overridedependent velocity limits into account.
Note
If neither of the procedures has been activated, the setpoint velocity is always applied in the
current block.
Note
Plannable velocity limits restrict override-specific velocity limits.
Relief factor with block cycle problems
Block cycle problems are encountered in cases where the traversing distances of the NC
blocks to be processed are so short that the LookAhead function has to reduce the machine
velocity to provide enough time for block processing. In this situation, constant braking and
acceleration of path motion may occur.
Velocity fluctuations of this type can be dampened by specifying a relief factor:
MD20450 $MC_LOOKAH_RELIEVE_BLOCK_CYCLE (relieving factor for the block cycle
time)
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4.3 Continuous-path mode
Supplementary conditions
Axis-specific feed stop/axis disable
Axis-specific feed stop and axis-specific axis disable are ignored by LookAhead.
If an axis is to be interpolated that should on the other hand be made stationary by axis-specific
feed stop or axis disable, LookAhead does not stop path motion before the block in question
but decelerates in the block itself.
If this response is not wanted, an axis-specific feed stop can be transferred to a channel via
the PLC to stop the path immediately (see also Section "Clamping monitoring (Page 86)").
4.3.4.2
Free-form surface mode: Extension function
Function
The "Free-form surface mode: Extension function" is an extension of the Look Ahead standard
functionality and is used to calculate the path velocity profile during free-form surface
processing (see also Section "Free-form surface mode: Basic functions (Page 224)").
Its use optimizes the continuous-path mode as follows:
Symmetry between the acceleration and deceleration profiles
Uniform acceleration process, even with changing jerk or acceleration limits
Uniform acceleration process of target velocity profiles, irrespective of the degree to which
they can or cannot be started with the specified dynamic response limit
Look Ahead braking to lower setpoint velocities
Uniformity and compliance with the dynamic response limit guarantee that the setpoint velocity
profiles are smoothed to a homogeneous velocity profile on the part. This serves to minimize
the effect of following errors on the quality of the surface.
Advantages
Greater uniformity in the surface of the workpiece
Lower machine load
Applications
The "Free-form surface mode: Extension function" is used to process workpieces which
primarily comprise free-form surfaces.
Note
As better results are not achieved for standard processing applications, standard Look Ahead
functionality should be used in these cases.
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4.3 Continuous-path mode
Activation
The function is only effective:
In AUTOMATIC
In the "Acceleration with jerk limit (SOFT)" mode
Parameterization
Working memory
The memory for the "Free-form surface mode: Extended function" is configured via the
machine data:
MD28533 $MC_MM_LOOKAH_FFORM_UNITS = <value>
The required memory depends on the part program, the block lengths, the axis dynamic
response, as well as on an active kinematic transformation.
The following setting applies as a guideline for processing free-form surfaces: MD28533 = 18
Note
Due to the additional storage requirements, MD28533 should only be set for the channels in
which free-form surfaces are being processed.
Number of NC blocks in the IPO buffer
It is generally advisable to significantly increase the configured number of NC blocks in the
interpolation buffer when using the "Free-form surface mode: Extension function":
MD28060 $MC_MM_IPO_BUFFER_SIZE > 100
If the block memory capacity is too low, this may diminish the uniformity of the path-velocity
profile.
Activation/deactivation
The function can be switched on or off independently for every dynamic response mode (see
Section "Dynamic response mode for path interpolation (Page 222)"):
MD20443 $MC_LOOKAH_FFORM[<n>]= <value>
Index <n>
0
1
2
3
Dynamic response mode
<value>
Free-form surface mode: Extension
function
Standard dynamic response set
tings (DYNNORM)
Off
On
Positioning mode, tapping
(DYNPOS)
Off
On
Roughing (DYNROUGH)
Off
On
Off
On
Finishing (DYNSEMIFIN)
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4.3 Continuous-path mode
Index <n>
4
Dynamic response mode
Smooth finishing (DYNFINISH)
<value>
Free-form surface mode: Extension
function
Off
On
The "Free-form surface mode: Extension function" is typically only active if the "Free-form
surface mode: Basic functions" are also active. Therefore, the settings in
MD20443 $MC_LOOKAH_FFORM[<n>] should correspond to the settings in
MD20606 $MC_PREPDYN_SMOOTHING_ON[<n>].
The standard Look Ahead functionality is active in the dynamic response modes in which the
"Free-form surface mode: Extension function" is switched off.
Programming
Generally speaking, the "Free-form surface mode: Extension function" becomes effective as
a result of a change in the dynamic response mode in the part program.
Example
The following parameters are assumed:
MD20443 $MC_LOOKAH_FFORM[0] = 0
MD20443 $MC_LOOKAH_FFORM[1] = 0
MD20443 $MC_LOOKAH_FFORM[2] = 1
MD20443 $MC_LOOKAH_FFORM[3] = 1
MD20443 $MC_LOOKAH_FFORM[4] = 1
Change of the dynamic response mode in the part program:
Program code
Comment
N10 DYNPOS
; Activate DYNPOS dynamic response
mode.
Standard Look Ahead functionality is
active in the DYNPOS dynamic response mode.
...
N100 G17 G54 F10000
N101 DYNFINISH
; Activate DYNFINISH dynamic response mode.
The "Free-form surface mode: Extension functions" are active in the
DYNFINISH dynamic response mode.
N102 SOFT G642
N103 X-0.274 Y149.679 Z100.000 G0
N104 COMPCAD
...
N1009 Z4.994 G01
N10010 X.520 Y149.679 Z5.000
N10011 X10.841 Y149.679 Z5.000
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4.3 Continuous-path mode
Program code
Comment
N10012 X11.635 Y149.679 Z5.010
N10013 X12.032 Y149.679 Z5.031
M30
Note
When switching between the standard Look Ahead functionality and the "Free-form surface
mode: Extension function" or vice versa, continuous-path mode is interrupted by an interpolator
stop.
Supplementary conditions
Automatic function switchover
Use of the following functions results in an automatic switchover to standard Look Ahead
functionality:
Thread cutting/tapping (G33, G34, G35, G331, G332, G63)
Path master-value coupling
Punching, nibbling
Cartesian PTP travel
The "Free-form surface mode: Extension function" is then switched on again automatically.
Using the commands of G function group 15 (feed types)
The following feed types are not recommended in conjunction with the "Free-form surface
mode: Extension function".
Feedrate per revolution (G95, G96, G97, etc.)
Inverse-time feedrate (G93)
Use of FLIN
The FLIN feedrate profile cannot be used in conjunction with the "Free-form surface mode:
Extension function".
Influence of feedrate overrides
Feedrate overrides (via a machine control panel, $AC_OVR, ...) can extend the traverse time
over standard Look Ahead functionality considerably.
Interaction with rapid traverse motion (G0)
G0 blocks which are interspersed during free-form surface processing do not switch the Look
Ahead functionality over (from the "Free-form surface mode: Extended function" to the
standard Look Ahead functionality or vice versa). This means that even though the standard
dynamic response setting (DYNNORM) is effective with G0, the standard Look Ahead
functionality which is preset for DYNNORM ( MD20443 $MC_LOOKAH_FFORM[0]) does
not automatically become effective as well. By retaining the Look Ahead functionality which is
currently active, a more homogeneous velocity profile is achieved, particularly since G0 and
polynomial blocks are usually smoothed and connected by rounding.
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4.4 Dynamic adaptations
4.4
Dynamic adaptations
4.4.1
Smoothing of the path velocity
Introduction
The velocity control function utilizes the specified axial dynamic response. If the programmed
feedrate cannot be achieved, the path velocity is brought to the parameterized axial limit values
and the limit values of the path (velocity, acceleration, jerk). This can lead to repeated braking
and acceleration on the path.
If a short acceleration takes place during a machining function with high path velocity, and is
thus followed almost immediately by braking, the reduction in the machining time is only
minimal. Acceleration of this kind can, however, have undesirable effects if, for example, it
results in machine resonance.
In some applications in mold making, especially in the case of high-speed cutting, it is desirable
to achieve a constant path velocity. In these cases, it can therefore be reasonable to sacrifice
transient acceleration processes in favor of a smoother tool path velocity.
Function
If the "smoothing the path velocity" function is active, a smoothing factor, which determines
the maximum permissible productivity loss, takes effect with a view to achieving smoother path
velocity control: Acceleration processes which contribute less than this factor to a shorter
program runtime are not performed. Account is only taken of acceleration processes whose
frequencies lie above the configurable limit frequencies of of the axes involved.
Benefits:
Avoidance of excitations of possible machine resonance due to continuous, transient
braking and acceleration processes (in the area of less IPO cycles).
Avoidance of constantly varying cutting rates due to acceleration which brings no significant
shortening of the program running time.
Note
The smoothing of the path velocity does not lead to contour errors.
Variations in axis velocity due to curvatures in the contour at constant path velocity may
continue to occur and are not reduced with this function.
Variations in path velocity due to the input of a new feedrate are not changed either. This
remains the responsibility of the programmer of the subprogram.
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4.4 Dynamic adaptations
Requirements
The smoothing of the path velocity is only effective in continuous-path mode with
LookAhead over multiple blocks with SOFT and BRISK. Smoothing is not effective with G0.
The controller's cycle times must be configured in such a way that preprocessing can
prepare sufficient blocks to enable an acceleration process to be analyzed.
Activation/deactivation
The "smoothing of the path velocity" function is activated/deactivated with the machine data:
MD20460 $MC_LOOKAH_SMOOTH_FACTOR (smoothing factor for LookAhead)
Value
Meaning
0.0
Smoothing of the path velocity not active (default)
>0
Smoothing of the path velocity active
A change in the MD setting is only made effective through NEW CONF.
Parameterization
Smoothing factor
The smoothing factor is set via the channel-specific machine data:
MD20460 $MC_LOOKAH_SMOOTH_FACTOR (smoothing factor for LookAhead)
The percentage value defines how much longer a processing step without accelerations/
decelerations may be than the corresponding step with accelerations/decelerations.
This would be a "worst-case" value, if all accelerations within the part program, except the
initial approach motion, were smoothed. The actual extension will always be smaller, and may
even be 0, if the criterion is not met by any of the accelerations. Values between 50 and 100%
may also be entered without significantly increasing the machining time.
Consideration of the programmed feed
The path velocity can be smoothed with or without taking the programmed feedrate into
consideration. The selection is made via the machine data:
MD20462 $MC_LOOKAH_SMOOTH_WITH_FEED (path smoothing with programmed
feedrate)
Value
Meaning
Programmed feedrate is not taken into consideration.
Programmed feedrate is considered (default setting).
When considering the programmed feedrate, the specified smoothing factor (see MD20460)
is maintained better when the override is 100%.
Axis-specific limit frequencies
The axis-specific limit frequencies are defined via the machine data:
MD32440 $MA_LOOKAH_FREQUENCY (smoothing frequency for LookAhead)
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4.4 Dynamic adaptations
Acceleration and deceleration processes, which run with a high frequency, are smoothed
depending upon the parameterization of the following machine data or else are reduced in
dynamics:
MD20460 $MC_LOOKAH_SMOOTH_FACTOR (smoothing factor for LookAhead)
MD20465 $MC_ADAPT_PATH_DYNAMIC (adaptation of the dynamic path response)
For further information on MD20465, see Section "Adaptation of the dynamic path response
(Page 213)".
Note
If vibrations are generated in the mechanical system of an axis and if the corresponding
frequency is known, MD32440 should be set to a value smaller than this frequency.
The needed resonance frequencies can be calculated using the built-in measuring functions.
Mode of operation
The minimum value for MD32440 is calculated as fpath on the basis of the axes involved in the
path. For the smoothing only those acceleration processes are taken into consideration, in
which the start and the end velocity of this motion are reached within the time given below:
t = t2 - t1 = 2 / fpath
These acceleration processes are dispensed with if the resulting extension in the processing
time does not exceed the limit specified in excess of the smoothing factor (MD20460).
Example
The following parameters are assumed:
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 10%
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20 Hz
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 20 Hz
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 10 Hz
The path involves the three axes X = AX1, Y = AX2, Z = AX3.
The minimum value of MD32440 for these three axes is thus 10 Hz. This means that any
acceleration, which is completed within a period of t2 - t1 = 2/10 Hz = 200 ms, is examined. The
time t2 is the time it takes to reach velocity v1 again following an acceleration process starting
from velocity v1. The extending of the execution time is also only considered within this range.
If the time t2 - t1 is greater than 200 ms or if the additional program execution time t3 - t2 is more
than 10% (= MD20460) of t2 - t1, the following time characteristic applies:
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4.4 Dynamic adaptations
Y
Y
Y
W
Figure 4-7
W
Characteristic of time-optimum path velocity (without smoothing)
If, however, the time t2 - t1 is less than 200 ms or if the additional program execution time
t3 - t2 is no more than 10% of t2 - t1, the following time characteristic applies:
Y
Y
Y
W
W
Figure 4-8
4.4.2
W
Characteristic of the smoothed path velocity
Adaptation of the dynamic path response
Function
Highly dynamic acceleration and deceleration processes during machining can cause
excitation of mechanical vibrations of machine elements and consequently a reduction of the
surface quality of the workpiece.
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4.4 Dynamic adaptations
The dynamic response of the acceleration and deceleration processes can be adapted to the
machine conditions using the "adaptation of the dynamic path response" function.
Note
The "adaptation of the dynamic path response" function only concerns the resulting path and
not the deceleration and acceleration processes of the individual axes involved in the path.
For this reason, critical deceleration and acceleration processes of the axes with respect to
the excitation of mechanical vibrations can occur due to discontinuous contour profiles or
kinematic transformations, even with a constant path velocity profile.
Effectiveness
The "adaptation of the dynamic path response" function is only effective during path motions:
Continuous-path mode (G64, G64x)
In continuous-path mode, the optimal effect of the dynamic response adaptation is attained
with an active 100% override. Considerable deviations from this value or functions that
cause the path axes to decelerate (e.g. auxiliary function outputs to the PLC) greatly reduce
the desired action.
Exact stop (G60)
In addition, the "adaptation of the dynamic path response" function is not active during path
motions:
Programmed rapid traverse (G0)
Changes in the override value
Stop requests during motion (e.g. NC Stop, NC Reset)
"Velocity-dependent path acceleration" function (DRIVE) is active
Activation/deactivation
The function is activated/deactivated with the machine data:
MD20465 $MC_ADAPT_PATH_DYNAMIC (adaptation of the dynamic path response)
Value
Meaning
= 1.0
Dynamic adaptation not active (default setting)
> 1.0
Dynamic adaptation active
When activation takes place, the "smoothing the path velocity" function is always activated
internally in continuous-path mode as well (see Section "Smoothing of the path velocity
(Page 210)").
If the smoothing factor (MD20460 $MC_LOOKAH_SMOOTH_FACTOR) is set to 0%
(= function deactivated; default!), a smoothing factor of 100% is used as a substitute. For a
smoothing factor other than 0%, the set value takes effect.
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4.4 Dynamic adaptations
Parameterization
Adaptation factor of the dynamic path response
Via the adaptation factor of the dynamic path response, temporary changes in the path velocity
are executed with smaller dynamic response limit values.
The adaptation factor is to be set on a channel-specific basis:
For traversing motions with acceleration without jerk limitation (BRISK) via:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 0 ]
The adaptation factor acts on the acceleration.
For traversing motions with acceleration with jerk limitation (SOFT) via:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ]
The adaptation factor acts on the jerk.
Axis-specific limit frequencies
The dynamic response limiting should only be active during deceleration and acceleration
processes that trigger mechanical vibrations larger than a specific limiting frequency, thus
causing excitation of machine resonances.
This limit frequency from which the dynamic response limiting activates, is specified on an axisspecific basis via the machine data:
MD32440 $MA_LOOKAH_FREQUENCY (smoothing frequency for LookAhead)
For further information, see Section "Smoothing of the path velocity (Page 210)".
Mode of operation
During processing and via all the axes involved in the path, the controller cyclically establishes
the minimum of all the limit frequencies to be the limit frequency (f) for the adaptation of the
dynamic response and calculates the relevant time window (tadapt) from this:
tadapt = 1 / f
The size of the relevant time window tadapt determines the further behavior:
1. The time needed to change the velocity is less than tadapt:
The acceleration rates are reduced by a factor > 1 and the value written in machine data:
MD20465 ADAPT_PATH_DYNAMIC (adaptation of the path dynamics)
The reduction in acceleration rate increases the time taken to change the velocity.
The following cases are different:
The acceleration rate is reduced with a value less than MD20465 so that the process
lasts for tadapt [s]. The permitted reduction does not need to be fully utilized.
The acceleration time is reduced with the value written in MD20465. The process lasts
less than tadapt despite the reduced acceleration. The permitted reduction was fully
utilized.
2. The time needed to change the velocity is greater than tadapt:
No dynamic response adaptation is required.
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4.4 Dynamic adaptations
Example
The following example is intended to show the effect of the "adaptation of the dynamic path
response" function on traversing motions with acceleration and without jerk limitation (BRISK).
The following parameters are assumed:
MD20465 $MC_ADAPT_PATH_DYNAMIC[0] = 1.5
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 1.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20 Hz
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 10 Hz
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20 Hz
TAX1 = 1/20 Hz = 50 ms
TAX2 = 1/10 Hz = 100 ms
TAX3 = 1/20 Hz = 50 ms
Note
To illustrate the effect of dynamic response adaptation, the value for the smoothing factor
(MD20460) is set to "1", whereby the "smoothing of the path velocity" function is practically
deactivated.
The path involves the three axes X = AX1, Y = AX2, Z = AX3.
For path motions in which axis AX2 is involved, all deceleration and acceleration processes
that would last less than TAX2 are adapted.
If only axes AX1 and/or AX3 are involved in path motions, all deceleration and acceleration
processes that would last less than TAX1 = TAX3 are adapted.
The relevant time window is marked tadapt... in the figures below.
WDGDSW
WDGDSW
Y
WDGDSW
W
Figure 4-9
216
W
WDGDSW
W
W
W
W
W
W
Path velocity profile optimized for time without smoothing or dynamic adaptation response
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4.4 Dynamic adaptations
Y
%
WDGDSW
Y
WDGDSW
WDGDSW
W
Figure 4-10
W
W
W
W
W
W
Path velocity profile with adaptation of dynamic path response
Intervals t0 - t1 and t2 - t3:
Interval t4 - t5:
Interval t6 - t7:
4.4.3
W
The acceleration process between t0 - t1 and the deceleration
process between t2 - t3 are extended in terms of time to tadapt01
or tadapt23 as a result of the acceleration being adapted.
The acceleration process between t4 - t5 is executed with an
acceleration reduced by the maximum adaptation factor of 1.5.
However, the acceleration process is completed before time
tadapt45.
The deceleration process between t6 - t7 remains unchanged
as it lasts longer than tadapt67.
Determination of the dynamic response limiting values
In addition to determining the natural frequency of the path axes for assigning parameters to
the axis-specific limit frequencies (MD32440 $MA_LOOKAH_FREQUENCY), the
implementation of the "adaptation of the dynamic path response" function also requires
dynamic response limits to be determined for velocity, acceleration and jerk.
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4.4 Dynamic adaptations
Procedure
The determination of the dynamic response limits for the traversing of path axes by means of
acceleration with jerk limiting (SOFT) is described below. This procedure can be applied by
analogy to the case of acceleration without jerk limiting (BRISK).
1. Deactivate the "adaptation of the dynamic path response" function:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1
2. Observe the positioning behavior of each path axis at different traversing velocities. When
doing so, set the jerk such that the desired positioning tolerance is maintained.
Note
The higher the traversing velocity from which the positioning process is started, the higher
in general the jerk can be set.
3. Use the maximum permissible jerk determined for the least critical traversing velocity:
MD32431 $MA_MAX_AX_JERK (maximum jerk)
4. Determine the FAPD factor for all of the path axes using:
FAPD = (largest determined jerk) / (smallest determined jerk)
Note
The smallest determined jerk is the value for the jerk during the most critical traversing
velocity.
5. Enter the largest FAPD factor that was determined via all the path axes as the value for the
adaptation factor for the path dynamic response:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ] = FAPD
4.4.4
Interaction between the "smoothing of the path velocity" and "adaptation of the
path dynamic response" functions
The following examples serve to illustrate the interaction between the "smoothing of the path
velocity" and "adaptation of the path dynamic response" functions in continuous-path mode.
Example 1
Acceleration mode: BRISK
The path involves the 3 axes X = AX1, Y = AX2, Z = AX3.
The following parameters are assumed:
MD20465 $MC_ADAPT_PATH_DYNAMIC[0] = 3
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 80.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 20
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20
218
TAX1 = 1/20 Hz = 50 ms
TAX2 = 1/20 Hz = 50 ms
TAX3 = 1/20 Hz = 50 ms
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4.4 Dynamic adaptations
Y
Y
Figure 4-11
W
W
W
W
W
Path velocity profile optimized for time without smoothing or dynamic adaptation response
Y
%
Y
W
Figure 4-12
W
W
W
W
Path velocity profile with smoothing of the path velocity and adaptation of dynamic path
response
Effects of smoothing on path velocity:
Interval t1 - t2:
Interval t3 - t5:
The acceleration and deceleration process between t1 and t2 does not
take place because the lengthening of the machining time without the
acceleration process to v12 is less than the resulting time if a smoothing
factor of 80 % is applied.
The acceleration and braking profile between t3 and t5 does not fulfill this
condition or takes longer than the parameterized smoothing time
TAxn = 2/20 Hz = 100 ms.
Effects of the dynamic response adaptation:
Interval t3 - t4:
Interval up to t1:
The acceleration process between t3 and t4 is shorter than
MIN(TAXn) = 1/20 Hz = 50 ms and is, therefore, executed with an acceler
ation reduced by an adaptation factor of 3.
The acceleration up to t1 left over after path smoothing is stretched to the
time period up to t1' by the dynamic response adaptation.
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4.4 Dynamic adaptations
Note
The example shows that those acceleration or deceleration processes that are not eliminated
by the smoothing of the path velocity can be subsequently optimized by adapting the dynamic
path response. For this reason, both functions should always be activated, if possible.
Example 2
Acceleration mode: SOFT
The path involves the 3 axes X = AX1, Y = AX2, Z = AX3.
The following parameters are assumed:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 0.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 10
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 10
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20
TAX1 = 1/20 Hz = 100 ms
TAX2 = 1/20 Hz = 100 ms
TAX3 = 1/20 Hz = 50 ms
This leads to a path velocity profile which is optimized in terms of time without smoothing the
path velocity or adapting the dynamic path response:
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The parameter assignment is changed as follows:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 4
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 1.0
This results in a path velocity profile with adaptation of the dynamic path response and with
minimum, and thus virtually deactivated, smoothing of the path velocity:
220
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4.4 Dynamic adaptations
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The smoothing factor is set to 0% instead of 1% (in accordance with the default!):
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 0.0
A smoothing factor of 100% comes into effect with this parameter assignment.
This gives rise to a path velocity profile with smoothing of the path velocity and adaptation of
dynamic path response:
6PRRWKHUSDWKYHORFLW\GXHWR
UHGXFHGSDWKMHUN
1RDFFHOHUDWLRQRUEUDNLQJHIIHFWRISDWKVPRRWKLQJ
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4.4 Dynamic adaptations
4.4.5
Dynamic response mode for path interpolation
Function
Technology-specific, dynamic response settings can be saved in machine data and can be
activated in the part program via the commands from G function group 59 (dynamic response
mode for path interpolation).
Command
Activates the dynamic response settings for:
DYNNORM
Standard dynamic response settings
DYNPOS
Positioning mode, tapping
DYNROUGH
Roughing
DYNSEMIFIN
Finishing
DYNFINISH
Smooth finishing
Note
The dynamic response of the path axes alone is determined by the commands from G function
group 59 (dynamic response mode for path interpolation). They have no effect on:
Positioning axes
PLC axes
Command axes
Motions based on axis coupling
Overlaid motions with handwheel
JOG motions
Reference point approach (G74)
Fixed-point approach (G75)
Rapid traverse motion (G0)
The standard dynamic response setting (DYNNORM) always takes effect for these axis
motions.
Application
By switching the dynamic response settings, roughing can be optimized in terms of time and
smoothing can be optimized in terms of the surface, for example.
Parameterization
Axis-specific dynamic response settings:
MD32300 $MA_MAX_AX_ACCEL[<n>] (axis acceleration)
MD32310 $MA_MAX_ACCEL_OVL_FACTOR[<n>] (overload factor for axial jumps in
velocity)
MD32431 $MA_MAX_AX_JERK[<n>] (maximum axial jerk for path motion)
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MD32432 $MA_PATH_TRANS_JERK_LIM[<n>] (maximum axial jerk at the block transition
in continuous-path mode)
MD32433 $MA_SOFT_ACCEL_FACTOR[<n>] (scaling of the acceleration limitation with
SOFT)
Channel-specific dynamic response settings:
MD20600 $MC_MAX_PATH_JERK[<n>] (path-related maximum jerk)
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL[<n>] (influence of path curvature on
path acceleration)
MD20603 $MC_CURV_EFFECT_ON_PATH_JERK[<n>] (influence of path curvature on
path jerk)
where index <n> =0
1
2
3
4
for DYNNORM
for DYNPOS
for DYNROUGH
for DYNSEMIFIN
for DYNFINISH
Note
Writing the machine data without an index places the same value in all field elements of the
relevant machine data.
Reading the machine data without an index always supplies the value of the field with index
0.
Suppressing G commands
It is recommended that G commands from G function group 59 (dynamic response mode for
path interpolation) which are not intended for use should be suppressed via the following
machine data:
MD10712 $MN_NC_USER_CODE_CONF_NAME_TAB[<n>] (list of reconfigured NC
commands)
If a suppressed G command is used, an alarm is displayed. This prevents machine data that
has not been parameterized taking effect.
Example
The G commands DYNPOS and DYNSEMIFIN can be suppressed with the following settings:
MD10712 $MN_NC_USER_CODE_CONF_NAME_TAB[0]="DYNPOS"
MD10712 $MN_NC_USER_CODE_CONF_NAME_TAB[1]=" "
MD10712 $MN_NC_USER_CODE_CONF_NAME_TAB[2]="DYNSEMIFIN"
MD10712 $MN_ NC_USER_CODE_CONF_NAME_TAB[3]=" "
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4.4 Dynamic adaptations
References
You can find detailed information about programming the G commands from G function group
59 (dynamic response mode for path interpolation) in:
References:
Programming Manual, Job Planning; Section: Path traversing behavior
4.4.6
Free-form surface mode: Basic functions
Introduction
In applications in tool and mold making, it is important that the surfaces on the workpiece are
as uniform as possible. This requirement is generally more important than the precision of the
surface of the workpiece.
Workpiece surfaces which lack uniformity can be attributable to the following causes, for
example:
The part program for manufacturing the workpiece contains a non-uniform geometry. This,
most notably, affects the profile of the curvature and torsion.
Note
The curvature k of a contour is the inverse of radius r of the adapted circle in a contour
point (k = 1/r). The torsion is the change in curvature (first derivative).
As a result of the lack of uniformity in geometry, the machine's dynamic response limits are
reached during processing of the part program, and needless deceleration and acceleration
processes occur. Depending on the extent of the effective over-travel of the axes, this leads
to different deviations in contours.
Needless deceleration and acceleration processes can trigger machine vibrations which
result in unwanted marks on the workpiece.
There are various options available for eliminating these causes:
Use a CAD/CAM system
The part programs generated by CAD/CAM systems contain a very uniform curvature and
torsion profile, preventing needless reductions in path velocity.
Specify the maximum path velocity in such a way that unwanted geometric fluctuations in
the curvature and torsion profile have no effect.
Function
"Free-form surface mode: Basic functions" can be used to make the definition of path velocity
limits insensitive to small geometric fluctuations in curvature and torsion without exceeding the
machine's dynamic limits in terms of the acceleration and jerk of the axes.
This has the following advantages:
Greater uniformity in the profile of the path velocity
Greater uniformity in the surface of the workpiece
Reduction in the processing time (if the dynamic response of the machine permits it)
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4.4 Dynamic adaptations
Applications
The function is used to process workpieces which primarily comprise free-form surfaces.
Requirements
The function can only be activated if the requisite memory capacity is reserved during memory
configuration:
MD28610 $MC_MM_PREPDYN_BLOCKS = 10
The value entered prescribes the number of blocks which have to be taken into consideration
in the determination of the path velocity (velocity preparation).
A sensible value is "10".
If MD28610 has a value of "0", only the motions of the axes in a particular block are taken into
consideration when determining the maximum velocity of the path for that block. If the geometry
of neighboring blocks is also taken into consideration when determining the velocity of the path
(value > 0), a more uniform profile in path velocity is achieved.
Activation/deactivation
The function can be switched on or off independently for every dynamic response mode (see
Section "Dynamic response mode for path interpolation (Page 222)"):
MD20606 $MC_PREPDYN_SMOOTHING_ON[<n>] = <value>
Index <n>
0
1
2
Dynamic response mode
<value>
Free-form surface mode: Basic func
tions
Standard dynamic response set
tings (DYNNORM)
Off
On
Positioning mode, tapping
(DYNPOS)
Off
On
Roughing (DYNROUGH)
Off
On
Off
On
Off
On
Finishing (DYNSEMIFIN)
Smooth finishing (DYNFINISH)
Note
Due to the additional storage requirements, the function should only be activated in the relevant
processing channels.
Parameterization
Change in the contour sampling factor
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4.4 Dynamic adaptations
The secant error which occurs during the interpolation of curved contours is dependent on the
following factors:
Curvature
Interpolator clock cycle (display in the MD10071 $MN_IPO_CYCLE_TIME)
Velocity with which the relevant contour is traversed
The maximum possible secant error is defined for each axis in the machine data:
MD33100 $MA_COMPRESS_POS_TOL (maximum tolerance with compression)
If the set interpolator clock cycle is not sufficiently small, the max. path velocity may be reduced
in the case of contours with greater curvature. This is necessary for ensuring that the surface
of the workpiece is also produced with an adequate degree of precision in this case.
By changing the contour sampling factor, the time interval with which a curved contour is
sampled in the interpolator (contour sampling time) can be set differently than the interpolator
clock cycle. A contour sampling time which is shorter than the interpolator clock cycle can
prevent a reduction in path velocity in the case of contours with greater curvature.
The contour sampling factor is set with the machine data:
MD10682 $MN_CONTOUR_SAMPLING_FACTOR
The effective contour sampling time is calculated as follows:
Ts = f * T1
where: Ts
T1
f
= Effective contour sampling time
= Interpolator clock cycle
= Contour sampling factor (value from MD10682)
The default contour sampling factor is "1", i.e. the contour sampling time equals the interpolator
clock cycle.
The contour sampling factor can be both greater or less than "1".
If a value less than "1" is set, monitoring of contour sampling precision is disabled.
The set sampling time must not be below the configured minimum contour sampling time:
MD10680 $MN_MIN_CONTOUR_SAMPLING_TIME
Note
MD10680 is specifically set for every controller model and cannot be changed.
Programming
Depending on the setting in machine data MD20606 $MC_PREPDYN_SMOOTHING_ON,
"Free-form surface mode: Basic functions" can be switched on and off in the part program by
changing the active dynamic response mode.
Example:
By assigning the parameters MD20606 $MC_PREPDYN_SMOOTHING_ON[2-4] = 1 and
MD20606 $MC_PREPDYN_SMOOTHING_ON[0-1] = 0, the function can be switched on via
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4.5 Compressor functions
the commands DYNROUGH, DYNSEMIFIN, and DYNFINISH and switched off via the commands
DYNNORM and DYNPOS.
See also
Rounding of tangential block transitions (G645) (Page 198)
Velocity-dependent jerk adaptation (axis-specific) (Page 268)
Free-form surface mode: Extension function (Page 206)
4.5
Compressor functions
4.5.1
Compression of blocks for linear and circular movement
Function
CAD/CAM systems generate a large number of linear and circular blocks, some of which with
very short path lengths, to describe complex contours. The maximum possible path velocity
is frequently limited by the block change time. As of a certain path velocity, not enough new
traversing blocks can be prepared in the preprocessing and switched to the main run.
The compressor functions replace consecutive linear and circular blocks with polynomial
blocks having the longest possible path lengths while achieving a parameterized contour
precision. This has the following advantages:
Reduction of the number of traversing blocks
Increasing the path velocity
Increasing the surface quality
Continuous block transitions
COMPON, COMPCURV
The compressor functions COMPON and COMPCURV generate one polynomial block from up to
ten consecutive linear blocks of the form: "G01 X... Y... Z... F...". The polynomial
blocks of the compressor functions have the following properties:
COMPON: Continuous velocity block transitions.
COMPCURV: Continuous velocity and acceleration block transitions
COMPCAD
The compressor function COMPCAD can generate one polynomial block from theoretically any
number of consecutive linear and circular blocks. The polynomial blocks have constant velocity
and acceleration at the block transitions. Corners that are desirable are identified as such and
taken into account.
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4.5 Compressor functions
COMPCAD is very CPU time and memory-intensive. It is therefore recommended that
COMPCAD only be used where surface improvements were not successful by measures taken
within the CAD/CAM program.
Common features
If commands that are not traverse commands, e.g. auxiliary function output, are
programmed in and between the traversing blocks to be compressed, compression will be
interrupted.
The maximum tolerable deviation of the calculated path to the programmed positions can
be specified in machine data for all compressor functions. Unlike COMPON and COMPCURV,
the parameterized tolerances are not used in different directions in neighboring paths with
COMPCAD.
Parameterization
The compressor functions are parameterized in the following machine data and setting data:
Axis-specific machine data
Number
Identifier $MA_
Meaning
MD33100
COMPRESS_POS_TOL
Maximum permissible axis-specific path deviation
with compression
Channel-specific machine data
Number
Identifier $MC_
Meaning
MD20170
COMPRESS_BLOCK_PATH_LIMIT
Maximum traversing length of a block for compres
sion
MD20172
COMPRESS_VELO_TOL
Maximum permissible deviation from path feed for
compression
MD20482
COMPRESSOR_MODE
Setting the mode of operation of the compressor
MD20484
COMPRESSOR_PERFORMANCE
Compressor performance
MD20485
COMPRESS_SMOOTH_FACTOR
Smoothing factor for compression
MD20486
COMPRESS_SPLINE_DEGREE
Compressor spline degree
MD20487
COMPRESS_SMOOTH_FACTOR_2
Smoothing factor 2 for compression
Channel-specific setting data
228
Number
Identifier $SC_
Meaning
SD42470
CRIT_SPLINE_ANGLE
Corner limit angle for COMPCAD
SD42475
COMPRESS_CONTUR_TOL
Maximum permissible contour deviation with com
pression
SD42476
COMPRESS_ORI_TOL
Maximum deviation of the tool orientation for com
pression
SD42477
COMPRESS_ORI_ROT_TOL
Maximum deviation of the tool rotation for com
pression
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4.5 Compressor functions
Note
Corner limit angle and compressor function COMPCAD
The corner limit angle for COMPCAD set via the setting data SD42470
$SC_CRIT_SPLINE_ANGLE is only used as an approximate measure for corner detection.
By evaluating the plausibility, the compressor can also identify flatter block transitions as
corners and larger angles as outliers.
Recommended settings
The following machine data has an effect on the compressor functions. We recommend setting
the following values:
Number
Identifier
Recommended
value
MD18360
$MN_MM_EXT_PROG_BUFFER_SIZE
MD20490
$MC_IGNORE_OVL_FACTOR_FOR_ADIS
MD28520
$MC_MM_MAX_AXISPOLY_PER_BLOCK
MD28530
$MC_MM_PATH_VELO_SEGMENTS
MD28540
$MC_MM_ARCLENGTH_SEGMENTS
10
MD28060
$MC_MM_IPO_BUFFER_SIZE
100
MD28070
$MC_MM_NUM_BLOCKS_IN_PREP
MD32310
$MA_MAX_ACCEL_OVL_FACTOR
100
60
<Value for G64
operation>
Programming
Syntax
COMPON
COMPCURV
COMPCAD
COMPOF
Meaning
COMPON:
Activating the compressor function COMPON
COMPCURV:
Activating the compressor function COMPCURV
Effective:
Effective:
COMPCAD:
Modal
Activating the compressor function COMPCAD
Effective:
COMPOF :
Modal
Modal
Deactivating the currently active compressor function.
See also
Tolerance and compression of G0 blocks (Page 235)
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4.5 Compressor functions
4.5.2
Compression of short spline blocks
Function
When spline blocks are generated to describe complex contours by means of CAD/CAM
systems, spline blocks with very short path lengths occur between spline blocks with long path
lengths. These force the control to significantly reduce the path velocity. The functions for the
compression of short spline blocks generate new spline blocks with the longest possible path
lengths.
Availability
System
Availability
SINUMERIK 840D sl
Standard (basic scope)
SINUMERIK 828D
Option
Parameterization
The compression of short spline blocks can be activated for the following spline types:
BSPLINE
BSPLINE/ORICURVE
CSPLINE
It is activated in the channel-specific machine data:
MD20488 $MC_SPLINE_MODE, bit <n> = <value>
Bit
<value>
Not active for BSPLINE
Active for BSPLINE
Not active for BSPLINE/ORICURVE
Active for BSPLINE/ORICURVE
Not active for CSPLINE
Active for CSPLINE
Meaning: Combine short spline blocks is
Supplementary conditions
If commands that are not traverse commands, e.g. auxiliary function outputs, are
programmed in and between the traversing blocks to be compressed, the spline blocks
cannot be combined.
The maximum number of blocks that can be combined into a program section in succession,
depends on the parameterized size of the block memory available in the block preparation.
MD28070 $MC_MM_NUM_BLOCKS_IN_PREP (number of blocks for block preparation)
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4.5 Compressor functions
Example
To achieve a higher path velocity when executing the traversing blocks, compression for short
spline blocks is activated for BSPLINE interpolation:
MD20488 $MC_SPLINE_MODE, Bit 0 = 1
Program code
Comment
N10 G1 G64 X0 Y0 Z0 F1000
; Initial setting
N20 G91 F10000 BSPLINE
; Activation: B spline
N30 X0.001 Y0.001 Z0.001
; From here: Combine short spline blocks
N40 X0.001 Y0.001 Z0.001
...
4.5.3
Supplementary conditions
Orientation transformation (TRAORI)
When orientation transformation is active, the compressor functions COMPON, COMPCURV, and
COMPCAD can also compress motion blocks for tool orientation and tool rotation. A detailed
description can be found in:
Reference:
Function Manual, Special Functions; Chapter " F2: Multi-axis transformation" > "Orientation"
> "Compression of the orientation"
Block search with calculation
If the target block for block search type 2 or type 4 (block search with calculation to ...) is
in a program section in which a compressor function (COMPON, COMPCURV, COMPCAD) is
active, positions are approached on the path calculated by the compressor when the
contour is approached again. These positions must precisely match the positions on the
path programmed in the part program.
If programmed blocks are eliminated from the part program during compression, these
blocks will not be found at the target block in the block search Alarm 15370 "Search target
not found."
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4.6 Contour/Orientation tolerance
4.6
Contour/Orientation tolerance
Parameter assignment
Machine data
Contour tolerance / orientation tolerance
MD33100 $MA_COMPRESS_POS_TOL[<axis>] = <value> (maximum tolerance with
compression)
Via the axis-specific machine data, the maximum permitted contour deviation (contour
tolerance) or angle deviation of the tool orientation (orientation tolerance) of each axis is
set. The machine data is effective with the following functions:
Rounding: G642, G643, G644, G645
Compressor: COMPON, COMPCURV, COMPCAD
The higher the value, the more short blocks can be compressed into a long block.
The machine data is not effective with the rounding function G641. The programmable
distance to the block transition with ADIS= or ADISPOS= is used for G641.
Rounding mode
MD20480 $MC_SMOOTHING_MODE (rounding behavior with G64x)
Compressor mode
MD20482 $MC_COMPRESSOR_MODE (mode of compression)
Rounding G645
MD33120 $MA_PATH_TRANS_POS_TOL (maximum contour deviation for rounding
G645)
Effective on rounding tangential, but not continuously curved block transitions (e.g. circle straight line)
Setting data
Channel-specific contour tolerance
SD42465 $SC_SMOOTH_CONTUR_TOL (maximum contour deviation)
Channel-specific orientation tolerance
SD42466 $SC_SMOOTH_ORI_TOL (maximum angular deviation of the tool orientation)
Channel-specific orientation tolerance with rounding with OST
SD42676 $SC_ORI_SMOOTH_TOL (tolerance for smoothing with orientation on rounding)
Channel-specific orientation tolerance with rounding with ORISON
SD42678 $SC_ORISON_TOL (tolerance for smoothing the orientation)
Programming
Syntax
CTOL = <value>
OTOL = <value>
ATOL[<axis>] = <value>
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4.6 Contour/Orientation tolerance
Meaning
CTOL:
OTOL:
ATOL:
Programmable contour tolerance
Preprocessing
stop:
No
Effective:
Modal
Programmable orientation tolerance
Preprocessing
stop:
No
Effective:
Modal
Programmable axis-specific contour tolerance
Preprocessing
stop:
No
Effective:
Modal
<axis>:
Name of the channel axis to which the programmed tolerance will apply
<value>:
Tolerance value
Value range:
0: Tolerance value
< 0: Resetting the programmed tolerance value The tolerance
value parameterized in the machine or setting data applies again.
Notes
The channel-specific tolerance values programmed with CTOL and OTOL have higher priority than
the axis-specific tolerance values programmed with ATOL.
With end of program or reset, the tolerance value parameterized in the machine or setting data is
effective again.
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4.6 Contour/Orientation tolerance
System variables
Reading with preprocessing stop
Via the following system variables, the currently active tolerances can be read in the NC part
program and synchronized action:
$AC_CTOL
Channel-specific contour tolerance effective when the current main run record was
preprocessed.
If no contour tolerance is effective, $AC_CTOL will return the root of the sum of the squares
of the tolerances of the geometry axes.
$AC_OTOL
Channel-specific orientation tolerance effective when the current main run record was
preprocessed.
If no orientation tolerance is effective, $AC_OTOL will return the root of the sum of the
squares of the tolerances of the orientation axes during active orientation transformation.
Otherwise, it will return the value "-1."
$AA_ATOL[<axis>]
Axis-specific contour tolerance effective when the current main run record was
preprocessed.
If no contour tolerance is active, $AA_ATOL[<geometry axis>] returns the contour tolerance
divided by the root of the number of geometry axes.
If an orientation tolerance and an orientation transformation are active
$AA_ATOL[<orientation axis>] will return the orientation tolerance divided by the root of
the number of orientation axes.
Note
If now tolerance values have been programmed, the $A variables are not differentiated enough
to distinguish the tolerance of the individual functions.
Circumstances like this can occur if the machine data and the setting data set different
tolerances for compressor functions, smoothing and orientation smoothing. The system
variables then return the greatest value occurring with the functions that are currently active.
For example, if a compressor function is active with an orientation tolerance of 0.1 and
ORISON orientation smoothing with 1, the $AC_OTOL variable will return the value "1." If
orientation smoothing is deactivated, $AC_OTOL will return the value "0.1."
Reading without preprocessing stop
Via the following system variables, the currently active tolerances can be read in the NC part
program:
$P_CTOL
Currently active channel-specific contour tolerance.
$P_OTOL
Currently active channel-specific orientation tolerance.
$PA_ATOL
Currently active axis-specific contour tolerance.
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4.7 Tolerance and compression of G0 blocks
Supplementary conditions
Programming
The tolerances programmed with CTOL, OTOL, and ATOL also affect functions that indirectly
depend on these tolerances:
Limiting the chord error in the setpoint value calculation
The basic functions of the free-form surface mode
The following rounding functions are not affected by the programming of CTOL, OTOL, and
ATOL:
Rounding orientation with OSD
OSD does not use a tolerance, it uses a distance from the block transition.
Rounding with G644
G644 is not used for processing, it is used for optimizing tool changes and other movements
without machining.
Rounding with G645
G645 virtually always behaves like G642 and, thus, uses the programmed tolerances. The
tolerance value from machine data MD33120 $MA_PATH_TRANS_POS_TOL is only used
in uniformly tangential block transitions with a jump in curvature, e.g. a tangential circle/
straight line transition. The rounding path at these points may also be located outside the
programmed contour, where many applications are less tolerant. Furthermore, it generally
takes a small, fixed tolerance to compensate for the sort of changes in curvature which
need not concern the NC programmer.
4.7
Tolerance and compression of G0 blocks
Function
The function "Tolerance and compression of rapid traverse blocks (G00)" allows rapid traverse
motion to be traversed faster.
It consists of the components:
1. Parameterization / programming of a tolerance factor for rapid traverse movements
Using this factor, the tolerances for G0 motion can be set differently to the workpiece
machining tolerances.
2. Compressing G0 blocks
If the compression of G0 blocks is active while NC block compression is active, not only
traversing blocks with programmed feedrate (G01) but also traversing blocks with G0 (rapid
traverse) are compressed.
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4.7 Tolerance and compression of G0 blocks
G0 tolerance factor
The tolerance factor for rapid traverse movements is only effective if both conditions are met:
1. One of the following functions is active:
Compressor function: COMPON, COMPCURV, or COMPCAD
Smoothing functions: G642 or G645
Orientation smoothing: OST
Orientation smoothing: ORISON
Smoothing for path-relevant orientation: ORIPATH
2. Several ( 2) consecutive G0 blocks in the part program.
For a single rapid traverse block, the G0 tolerance factor is not effective, as the lower
tolerance always applies (workpiece machining tolerance) at the transition from a non rapid
traverse motion to a rapid traverse motion (and vice versa).
Compression
Compression of rapid traverse blocks is activated with the commands COMPON, COMPCURV, or
COMPCAD. See Chapter: "Compression of blocks for linear and circular movement (Page 227)"
Parameter assignment
G0 tolerance factor
The G0 tolerance factor is set via the channel-specific machine data:
MD20560 $MC_G0_TOLERANCE_FACTOR (tolerance factor for G0)
The G0 tolerance factor can be both greater or less than 1.0. If the factor equals 1.0 (default
value), the same tolerances are effective for non rapid traverse movements as for rapid
traverse movement. Normally, the G0 tolerance factor is set to 1.0.
Compressing G0 blocks
The compression of G0 blocks is set for specific channels using the hundreds position in the
machine data:
MD20482 $MC_COMPRESSOR_MODE = <value>
Value
Meaning
0xx
Circular blocks and G0 blocks are not compressed.
1xx
Circular blocks are compressed. Only COMPCAD.
2xx
G0 blocks are compressed.
See also MD20560 $MC_G0_TOLERANCE_FACTOR or NC command STOLF
3xx
Circular blocks and G0 blocks are compressed.
A detailed description of MD20482 can be found in:
References
Function Manual, Special Functions; Multi-Axis Transformations (F2); Section: "Compression
of the orientation"
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4.7 Tolerance and compression of G0 blocks
Programming
The tolerance factor set using MD20560 $MC_G0_TOLERANCE_FACTOR can be temporarily
overwritten by programming STOLF in the part program:
Syntax
STOLF = <tolerance factor>
Meaning
STOLF:
Command to program the G0 tolerance factor
<tolerance
factor>:
G0 tolerance factor
Value range: Tolerance factor > 0.0
Example
In the following program section, the following tolerance factors apply alternately:
1. MD33100 $MA_COMPRESS_POS_TOL (contour tolerance at corners) COMPCAD
(Page 227)
2. MD33120 PATH_TRANS_POS_TOL (contour tolerance for tangential transitions) G645
3. MD20560 $MC_G0_TOLERANCE_FACTOR"
Contour deviation = (MD20560 $MC_G0_TOLERANCE_FACTOR) * (MD33100
$MA_COMPRESS_POS_TOL)
4. Programmable contour tolerance for traversing blocks CTOL
5. Programmable contour tolerance for rapid traverse blocks STOLF
Program code
Comment
COMPCAD G645 F10000
; Activation: Compressor function COMPCAD and G645
G1 X... Y... Z...
; Active tolerance factor 1. and 2.
X... Y... Z...
; Active tolerance factor 1. and 2.
X... Y... Z...
; Active tolerance factor 1. and 2.
G0 X... Y... Z...
; Active tolerance factor 2. and 3.
X... Y... Z...
; Active tolerance factor 2. and 3.
CTOL = 0.02
; Programmable contour tolerance for traversing blocks
STOLF = 4
; Programmable G0 tolerance factor
G1 X... Y... Z...
; Active tolerance factor 4.
X... Y... Z...
; Active tolerance factor 4.
X... Y... Z...
; Active tolerance factor 4.
G0 X... Y... Z...
; Active tolerance factor 4. and 5. of 0.08 = 0.02 *
4
X... Y... Z...
; Active tolerance factor 4. and 5. of 0.08 = 0.02 *
4
The value in MD20560 is not changed by programming the tolerance factor. After a reset or
end of part program, the value set using MD20560 is effective again.
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4.9 Supplementary conditions
System variables
The active G0 tolerance factor can be read via the following system variables.
$AC_STOLF (active G0 tolerance factor)
$P_STOLF (programmed G0 tolerance factor)
Reset response
After power-on reset, channel reset, or end of part program, the value parameterized in
machine data MD20560 $MC_G0_TOLERANCE_FACTOR becomes effective again.
4.8
RESET behavior
MD20150
With the reset (channel or mode group reset), the initial setting parameterized channelspecifically becomes effective for all G groups:
MD20150 $MC_GCODE_RESET_VALUES (initial setting of the G groups)
The following G function groups are of relevance to "continuous-path mode, exact stop,
LookAhead":
Group 10: Exact stop - continuous-path mode
Group 12: Block-change criterion for exact stop
Group 21: Acceleration profile
Group 30: NC block compression
Group 59: Dynamic response mode for path interpolation
For detailed information on setting initial states, see Section "K1: Mode group, channel,
program operation, reset response (Page 455)."
4.9
Supplementary conditions
4.9.1
Block change and positioning axes
If path axes are traversed in continuous path mode in a part program, traversing positioning
axes can also simultaneously affect both the response of the path axes and the block change.
A detailed description of the positioning axes can be found in:
References:
Function Manual, Extended Functions; Positioning axes (P2)
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4.10 Data lists
4.9.2
Block change delay
Even if all path axes and special axes traversing in the part program block have satisfied their
specific block transition criteria, the block change can still be delayed due to other unsatisfied
conditions and/or active functions:
Examples:
Missing auxiliary function acknowledgement by the PLC
Non-existent following blocks
Active function "Empty buffer"
Effects
If a block change cannot be executed in continuous path mode, all axes programmed in this
part program block (except cross-block traversing special axes) are stopped. In this case,
contour errors do not occur.
The stopping of path axes during machining can cause undercuts on the workpiece surface.
4.10
Data lists
4.10.1
Machine data
4.10.1.1
General machine data
Number
Identifier: $MN_
Description
10110
PLC_CYCLE_TIME_AVERAGE
Average PLC acknowledgment time
10680
MIN_CONTOUR_SAMPLING_TIME
Minimum contour sampling time
10682
CONTOUR_SAMPLING_FACTOR
Contour sampling factor
10712
NC_USER_CODE_CONF_NAME_TAB
List of reconfigured NC commands
12030
OVR_FACTOR_FEEDRATE
Evaluation of the path feed override switch
12100
OVR_FACTOR_LIMIT_BIN
Limit for binarycoded override switch
18360
MM_EXT_PROG_BUFFER_SIZE
FIFO buffer size for execution from external source
(DRAM)
4.10.1.2
Channelspecific machine data
Number
Identifier: $MC_
Description
20150
GCODE_RESET_VALUES
Initial setting of the groups
20170
COMPRESS_BLOCK_PATH_LIMIT
Maximum traversing length of NC block for compres
sion
20172
COMPRESS_VELO_TOL
Maximum permissible deviation from path feed for com
pression
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4.10 Data lists
Number
Identifier: $MC_
Description
20400
LOOKAH_USE_VELO_NEXT_BLOCK
LookAhead following block velocity
20430
LOOKAH_NUM_OVR_POINTS
Number of override switch points for LookAhead
20440
LOOKAH_OVR_POINTS
Override switch points for LookAhead
20443
LOOKAH_FFORM
Activating the extended LookAhead
20450
LOOKAH_RELIEVE_BLOCK_CYCLE
Relief factor for the block cycle time
20460
LOOKAH_SMOOTH_FACTOR
Smoothing factor for LookAhead
20462
LOOKAH_SMOOTH_WITH_FEED
Smoothing with programmed feed
20465
ADAPT_PATH_DYNAMIC
Adaptation of path dynamic response
20480
SMOOTHING_MODE
Rounding behavior with G64x
20482
COMPRESSOR_MODE
Compressor mode
20488
SPLINE_MODE
Setting for spline interpolation
20490
IGNORE_OVL_FACTOR_FOR_ADIS
G641/G642 independent of the overload factor
20550
EXACT_POS_MODE
Exact-stop conditions with G0/G1
20560
G0_TOLERANCE_FACTOR
G0 tolerance factor
20600
MAX_PATH_JERK
Pathrelated maximum jerk
20602
CURV_EFFECT_ON_PATH_ACCEL
Influence of path curvature on path dynamic response
20603
CURV_EFFECT_ON_PATH_JERK
Influence of path curvature on path jerk
20606
PREPDYN_SMOOTHING_ON
Activation of the curvature smoothing
28060
MM_IPO_BUFFER_SIZE
Number of NC blocks in IPO buffer (DRAM)
28070
MM_NUM_BLOCKS_IN_PREP
Number of NC blocks for block preparation (DRAM)
28520
MM_MAX_AXISPOLY_PER_BLOCK
Maximum number of axis polynomials per block
28530
MM_PATH_VELO_SEGMENTS
Number of storage elements for limiting path velocity
in block
28533
MM_LOOKAH_FFORM_UNITS
Storage for the extended LookAhead
28540
MM_ARCLENGTH_SEGMENTS
Number of storage elements for arc length function rep
resentation per block
28610
MM_PREPDYN_BLOCKS
Number of blocks for velocity preparation
4.10.1.3
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
32310
MAX_ACCEL_OVL_FACTOR
Overload factor for axial velocity jumps
32431
MAX_AX_JERK
Maximum axial jerk when traversing along the path
32432
PATH_TRANS_JERK_LIM
Maximum axial jerk at the block transition in continuouspath mode
32433
SOFT_ACCEL_FACTOR
Scaling of acceleration limitation for SOFT
32434
G00_ACCEL_FACTOR
Scaling of acceleration limitation for G00
32435
G00_JERK_FACTOR
Scaling of axial jerk limitation for G00
32440
LOOKAH_FREQUENCY
Smoothing limit frequency for LookAhead
33100
COMPRESS_POS_TOL
Maximum deviation with compensation
33120
PATH_TRANS_POS_TOL
Maximum deviation when rounding with G645
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4.10 Data lists
Number
Identifier: $MA_
Description
35240
ACCEL_TYPE_DRIVE
DRIVE acceleration characteristic for axes on/off
36000
STOP_LIMIT_COARSE
Exact stop coarse
36010
STOP_LIMIT_FINE
Exact stop fine
36012
STOP_LIMIT_FACTOR
Exact stop coarse/fine factor and zero speed monitoring
36020
POSITIONING_TIME
Delay time exact stop fine
4.10.2
Setting data
4.10.2.1
Channelspecific setting data
Number
Identifier: $SC_
Description
42465
SMOOTH_CONTUR_TOL
Max. contour deviation during rounding
42466
SMOOTH_ORI_TOL
Max. deviation of the tool orientation during rounding
42470
CRIT_SPLINE_ANGLE
Core limit angle, compressor
42475
COMPRESS_CONTUR_TOL
Maximum contour deviation in the compressor
4.10.3
Signals
4.10.3.1
Signals from channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
All axes stationary
DB21, ... .DBX36.3
DB330x.DBX4.3
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Position reached with exact stop coarse
DB31, ... .DBX60.6
DB390x.DBX0.6
Position reached with exact stop fine
DB31, .DBX60.7
DB390x.DBX0.7
4.10.3.2
Signals from axis/spindle
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4.10 Data lists
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5.1
Brief description
5.1.1
General
Scope of functions
The Description of Functions covers the following sub-functions:
Acceleration
Jerk
Kneeshaped acceleration characteristic
Acceleration and jerk
The effective acceleration and jerk can be optimally matched to the machine and machining
situation concerned using axis- and channel-specific programmable maximum values,
programmable acceleration profiles in part programs and synchronized actions, and dynamic
adaptations and limitations.
Kneeshaped acceleration characteristic
The knee-shaped acceleration characteristic means that, in the case of machine axes featuring
a motor (in particular stepper motors) with a torque characteristic that is highly dependent upon
speed, acceleration can be set at the level required to ensure optimum utilization of the motor
whilst at the same time protecting it against overload.
5.1.2
Features
Acceleration
Axis-specific functions:
Programmable maximum acceleration value
Acceleration profile that can be selected via part-program instruction:
Acceleration without jerk limitation (BRISKA)
Setting of maximum value using part-program instruction (ACC)
Specific maximum value for programmed rapid traverse (G00).
Specific maximum value for traverse with active jerk limitation
Excessive acceleration for non-tangential block transitions
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B2: Acceleration
5.1 Brief description
Channel-specific functions:
Acceleration profile that can be selected via part-program instruction:
Acceleration without jerk limitation (BRISK)
Programmable constant travel time for the purpose of avoiding extreme sudden acceleration
Programmable acceleration margin for overlaid traversing
Adjustable acceleration limitation
Adjustable acceleration for specific real-time events
Programmable acceleration margin for radial acceleration
Jerk
Axis-specific functions:
Acceleration profile that can be selected via part-program instruction:
Acceleration with jerk limitation (SOFTA)
Programmable maximum jerk value for single-axis interpolation
Programmable maximum jerk value for path interpolation
Channel-specific functions:
Acceleration profile that can be selected via part-program instruction:
Acceleration with jerk limitation (SOFT)
Adjustable jerk limitation
Adjustable path jerk for specific real-time events
Specific maximum value for programmed rapid traverse (G00)
Excessive jerk for block transitions without constant curvature
Kneeshaped acceleration characteristic
A knee-shaped acceleration characteristic is parameterized using the following characteristic
data:
Maximum velocity vmax
Maximum acceleration amax
Creep velocity vred
Creep acceleration ared
Nature of the acceleration reduction (constant, hyperbolic, linear)
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5.2 Functions
5.2
Functions
5.2.1
Acceleration without jerk limitation (BRISK/BRISKA) (channel/axis-specific)
5.2.1.1
General Information
General Information
In the case of acceleration without jerk limitation (jerk = infinite) the maximum value is applied
for acceleration immediately. As regard to acceleration with jerk limitation, it differs in the
following respects:
Advantages
Shorter processing times with the same maximum values for velocity and acceleration.
Disadvantages
Increased load on the machine's mechanical components and risk of inducing highfrequency and difficult-to-control mechanical vibrations.
Acceleration profile
D
DPD[
W
DPD[
Y
YPD[
W
amax:
Maximum acceleration value
vmax:
Maximum velocity value
t:
Time
Figure 5-1
W
W
Velocity and acceleration schematic for stepped acceleration profile
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B2: Acceleration
5.2 Functions
The following features of the acceleration profile can be identified from the figure above:
Time: t0
Sudden acceleration from 0 to +amax
Interval: t0 - t1
Constant acceleration with +amax; linear increase in velocity
Time: t1
Sudden acceleration from 2 * amax with immediate switchover from acceleration to braking
Note
The sudden acceleration can normally be avoided by specifying a constant velocity time
(see Section "Constant travel time (channel-specific) (Page 248)").
Interval: t1 - t2
Constant acceleration with -amax; linear decrease in velocity
5.2.1.2
Parameterization
Maximum axial acceleration for path motions
The maximum axial acceleration for path motions can be set for the specific technology for
each machine axis via the following machine data:
MD32300 $MA_MAX_AX_ACCEL[<parameter set index>]
With <parameter set index> = 0, 1, 2 ... (max. parameter set number - 1)
For the technology-specific parameter sets, see Section "Dynamic response mode for path
interpolation (Page 222)".
The path parameters are calculated by the path planning of the preprocessing so that the
parameterized maximum values of the machine axes involved in the path are not exceeded.
Note
It is possible for the maximum value to be exceeded in connection with specific machining
situations (see Section "Acceleration matching (ACC) (axis-specific) (Page 250)" and "Path
acceleration for real-time events (channel-specific) (Page 253)").
Maximum axial acceleration for positioning axis motions
With positioning axis motions, one of the two following maximum values is effective depending
on the set positioning axis dynamic response mode:
MD32300 $MA_MAX_AX_ACCEL [0] (maximum axial acceleration for path motions in the
dynamic response mode DYNNORM)
MD32300 $MA_MAX_AX_ACCEL [1] (maximum axial acceleration for path motions in the
dynamic response mode DYNPOS)
The positioning axis dynamic response mode is set in the NC-specific machine data:
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5.2 Functions
MD18960 $MN_POS_DYN_MODE = <mode>
<mode>
Meaning
Effective maximum axial acceleration: MD32300 $MA_MAX_AX_ACCEL[ 0 ]
Effective maximum axial acceleration: MD32300 $MA_MAX_AX_ACCEL[ 1 ]
Maximum axial acceleration for JOG motions
For JOG mode, a JOG-specific maximum acceleration value can be configured for each
machine axis (see Section "Acceleration and jerk for JOG motions (Page 282)").
5.2.1.3
Programming
Path acceleration without jerk limitation (BRISK)
Syntax
BRISK
Functionality
The BRISK part-program instruction is used to select the "without jerk limitation" acceleration
profile for the purpose of path acceleration.
G group: 21
Effective: Modal
Reset response
The channel-specific initial setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]
Supplementary conditions
If the acceleration profile is changed in a part program during machining (BRISK/SOFT) an
exact stop is performed at the end of the block.
Single-axis acceleration without jerk limitation (BRISKA)
Syntax
BRISKA (axis{,axis})
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5.2 Functions
Function
The BRISKA part-program command is used to select the "without jerk limitation" acceleration
profile for single-axis movements (JOG, JOG/INC, positioning axis, reciprocating axis, etc.).
G group: Effectiveness: Modal
Axis:
Value range: Axis name of the channel axes
Axis-specific initial setting
Acceleration without jerk limitation can be set as the axis-specific initial setting for single-axis
movements:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE = FALSE
Reset behavior
The axis-specific initial setting is activated via a reset:
MD32420 $MA_JOG_AND_POS_ENABLE
5.2.2
Constant travel time (channel-specific)
5.2.2.1
General Information
Overview
In the case of acceleration without jerk limitation, sudden acceleration of 2 * amax occurs on
switchover between acceleration and braking. In order to avoid this sudden acceleration, a
channel-specific constant travel time can be programmed. The constant travel time defines
the time taken to traverse between the acceleration and braking phases at constant velocity:
MD20500 $MC_CONST_VELO_MIN_TIME (minimum time with constant velocity)
Note
The constant travel time is ineffective:
Active function: Look Ahead
In traversing blocks with a travel time that is less or equal to the interpolation cycle time.
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5.2 Functions
DPD[
W
DPD[
Y
YPD[
W
W
W
1:
Characteristic with constant travel time
2:
Characteristic without constant travel time
amax:
Maximum acceleration value
vmax:
Maximum velocity value
t:
Time
Figure 5-2
W
W
W
Schematic for abrupt acceleration
The effect of the constant travel time can be seen from the figure above:
Time: t1
End of acceleration phase with sudden acceleration 1 * amax
Interval: t1 - t2
Acceleration 0; constant velocity using the parameterized constant travel time
Time: t2
Start of braking phase with sudden acceleration 1 * amax
The times t0, t1' and t2' indicate the characteristic that would have been produced had no
constant travel time been defined.
5.2.2.2
Parameterization
The constant travel time is parameterized for specific channels using machine data:
MD20500 $MC_CONST_VELO_MIN_TIME
(minimum time with constant velocity)
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5.2 Functions
5.2.3
Acceleration matching (ACC) (axis-specific)
5.2.3.1
General Information
Function
Using the ACC command, the currently effective maximum axis acceleration parameterized in
the acceleration-specific machine data can be reduced for a specific axis. The reduction is in
the form of a percentage factor, which is specified when programming the command.
For instance, reducing the maximum possible axis acceleration in a machining segment can
be used to prevent mechanical vibration as a result of high machining forces.
Effectiveness
Reducing the acceleration with ACC is effective for all interpolation types in the AUTOMATIC
and MDI operating modes and for the dry run feedrate.
Acceleration reduction is not effective:
in the JOG mode
During the machine function REF (reference point approach).
If, as a result of a fault that has been detected, the axis is stopped with a fast stop (setpoint
= 0).
5.2.3.2
Programming
Syntax
ACC[<axis>]=<reduction factor>
ACC[SPI(<spindle number>)]=<reduction factor>
ACC(S<spindle number>)=<reduction factor>
Meaning
<ACC>:
Command for the axis-specific reduction of the currently maximum possible
acceleration, derived from the machine data
Effectiveness:
<axis>:
250
Modal
Channel axis name of path axis
Data type:
AXIS
Value range:
Channel axis names
SPI(<spindle
number>):
The SPI(...) function converts the spindle number into the corresponding
channel axis name.
S<spindle
number>:
Spindle name in the channel
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B2: Acceleration
5.2 Functions
Further information
System variable
The acceleration reduction (set using ACC), currently active in the channel, can be read on
an axis-for-axis basis using:
$AA_ACC[<axis>]
Reset response
The acceleration reduction set using ACC can be kept after a channel reset or after the end
of the program. The parameterization is performed via:
MD32320 $MA_DYN_LIMIT_RESET_MASK
5.2.4
Acceleration margin (channel-specific)
5.2.4.1
General Information
General information
Under normal circumstances, preprocessing makes maximum use of the parameterized
maximum values of the machine axes for the purpose of path acceleration. In order that an
acceleration margin may be set aside for overlaid movements, e.g., within the context of the
"Rapid lift away from the contour" function, path acceleration can be reduced by a
programmable factor. When, for example, a factor of 0.2 is applied, preprocessing will only
use 80% of the maximum possible path acceleration. 20% is set aside as an acceleration
margin for overlaid movements.
5.2.4.2
Parameterization
Parameters for the acceleration margin are assigned for each channel by means of machine
datum:
MD20610 $MC_ADD_MOVE_ACCEL_RESERVE
(acceleration margin for overlaid motions)
5.2.5
Path-acceleration limitation (channel-specific)
5.2.5.1
General Information
General Information
To enable a flexible response to the machining situations concerned, setting data can be used
to limit the path acceleration calculated during preprocessing for specific channels:
SD42500 $SC_SD_MAX_PATH_ACCEL (maximum path acceleration)
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B2: Acceleration
5.2 Functions
The value specified in the setting data is only taken into account if it is smaller than the path
acceleration calculated during preprocessing.
The limitation must be activated for specific channels using setting data:
SD42502 $SC_IS_SD_MAX_PATH_ACCEL = TRUE
5.2.5.2
Parameterization
Parameterization is carried out for specific channels using setting data:
SD42500 $SC_SD_MAX_PATH_ACCEL (maximum path acceleration)
SD42502 $SC_IS_SD_MAX_PATH_ACCEL (activation of path-acceleration limitation)
5.2.5.3
Programming
Limit value
Syntax
$SC_SD_MAX_PATH_ACCEL = limit value
Functionality
The path-acceleration limitation can be adjusted for the situation by programming the setting
data.
Limit value:
Value range: 0
Unit: m/s2
Application:
Part program
Static synchronized action
Switch ON/OFF
Syntax
$SC_IS_SD_MAX_PATH_ACCEL = value
Functionality
The path-acceleration limitation can be activated/deactivated by programming the setting data.
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Parameter: Value
Value range: TRUE, FALSE
Application:
Part program
Static synchronized action
5.2.6
Path acceleration for real-time events (channel-specific)
5.2.6.1
General Information
General Information
So that no compromise has to be made between machining-optimized acceleration on the one
hand and time-optimized acceleration in connection with the following real-time events on the
other:
NC Stop / NC Start
Changing the feedrate override
Changing the velocity default for "safely reduced velocity" within the context of the "Safety
Integrated" function
For the real-time events mentioned above, the path acceleration can be specified using a
channel-specific system variable:
$AC_PATHACC = path acceleration
Real-time event acceleration will only be active for the duration of the change in velocity in
respect of one of the real-time events specified above.
Limitation
If the specified path acceleration exceeds the capabilities of the machine axes that are of
relevance for the path, a limit will be imposed on the path acceleration within the controller so
that the resulting axial acceleration (ares) is restricted to less than 2x the parameterized
maximum axial value (amax).
ares = 2 * amax, with amax = MD32300 $MA_MAX_AX_ACCEL
Note
Path acceleration for real-time events is enabled, irrespective of the radial acceleration.
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Effectiveness
Effective
Real-time event acceleration is only enabled in AUTOMATIC and MDA operating modes
in conjunction with the following real-time events:
NC Stop / NC Start
Override changes
Changing the velocity default for "safely reduced velocity" within the context of the
"Safety Integrated" function
Not effective
Path acceleration for real-time events is ineffective for changes in path velocity that are
attributable to path planning during preprocessing for the channel, such as contour
curvatures, corners, kinematic transformation limitations, etc.
Real-time-event path acceleration is ineffective if the programmed value is smaller than
the path acceleration calculated during preprocessing for the path section concerned.
Programming
For information about programming system variables in the part program or synchronized
actions, see Section "Programming (Page 254)".
5.2.6.2
Programming
Syntax
$AC_PATHACC = path acceleration
Functionality
Real-time-event path acceleration is set via the channel-specific system variables.
Parameter: Path acceleration
Value range: Path acceleration 0
Unit: m/s2
Deactivation: $AC_PATHACC = 0
Application:
Part program
Static synchronized action
Reset response
Real-time-event path acceleration is deactivated on reset.
Supplementary conditions
Programming $AC_PATHACC in the part program automatically triggers a preprocessing stop
with REORG (STOPRE).
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5.2.7
Acceleration with programmed rapid traverse (G00) (axis-specific)
5.2.7.1
General Information
Frequently, the acceleration for the machine axes involved in the machining process must be
set lower than the machine's performance capability officially allows because of the
supplementary conditions associated with the specific process concerned.
For time-optimized traversing of the machine axes with programmed rapid traverse (partprogram instruction G00), a specific maximum value can be programmed for the axis-specific
acceleration.
JOG setup mode
This function does not affect acceleration in respect of a rapid traverse override in JOG setup
mode.
5.2.7.2
Parameterization
The maximum value for axis-specific acceleration with programmed rapid traverse is
parameterized (G00) using the axis-specific machine data:
MD32434 $MA_G00_ACCEL_FACTOR
(scaling of the acceleration limitation with G00)
This is used to generate the maximum value for axis-specific acceleration with programmed
rapid traverse (G00) that is taken into account by the path planning component during
preprocessing:
Acceleration[axis] =
MD32300 $MA_MAX_AX_ACCEL * MD32434 $MA_G00_ACCEL_FACTOR
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5.2.8
Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific)
5.2.8.1
General Information
Function
Compared with acceleration without jerk limitation, acceleration with jerk limitation results in a
certain degree of time loss, even when the same maximum acceleration value is used. To
compensate for this time loss, a specific maximum value can be programmed for the axisspecific acceleration as far as traversing of the machine axes with active jerk limitation (SOFT/
SOFTA) is concerned.
The maximum value for acceleration with active jerk limitation is parameterized using a factor
calculated in relation to the axis-specific maximum value. This is used to generate the
maximum value for axis-specific acceleration with active jerk limitation that is taken into
account by the path planning component during preprocessing:
Acceleration[axis] =
MD32300 $MA_MAX_AX_ACCEL * MD32433 $MA_SOFT_ACCEL_FACTOR
5.2.8.2
Parameterization
The maximum value for acceleration with active jerk limitation (SOFT/SOFTA) is parameterized
using the axis-specific machine data:
MD32434 $MA_SOFT_ACCEL_FACTOR
(scaling of the acceleration limitation with SOFT)
5.2.9
Excessive acceleration for non-tangential block transitions (axis-specific)
5.2.9.1
General Information
Function
In the case of non-tangential block transitions (corners), the programmable controller may have
to decelerate the geometry axes significantly in order to ensure compliance with the
parameterized axis dynamics. For the purpose of reducing/avoiding deceleration in connection
with non-tangential block transitions, a higher level of axis-specific acceleration can be enabled.
Excessive acceleration is parameterized using a factor calculated in relation to the axis-specific
maximum value. This is used to generate the maximum value for axis-specific acceleration
with non-tangential block transitions that is taken into account by the path planning component
during preprocessing:
Acceleration[axis] =
MD32300 $MA_MAX_AX_ACCEL * MD32310 $MA_MAX_ACCEL_OVL_FACTOR
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5.2.9.2
Parameterization
Excessive acceleration for non-tangential block transitions is parameterized using the axisspecific machine data:
MD32310 $MA_MAX_ACCEL_OVL_FACTOR
(overload factor for velocity jumps)
5.2.10
Acceleration margin for radial acceleration (channel-specific)
5.2.10.1
General Information
Overview
In addition to the path acceleration (tangential acceleration), radial acceleration also has an
effect on curved contours. If this is not taken into account during parameterization of the path
parameters, the effective axial acceleration during acceleration and deceleration on the curved
contour can, for a short time, reach 2x the maximum value.
Effective axial acceleration =
Path acceleration + radial acceleration =
2 * ( MD32300 $MA_MAX_AX_ACCEL )
1
1
DSDWK
DUDGLDO
1
Figure 5-3
Radial and path acceleration on curved contours
The channel-specific machine data:
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL
(influence of path curvature on dynamic path response)
can be used to set the proportion of the axis-specific acceleration that is to be taken into
account for radial acceleration.
When, for example, a value of 0.75 is applied, 75% of the axis-specific acceleration will be
made available for radial acceleration and 25% for path acceleration.
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The corresponding maximum values are generally calculated as follows:
Radial acceleration =
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL * MD32300 $MA_MAX_AX_ACCEL
Path acceleration =
(1 - MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL) * MD32300 $MA_MAX_AX_ACCEL
Example
The following machine parameters apply:
MD32300 $MA_MAX_AX_ACCEL for all geometry axes: 3 m/s
Maximum path velocity with a path radius of 10 mm due to mechanical constraints of the
machine: 5 m/min.
The radial acceleration is calculated as follows:
D UDGLDO
Y SDWK >PPLQ@
U>PP@ >PV @
PV
The acceleration margin is set as follows:
0'0&B&859B())(&7B21B3$7+B$&&(/
D UDGLDO >PV @
0'0$B0$;B$;B$&&(/ >PV @
Linear motions
The acceleration margin referred to above is ineffective in the case of linear motions (linear
interpolation) without active kinematic transformation.
5.2.10.2
Parameterization
The proportion of maximum available axis acceleration to be taken into account as an
acceleration margin for radial acceleration on curved contours is parameterized using the
channel-specific machine data:
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL
(influence of path curvature on dynamic path response)
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5.2.11
Jerk limitation with path interpolation (SOFT) (channel-specific)
5.2.11.1
General Information
Overview
As far as the functionality described in the rest of this document is concerned, constant
acceleration, i.e., acceleration with jerk limitation (jerk = infinite value), is the assumed
acceleration profile. In the case of acceleration with jerk limitation, linear interpolation is applied
in respect of acceleration from 0 to the maximum value.
Advantages
Minimal load on the machine's mechanical components and low risk of high-frequency and
difficult-to-control mechanical vibrations thanks to constant excessive acceleration.
Disadvantages
Longer machining times compared with stepped acceleration profile when the same maximum
velocity and acceleration values are used.
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Acceleration profile
U
UPD[
W
UPD[
D
DPD[
W
DPD[
Y
YPD[
W
W
rmax:
Maximum jerk value
amax:
Maximum acceleration value
vmax:
Maximum velocity value
t:
Time
Figure 5-4
W
W
W
W
W
Jerk, acceleration and velocity schematic with jerk limitation acceleration profile
The following features of the acceleration profile can be identified from the figure above:
Interval: t0 - t1
Constant jerk with +rmax; linear increase in acceleration; quadratic increase in velocity
Interval: t1 - t2
Constant acceleration with +amax; linear increase in velocity
Interval: t2 - t3
Constant jerk with -rmax; linear decrease in acceleration; quadratic decrease in excessive
velocity until maximum value +vmax is reached
Interval: t3 - t4
Constant jerk with +rmax; linear increase in braking acceleration; quadratic decrease in
velocity
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Interval: t4 - t5
Constant braking acceleration with -amax; linear decrease in velocity
Interval: t5 - t6
Constant jerk with -rmax; linear decrease in braking acceleration; quadratic decrease in
velocity reduction until zero velocity is reached v = 0
5.2.11.2
Parameterization
Maximum jerk value for path motions (axis-specific)
The maximum axial jerk for path motions can be set for the specific technology for each
machine axis via the following machine data:
MD32431 $MA_MAX_AX_JERK[<parameter set index>]
With <parameter set index> = 0, 1, 2 ... (max. parameter set number - 1)
For the technology-specific parameter sets, see Section "Dynamic response mode for path
interpolation (Page 222)".
The path parameters are calculated by the path planning of the preprocessing so that the
parameterized maximum values of the machine axes involved in the path are not exceeded.
Note
It is possible for the maximum value to be exceeded in connection with specific machining
situations (see Section "Path jerk for real-time events (channel-specific) (Page 265)").
Maximum jerk value for path motions (channel-specific)
In addition to the axis-specific setting, the maximum jerk value can also be specified as channelspecific path parameter via the following machine data:
MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk)
In order to exclude the mutual influencing of axis and channel-specific maximum jerk values,
the channel-specific maximum value must be set to a value greater than the axial maximum
values.
5.2.11.3
Programming
Syntax
SOFT
Functionality
The SOFT part-program instruction is used to select the acceleration profile with jerk limitation
for the traversing operations of geometry axes in the channel.
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G group: 21
Effective: Modal
Reset response
The channel-specific initial setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]
Boundary conditions
If the acceleration mode is changed in a part program during machining (BRISK SOFT), a
block change is performed at the point of transition with an exact stop at the end of the block,
even in continuous-path mode.
5.2.12
Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)
5.2.12.1
Parameterization
Initial setting for axial jerk limitation
Acceleration with jerk limitation can be set as the axial initial setting:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE== TRUE
Maximum axial jerk for positioning axis motions
When traversing positioning axes with active jerk limitation, the value from one of the following
machine data takes effect as maximum axial jerk:
MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axial jerk for positioning axis
motions)
MD32431 $MA_MAX_AX_JERK [0] (maximum axial jerk for path motions in the dynamic
response mode DYNNORM)
MD32431 $MA_MAX_AX_JERK [1] (maximum axial jerk for path motions in the dynamic
response mode DYNPOS)
The machine data to be used is determined by the set positioning axis dynamic response mode:
MD18960 $MN_POS_DYN_MODE = <mode>
<mode>
Meaning
The following is effective as maximum axial jerk for positioning axis motions:
MD32430 $MA_JOG_AND_POS_MAX_JERK
With active G75 (fixed-point approach): MD32431 $MA_MAX_AX_JERK[0]
262
MD32431 $MA_MAX_AX_JERK[1]
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Maximum axial jerk for JOG motions
For JOG mode, a JOG-specific maximum jerk value can be configured for each machine axis
(see Section "Acceleration and jerk for JOG motions (Page 282)").
5.2.12.2
Programming
Syntax
SOFTA (Axis {Axis})
Functionality
The SOFTA part-program command is used to select acceleration with jerk limitation for singleaxis movements (positioning axis, reciprocating axis, etc.)
G group: Effectiveness: Modal
Axis:
Value range: Axis name of the channel axes
Axis-specific initial setting
Acceleration with jerk limitation can be set as the axis-specific initial setting for single-axis
movements:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE = TRUE
Reset behavior
The axis-specific initial setting is activated via a reset:
MD32420 $MA_JOG_AND_POS_ENABLE
5.2.13
Path-jerk limitation (channel-specific)
5.2.13.1
General Information
Overview
To enable a flexible response to the machining situations concerned, setting data can be used
to limit the path jerk calculated during preprocessing for specific channels:
SD42510 $SC_SD_MAX_PATH_JERK (maximum path jerk)
The value specified in the setting data is only taken into account in the channel if it is smaller
than the path jerk calculated during preprocessing.
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The limitation must be activated for specific channels using setting data:
SD42512 $SC_IS_SD_MAX_PATH_JERK = TRUE
5.2.13.2
Parameterization
Parameterization is carried out for specific channels using setting data:
SD42510 $SC_SD_MAX_PATH_JERK (maximum path jerk)
SD42512 $SC_IS_SD_MAX_PATH_JERK
(activation of path-jerk limitation)
5.2.13.3
Programming
Maximum path jerk
Syntax
$SC_SD_MAX_PATH_JERK = jerk value
Functionality
The path-jerk limitation can be adjusted for the situation by programming the setting data.
Jerk value:
Value range: 0
Unit: m/s3
Application:
Part program
Static synchronized action
Switch ON/OFF
Syntax
$SC_IS_SD_MAX_PATH_JERK = value
Functionality
The path-jerk limitation can be activated/deactivated by programming the setting data.
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Parameter: Value
Value range: TRUE, FALSE
Application:
Part program
Static synchronized action
5.2.14
Path jerk for real-time events (channel-specific)
5.2.14.1
General Information
Overview
So that no compromise has to be made between machining-optimized jerk on the one hand
and time-optimized jerk in connection with the following real-time events on the other:
NC Stop / NC Start
Changing the feedrate override
Changing the velocity default for "safely reduced velocity" within the context of the "Safety
Integrated" function
for the real-time events mentioned, the path jerk can be specified using a channel-specific
system variable:
$AC_PATHJERK = path jerk
Path jerk for real-time events will only be active for the duration of the change in velocity in
respect of one of the real-time events specified above.
Limitation
As the jerk is not a physical variable of any relevance to the drive, no limit is imposed on the
jerk set.
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Effectiveness
Effective
Path jerk for real-time events is only enabled in AUTOMATIC and MDA operating
modes in conjunction with the following real-time events:
NC Stop / NC Start
Override changes
Changing the velocity default for "safely reduced velocity" within the context of the
"Safety Integrated" function
Not effective
Path jerk for real-time events is ineffective for changes in the path velocity that are
attributable to path planning during preprocessing for the channel, such as contour
curvatures, corners, kinematic transformation limitations, etc.
Path jerk for real-time events is ineffective if the programmed value is smaller than
the path jerk calculated during preprocessing for the path section concerned.
Programming
For the purpose of setting the jerk for real-time events in accordance with the acceleration, the
system variables can be set as follows:
$AC_PATHJERK = $AC_PATHACC/smoothing time
$AC_PATHACC: Path acceleration [m/s2]
Smoothing time: Freely selectable, e.g. 0.02 s
For information about programming system variables in the part program or synchronized
actions, see Section "Programming (Page 266)".
5.2.14.2
Programming
Syntax
$AC_PATHJERK = path jerk
Functionality
The path jerk for real-time events is set via the channel-specific system variables.
Jerk value:
Value range: Path jerk 0
Unit: m/s3
Application:
Part program
Static synchronized action
Reset behavior
The function is deactivated on reset.
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Boundary conditions
Programming $AC_PATHJERK in the part program automatically triggers a preprocessing
stop with REORG (STOPRE).
5.2.15
Jerk with programmed rapid traverse (G00) (axis-specific)
5.2.15.1
General Information
Overview
Frequently, the maximum jerk for the machine axes involved in the machining process must
be set lower than the machine's performance capability officially allows because of the
supplementary conditions associated with the specific process concerned.
For time-optimized traversing of the machine axes with programmed rapid traverse (partprogram instruction G00), a specific maximum value can be programmed for the axis-specific
jerk.
JOG setup mode
This function does not affect jerk in respect of a rapid traverse override in JOG setup mode.
5.2.15.2
Parameterization
The maximum value for axis-specific jerk with programmed rapid traverse is parameterized
(G00) using the axis-specific machine data:
MD32434 $MA_G00_ACCEL_FACTOR
(scaling of the acceleration limitation with G00)
This is used to generate the maximum value for axis-specific jerk with programmed rapid
traverse (G00) that is taken into account by the path planning component during preprocessing:
Jerk[axis] =
MD32431 $MA_MAX_AX_JERK * MD32435 $MA_G00_JERK_FACTOR
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5.2.16
Excessive jerk for block transitions without constant curvature (axis-specific)
5.2.16.1
General Information
Overview
In the case of block transitions without constant curvature (e.g. straight line > circle), the
programmable controller has to decelerate movement of the geometry axes significantly in
order to ensure compliance with the parameterized axis dynamics. For the purpose of reducing/
avoiding deceleration in connection with block transitions without constant curvature, a higher
level of axis-specific jerk can be enabled.
The excessive jerk is parameterized using a dedicated axis-specific maximum value.
5.2.16.2
Parameterization
The excessive jerk for block transitions without constant curvature is parameterized using the
axis-specific machine data:
MD32432 $MA_PATH_TRANS_JERK_LIM
(excessive jerk for block transitions without constant curvature)
5.2.17
Velocity-dependent jerk adaptation (axis-specific)
Function
The dynamic path response results from the parameterized, constant axial maximum values
for velocity, acceleration and jerk of the axes involved in the path:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
MD32431 $MA_MAX_AX_JERK (max. axial jerk for path motion)
For contours with non-constant curvature (torsion), as for example in connection with free-form
surfaces, fluctuations in the path velocity, particularly in the upper velocity range, can result
mainly due to the axial jerk. The fluctuations of the path velocity lead to adverse affects in the
surface quality.
The influence of the axial jerk on the path velocity is decreased for contours with non-constant
curvature through a velocity-dependent increase of the permissible axial jerk. Fluctuations in
the path velocity can be avoided with the appropriate parameterization.
The velocity-dependent increase of the permissible axial jerk has no effect on the maximum
possible path acceleration and path jerk. These result from the constant axial maximum values
parameterized in the in the machine data even when jerk adaptation is active.
As both curvature and torsion are zero in the case of linear motion, the velocity-dependent jerk
adaptation has no effect with linear motions.
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Availability
The "velocity-dependent jerk adaptation" function is available independent of the function
"Free-form surface mode: Basic functions (Page 224)".
Parameterization
The "Velocity-dependent jerk adaptation" function is parameterized with the following machine
data:
MD32437 $MA_AX_JERK_VEL0[<n>] = <threshold valuelower>
Lower velocity threshold of the jerk adaptation. Velocity-dependent jerk adaptation takes
effective as of this velocity.
The lower velocity threshold can be set separately via index n for each dynamic response
mode (see Section "Dynamic response mode for path interpolation (Page 222)"):
MD32438 $MA_AX_JERK_VEL1[<n>] = <threshold valueupper>
Upper velocity threshold of the jerk adaptation. The velocity-dependent jerk reaches its
maximum value jmax parameterized with MD32439 $MA_MAX_AX_JERK_FACTOR at this
velocity.
The upper velocity threshold can be set separately via index n for each dynamic response
mode (see Section "Dynamic response mode for path interpolation (Page 222)"):
MD32439 $MA_MAX_AX_JERK_FACTOR = <factor>
Factor for the parameterization of the maximum velocity-dependent jerk jmax on reaching
the upper velocity threshold MD32438 $MA_AX_JERK_VEL1[<n>]:
jmax = (MD32431 $MA_MAX_AX_JERK) * (MD32439 $MA_MAX_AX_JERK_FACTOR)
The velocity-dependent jerk adaptation is active at a value > 1.0.
The velocity-dependent jerk adaptation is inactive at a value = 1.0.
0D[LPXPSHUPLVVLEOHD[LDOMHUN
M
M
Y
v0:
MD32437 $MA_AX_JERK_VEL0
v1:
MD32438 $MA_AX_JERK_VEL1
Y
j0:
MD32431 $MA_MAX_AX_JERK
j1:
MD32439 $MA_MAX_AX_JERK_FACTOR * MD32431 $MA_MAX_AX_JERK
Figure 5-5
$[LVYHORFLW\
Axial jerk as a function of the axis velocity
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Note
The velocity-dependent jerk adaptation is only active, if:
MD32439 $MA_MAX_AX_JERK_FACTOR > 1.0
Example
Example of parameter assignment:
MD32437 $MA_AX_JERK_VEL0 = 3000 mm/min
MD32438 $MA_AX_JERK_VEL1 = 6000 mm/min
MD32439 $MA_MAX_AX_JERK_FACTOR[AX1] = 2.0
MD32439 $MA_MAX_AX_JERK_FACTOR[AX2] = 3.0
MD32439 $MA_MAX_AX_JERK_FACTOR[AX3] = 1.0
Effect
The velocity-dependent jerk adaptation becomes active for the 1st and 2nd axis, while the
function for the 3rd axis is not active.
The parameterized jerk is effective at axis velocities in the range of 0 to 3000 mm/min.
The maximum jerk is linearly increased for axis velocities in the range 3000 mm/min to
6000 mm/min.
The maximum permitted jerk of the 1st axis is, for axis velocities greater than 6000 mm/
min, increased by a factor of 2 - for the 2nd axis, by factor of 3.
The parameterized values apply in each dynamic response mode.
5.2.18
Jerk filter (axis-specific)
5.2.18.1
General Information
Overview
In certain application scenarios, e.g. when milling free-form surfaces, it may be beneficial to
smooth the position setpoint characteristics of the machine axes. This enables surface quality
to be improved by reducing the mechanical vibrations generated in the machine.
For the purpose of smoothing the position setpoint characteristic of a machine axis, a jerk filter
can be activated at position controller level, independently of the channel- and axis-specific
jerk limitations taken into account at interpolator level.
The effect of the jerk filter must be as strong as possible without having an unacceptable impact
on contour accuracy. The filter should also have as "balanced" a smoothing effect as possible,
i.e. if the same contour is traversed forwards and backwards, the contour smoothed by the
filter should be as similar as possible in both directions.
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To enable the jerk filter to be optimally matched to the machine conditions, various filter modes
are available:
2nd-order filter (PT2)
Sliding mean value generation
Bandstop filter
Mode: 2nd-order filter
Owing to the fact that it is a simple low-pass filter, "2nd-order filter" mode can only meet the
requirements specified above where relatively small filter time constants (around 10 ms) are
concerned. When used in conjunction with larger time constants, impermissible contour
deviations are soon manifest. The effect of the filter is relatively limited.
This filter mode offers advantages if very large filter time constants are needed and contour
accuracy is only of secondary importance (e.g. positioning axes).
For historical reasons, this filter mode is set as the default.
Mode: Sliding mean value generation
Where minimal contour deviations are required, filter time constants within the range of 20-40
ms can be set using the "sliding mean value generation" filter mode. The smoothing effect is
largely symmetrical.
The display of the calculated servo gain factor (KV) in the user interface, shows smaller values
than would normally be appropriate for the filter. The contour accuracy is in fact higher than
the displayed servo gain factor (KV) appears to suggest.
When changing from "2nd-order filter" to "sliding mean value generation" filter mode, the
displayed servo gain factor (KV) may therefore drop (with identical filter time constant), even
though there is an improvement in contour accuracy.
Mode: Bandstop filter
The bandstop filter is a 2nd-order filter in terms of numerator and denominator:
+ V
V
I=
V
I1
V ' =
I=
V
' 1
I1
where:
fZ:
Numerator natural freq.
fN:
Denominator natural freq.
DZ:
Numerator damping
DN:
Denominator damping
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Since a vibration-capable filter setting is not expected to yield useful results in any case, as
with the jerk filter's "2nd-order filter" (PT2) low-pass filter (PT2) mode there is no setting option
for the denominator damping DN. The denominator damping DN is permanently set to 1.
The bandstop filter can be parameterized in two different ways:
Real bandstop filter
Bandstop filter with additional amplitude response increase/decrease at high frequencies
Real bandstop filter
The real bandstop filter is applied when identical numerator and denominator natural
frequencies are selected:
fZ = fN = fblock (blocking frequency)
If numerator damping setting = 0 is selected, the blocking frequency is equivalent to complete
attenuation. In this case the 3 dB bandwidth is calculated as follows:
f3 dB bandwidth = 2 * fblock
If instead of complete attenuation, a reduction by a factor of k is all that is required, then
numerator damping should be selected in accordance with k. In this case the above formula
for calculating the 3 dB bandwidth no longer applies.
Bandstop filter with additional amplitude response increase/decrease at high frequencies
In this case, the numerator and denominator natural frequencies are set to different values.
The numerator natural frequency determines the blocking frequency.
By selecting a lower/higher denominator natural frequency than the numerator natural
frequency, you can increase/decrease the amplitude response at high frequencies. An
amplitude response increase at high frequencies can be justified in most cases, as the
controlled system generally possesses a lowpass characteristic itself, i.e. the amplitude
response drops at high frequencies anyway.
Supplementary conditions
If too high a numerator natural frequency is selected, the filter is disabled. In this case the
limiting frequency fZmax depends on the position-control cycle:
I =PD[
5.2.18.2
7
=PLQ
6KDQQRQ7KHRUHP
7
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Parameterization
Activation
The jerk filter is activated using the machine data:
MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)
The jerk filter is active in all operating modes and with all types of interpolation.
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5.2 Functions
Filter mode
The filter mode is selected via the machine data:
MD32402 $MA_AX_JERK_MODE
Value
Filter mode
2nd-order filter
Sliding mean value generation
Bandstop filter
Time constant
The time constant for the axial jerk filter is set with the machine data:
MD32410 $MA_AX_JERK_TIME
The jerk filter is only effective when the time constant is greater than a position-control cycle.
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5.2 Functions
5.2.19
Kneeshaped acceleration characteristic curve
5.2.19.1
Adaptation to the motor characteristic curve
Function
Various types of motor, particularly stepper motors, have a torque characteristic that is highly
dependent upon speed and shows a steep decrease in torque in the upper speed range. To
ensure optimum utilization of the motor characteristic curve, it is necessary to reduce the
acceleration once a certain speed is reached.
0>1P@
0PD[
0UHG
QUHG
1:
Torque decrease zone
nred:
Speed above which reduced torque has to be assumed
nmax:
Maximum speed
Mmax:
Max. torque
Mred:
Torque at nmax (corresponds to creep acceleration)
Figure 5-6
QPD[
Q>@
Torque characteristic curve of a motor with torque characteristic that is highly dependent
upon speed
Simulation of torque characteristic
For the purpose of simulating the torque characteristic of the motor characteristic curve, the
machine data:
MD35242 $MA_ACCEL_REDUCTION_TYPE = characteristic
can be used to select various types of characteristic curve:
274
= Constant characteristic
= Hyperbolic characteristic
= Linear characteristic
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B2: Acceleration
5.2 Functions
The following figures show typical velocity and acceleration characteristic curves for the
respective types of characteristic:
Constant characteristic
YPD[
DPD[
YUHG
DUHG
YUHG
Figure 5-7
YPD[
Acceleration and velocity characteristic with acceleration reduction: 0 = constant
Hyperbolic characteristic
YPD[
DPD[
YUHG
DUHG
YUHG
Figure 5-8
YPD[ Y
Acceleration and velocity characteristic with acceleration reduction: 1 = hyperbolic
Linear characteristic
Y
YPD[
DPD[
YUHG
DUHG
YUHG
Figure 5-9
YPD[ Y
Acceleration and velocity characteristic with acceleration reduction: 2 = linear
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B2: Acceleration
5.2 Functions
The key data for the characteristic curves equate to:
vmax
vred
amax
ared
5.2.19.2
= $MA_MAX_AX_VELO
= $MA_ACCEL_REDUCTION_SPEED_POINT * $MA_MAX_AX_VELO
= $MA_MAX_AX_ACCEL
= (1 - $MA_ACCEL_REDUCTION_FACTOR) * $MA_MAX_AX_ACCEL
Effects on path acceleration
Function
The path acceleration characteristic curve is generated on the basis of the types of
characteristic for the axes that are of relevance for the path. If axes with different types of
characteristic curve are interpolated together, the acceleration profile for the path acceleration
will be determined on the basis of the reduction type that is most restrictive.
The following order of priorities applies, whereby 1 = top priority:
1. Acceleration reduction: 0 = constant characteristic
2. Acceleration reduction: 1 = hyperbolic characteristic
3. Acceleration reduction: 2 = linear characteristic
4. No acceleration reduction effective
A situation, whereby no acceleration reduction is active, arises for example when:
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT = 1
and/or
MD35230 $MA_ACCEL_REDUCTION_FACTOR = 0
Note
Machine axes featuring stepper motor and DC drive can be interpolated together.
5.2.19.3
Substitute characteristic curve
Function
If the programmed path cannot be traversed with the acceleration curve parameterized in the
machine data of the participating axes, e.g. if kinematic transformation and acceleration types
BRISK or SOFT are active, a substitute curve is generated by reducing the dynamic limit values.
The reduced dynamic limit values are calculated to ensure that the substitute characteristic
curve provides the best possible compromise between maximum velocity and constant
acceleration.
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5.2 Functions
Substitute characteristic curve with linear path sections
Limitation to this value is applied if the programmed path velocity is greater than that at which
15 % of the maximum acceleration capacity is still available (v15%a). Consequently, 15 % of the
maximum acceleration capacity/motor torque always remains available, whatever the
machining situation.
D
DPD[
DHUV
D
DUHG
YUHG
YSURJ
YD
Locked area
aers:
Substitute characteristic curve constant acceleration
a15%
Minimal constant acceleration
YPD[
Normal range
Reducing range
a15% = 0.15 * (amax - ared) + ared
vers
Substitute characteristic curve velocity
vprog
Programmed velocity
v15%a
Velocity at a15%
Figure 5-10
Substitute path characteristic curve: Linear path
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B2: Acceleration
5.2 Functions
Substitute characteristic curve with curved path sections
In the case of curved path sections, normal and tangential acceleration are considered
together. The path velocity is reduced so that only up to 25 % of the speed-dependent
acceleration capacity of the axes is required for normal acceleration. The remaining 75 % of
the acceleration capacity is set aside for the tangential acceleration, i.e., deceleration/
acceleration on the path.
D
DPD[
D1
Y
U
DHUV
DUHG
YUHG
YPD[
YHUV
Normal range
aN
Normal acceleration
aers:
Substitute characteristic curve constant acceleration
vers
Substitute characteristic curve velocity
Path radius
Reducing range
Figure 5-11
Substitute path characteristic curve: Curved path
Block transitions with continuous-path mode
If continuous-path mode is active, non-tangential block transitions result in axial velocity jumps
when the programmed path velocity is used for traversing.
As a result, the path velocity is controlled in such a way that prevents any axial velocity
proportion from exceeding the creep velocity vred at the time of the block transition.
Deceleration ramp with continuous-path mode and LookAhead
In the case of consecutive traversing blocks with short paths, an acceleration or deceleration
operation may be spread over several part program blocks.
In such a situation the "LookAhead" function also takes into account the parameterized speeddependent acceleration characteristic.
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5.2 Functions
Y
YPD[
YUHG
1
1
1
1
1
Normal range a = amax
Reducing range a < amax
Constant travel range a = 0 m/s2
Brake application point
vred:
Creep velocity
vmax
Maximum velocity
Nx
Traversing block with block number Nx
Figure 5-12
5.2.19.4
1
Deceleration with LookAhead
Parameterization
The knee-shaped acceleration characteristics can be activated specific to the machine axis
via the machine data:
MD35240 $MA_ACCEL_TYPE_DRIVE = TRUE
The knee-shaped acceleration characteristic curve is parameterized for specific axes using
machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT
(speed for reduced acceleration)
MD35230 $MA_ACCEL_REDUCTION_FACTOR (reduced acceleration)
MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration)
MD35242 $MA_ACCEL_REDUCTION_TYPE
(type of acceleration reduction: 0 = constant, 1 = hyperbolic, 2 = linear)
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5.2 Functions
5.2.19.5
Programming
Channel-specific activation (DRIVE)
Syntax
DRIVE
Functionality
The knee-shaped characteristic curve is activated for path acceleration using the DRIVE partprogram instruction.
G group: 21
Effective: Modal
Reset response
The channel-specific default setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]
Dependencies
If the knee-shaped acceleration characteristic curve is parameterized for a machine axis, then
this becomes the default acceleration profile for all traversing operations.
If the effective acceleration profile is changed for a specific path section using the SOFT or
BRISK part-program instructions, then an appropriate substitute characteristic curve with lower
dynamic limit values is used in place of the knee-shaped acceleration characteristic curve.
The knee-shaped acceleration characteristic curve can be reactivated by reprogramming
DRIVE.
Axis-specific activation (DRIVEA)
Syntax
DRIVEA (Axis {Axis})
Functionality
The knee-shaped characteristic curve is activated for all single-axis interpolations (positioning
axis, reciprocating axis, etc.) for specific axes using the part-program command.
G group: Effectiveness: Modal
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5.2 Functions
Axis:
Value range: Axis name of the channel axes
Reset behavior
The channel-specific default setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]
Dependencies
If the knee-shaped acceleration characteristic curve is parameterized for a machine axis, then
this becomes the default acceleration profile for all traversing operations.
If the effective acceleration profile is changed for a specific axis using the SOFTA or BRISKA
part-program commands, then an appropriate substitute characteristic curve is used in place
of the knee-shaped acceleration characteristic curve.
It is possible to switch back to the knee-shaped acceleration characteristic curve for a specific
axis by programming DRIVEA.
5.2.19.6
Boundary conditions
Single axis interpolation
After activating the knee-shaped acceleration characteristics in case of single-axis
interpolations (positioning axis, oscillating axis, manual motion, etc.), the machine axis is
traversed exclusively in the mode DRIVEA .
It is not possible to switch over the acceleration profile via the following part program
instructions:
Abrupt acceleration changes (BRISKA)
Acceleration with jerk limitation (SOFTA)
Path interpolation
If for a machine axis involved in a programmed path the knee-shaped acceleration
characteristic parameterized without the part program instruction DRIVE is active, then a
substitute characteristic curve with reduced dynamic limiting values is determined for the path.
Kinematic transformation
The knee-shaped acceleration characteristic is not considered in an active kinematic
transformation. With internal control, a switchover is done to acceleration without jerk limitation
(BRISK) and a substitute characteristic curve becomes active for the path acceleration.
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B2: Acceleration
5.2 Functions
5.2.20
Acceleration and jerk for JOG motions
In order to avoid unwanted machine motions in JOG mode, separate axial acceleration and
jerk limit values can be specified for JOG motion.
It is also possible to limit acceleration and jerk channel-specifically for manual traversing of
geometry and orientation axes. This enables better handling of the kinematics that generate
Cartesian motions entirely via rotary axes (robots).
5.2.20.1
Parameterization
Axial limitation of acceleration and jerk
Maximum axial acceleration for JOG motions
The maximum axial acceleration for JOG motion can be specified for each machine axis via
the machine data:
MD32301 $MA_JOG_MAX_ACCEL
With MD32301 = 0, the value from MD32300 $MA_MAX_AX_ACCEL is effective instead of
the JOG-specific maximum value.
Maximum axial jerk for JOG motions
The maximum axial jerk for JOG motion can be specified for each machine axis via the machine
data:
MD32436 $MA_JOG_MAX_JERK
With MD32436 = 0, the value from MD32430 $MA_JOG_AND_POS_MAX_JERK is effective
instead of the JOG-specific maximum value.
Note
MD32436 $MA_JOG_MAX_JERK is only effective when the axial jerk limitation in JOG mode
has been enabled for the machine axes to be traversed:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE
This is also possible by programming SOFTA(<Axis1>,<Axis2>, ... ) in the part
program.
Channel-specific limitation of acceleration and jerk
Maximum acceleration when manually traversing geometry axes
The maximum acceleration when manually traversing geometry axes can be specified for each
channel via the machine data:
MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
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With MD21166 = 0, the axis-specific limit value from MD32301 $MA_JOG_MAX_ACCEL is
effective instead of the channel-specific acceleration limitation.
Note
With MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>], there is no direct limitation to
MD32300 $MA_MAX_AX_ACCEL.
Note
When a transformation is active, MD32300 $MA_MAX_AX_ACCEL determines the maximum
possible axial acceleration.
Maximum jerk when manually traversing geometry axes
The maximum jerk when manually traversing geometry axes in the SOFT acceleration mode
(acceleration with jerk limitation) can be specified for each channel via the machine data:
MD21168 $MC_JOG_JERK_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
With MD21168 = 0, the axis-specific limit value from MD32436 $MA_JOG_MAX_JERK is
effective instead of the channel-specific jerk limitation.
Note
MD21168 $MC_JOG_JERK_GEO is only effective when the axial jerk limitation in JOG mode
has been enabled for the basic machine axes:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE
Maximum jerk when manually traversing orientation axes
The maximum jerk when manually traversing orientation axes can be specified for each
channel via the machine data:
MD21158 $MC_JOG_JERK_ORI [<orientation axis>]
For MD21158 to take effect, the channel-specific jerk limitation for the manual traversing of
orientation axes must be enabled via the following machine data:
MD21159 $MC_JOG_JERK_ORI_ENABLE == TRUE
Note
Orientation axes are not affected by the machine data MD32301 $MA_JOG_MAX_ACCEL and
MD32436 $MA_JOG_MAX_JERK.
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B2: Acceleration
5.2 Functions
5.2.20.2
Supplementary conditions
Path override / overlaid motion
With path override / overlaid motion (e.g. DRF), the JOG-specific maximum values for
acceleration and jerk (MD32301 $MA_JOG_MAX_ACCEL and MD32436
$MA_JOG_MAX_JERK) are not effective. Instead, the values for positioning axis motions are
effective:
Acceleration:
MD32300 $MA_MAX_AX_ACCEL [0] (maximum axial acceleration for path motions in
the dynamic response mode DYNNORM)
See also Section "Acceleration without jerk limitation (BRISK/BRISKA) (channel/axisspecific) (Page 245)".
Jerk
MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axial jerk for positioning axis
motions)
or (with G75/751):
MD32431 $MA_MAX_AX_JERK [0] (maximum axial jerk for path motions in the dynamic
response mode DYNNORM)
See also Section "Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)
(Page 262)".
Note
Only the dynamic response mode DYNNORM is always effective for JOG mode.
Behavior for manual traversing of geometry axes with active rotation
When manually traversing geometry axes in the SOFT acceleration mode (acceleration with
jerk limitation), the value from MD32436 $MA_JOG_MAX_JERK or MD32430
$MA_JOG_AND_POS_MAX_JERK is also used with active rotation or active orientable
toolholder.
Part program instruction SOFTA/BRISKA/DRIVEA
The part program instruction SOFTA(<Axis1>,<Axis2>, ... ) is also effective in JOG
mode, i.e. the maximum axial jerk from MD32436 $MA_JOG_MAX_JERK is effective for the
specified axes when traversing in JOG mode (exactly as when setting MD32420
$MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE).
Note
On the other hand the SOFT part program instruction has no effect on the JOG mode.
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5.3 Examples
As with SOFTA, the part program instructions BRISKA and DRIVEA are also effective in JOG
mode, i.e. the acceleration is without jerk limitation, even when MD32420
$MA_JOG_AND_POS_JERK_ENABLE is set to "TRUE" for the relevant machine axes.
Note
The manual traversing of orientation axes is not affected by BRISKA/SOFTA/DRIVEA.
5.3
Examples
5.3.1
Acceleration
5.3.1.1
Path velocity characteristic
The following example shows the path velocity characteristic, based on programmed traversing
motion and the actions initiated in a part program segment.
Part program extract
Program code
; Synchronized action: Acceleration switchover depending on fast input 1
($A_IN[1]):
N53 ID=1 WHEN $A_IN[1] == 1 DO $AC_PATHACC = 2.*$MA_MAX_AX_ACCEL[X]
; Synchronized action: Test override profile (simulation of external
interventions):
N54 ID=2 WHENEVER ($AC_TIMEC > 16) DO $AC_OVR=10
N55 ID=3 WHENEVER ($AC_TIMEC > 30) DO $AC_OVR=100
;Approach
N1000 G0 X0 Y0 BRISK
N1100 TRANS Y=-50
N1200 AROT Z=30 G642
; Contour
N2100 X0 Y0
N2200 X = 70 G1 F10000 RNDM=10 ACC[X]=30 ACC[Y]=30
N2300 Y = 70
N2400 X0
N2500 Y0
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5.3 Examples
Path velocity characteristic
Y>PV@
$&B295
$&B295
W>PV@
1
1
Acceleration profile: BRISK
1:
Accelerate to 100% of path velocity (F10000) in accordance with acceleration default: ACC (N2200...)
2:
Brake to 10% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time accel
eration $AC_PATHACC (N53/N54...)
3:
Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N55...)
4:
Brake to block end velocity for intermediate smoothing block in accordance with acceleration default: ACC (N2200...)
5:
Speed limitation as a result of smoothing (see 9)
6:
Accelerate to 100% of path velocity ($AC_OVR) in accordance with acceleration default: ACC (N2300...)
7:
Decelerate as a result of override modification at a rate of acceleration that is in accordance with real-time accel
eration $AC_PATHACC (N53/N54...)
8:
Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N55...)
9:
Intermediate block inserted within the control as a result of the programmed smoothing (RNDM) (N2200...)
Figure 5-13
Switching between path acceleration specified during preprocessing and real-time acceleration
5.3.2
Jerk
5.3.2.1
Path velocity characteristic
The following example shows the characteristic of path velocity and jerk based on programmed
traversing motion and the actions initiated in a part program segment.
Part program extract
Program code
; Setting of path acceleration and path jerk in the event of external
intervention:
N0100 $AC_PATHACC = 0.0
N0200 $AC_PATHJERK = 4.0 * ($MA_MAX_AX_JERK[X] + $MA_MAX_AX_JERK[Y]) / 2.0
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5.3 Examples
Program code
; Synchronized action:
interventions)
varying the override (simulation of external
N0530 ID=1 WHENEVER ($AC_TIMEC > 16) DO $AC_OVR=10
N0540 ID=2 WHENEVER ($AC_TIMEC > 30) DO $AC_OVR=100
;Approach
N1000 G0 X0 Y0 SOFT
N1100 TRANS Y=-50
N1200 AROT Z=30 G642
; Contour
N2100 X0 Y0
N2200 X = 70 G1 F10000 RNDM=10
N2300 Y = 70
N2400 X0
N2500 Y0
Characteristic of path velocity and jerk
Y>PV@
295
295
1
295
W>PV@
1
51'0
51'0
Acceleration profile: SOFT
1:
Jerk according to $MA_MAX_AX_JERK[..]
2:
Jerk according to $AC_PATHJERK
3:
Jerk according to $MA_MAX_AX_JERK[..] (approach block end velocity)
4:
Velocity limiting using arcs
5:
Jerk according to $AC_PATHJERK
Figure 5-14
Switching between path jerk specified during preprocessing and $AC_PATHJERK
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B2: Acceleration
5.3 Examples
5.3.3
Acceleration and jerk
The following example shows the characteristic of velocity and acceleration of the X axis based
on the programmed traversing motion of the part program extract. Further, which of the velocity
and acceleration-relevant machine data are decisive for which section of the contour.
Part program extract
Program code
Comment
N90 F5000 SOFT G64
; Continuous-path mode, jerk-limited acceleration
N100 G0 X0 Y0 Z0
; Rapid traverse
N110 G1 X10
; Straight line
N120 G3 CR=5 X15 Y5
; Circular arc, radius 5 mm, block transition: Tangential
N130 G3 CR=10 X5 Y15
; Circular arc, radius 10 mm, block transition: Tangential
N140 G1 X-5 Y17.679
; Straight line, 15 kink
Contour
\
1
1
1
Figure 5-15
288
1
Contour of the part program extract
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B2: Acceleration
5.3 Examples
Velocity and acceleration characteristic
0'0$;B$;B$&&(/>;@
0'62)7B$&&(/B)$&725>;@
0'0$;B$&&(/B29/B)$&725>;@
0'0$;B$;B-(5.>;@
1
1
1
1
$[LVDFFHOHUDWLRQ
0'3$7+B75$16B-(5.B/,0>;@
$[LVYHORFLW\
Figure 5-16
Velocity and acceleration characteristic curves X axis
5.3.4
Knee-shaped acceleration characteristic curve
5.3.4.1
Activation
The example illustrates how the knee-shaped acceleration characteristic curve is activated on
the basis of the machine data and a part program extract.
Machine data
Machine data
Value
MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT[
X]
= 0.4
MD35230 $MA_ACCEL_REDUCTION_FACTOR[X]
= 0.85
MD35242 $MA_ACCEL_REDUCTION_TYPE[X]
=2
MD35240 $MA_ACCEL_TYPE_DRIVE[X]
= TRUE
MD35220
$MA_ACCEL_REDUCTION_SPEED_POINT[Y]
= 0.0
MD35230 $MA_ACCEL_REDUCTION_FACTOR[Y]
= 0.6
MD35242 $MA_ACCEL_REDUCTION_TYPE[Y]
=1
MD35240 $MA_ACCEL_TYPE_DRIVE[Y]
= TRUE
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B2: Acceleration
5.4 Data lists
Machine data
Value
MD35220
$MA_ACCEL_REDUCTION_SPEED_POINT[Z]
= 0.6
MD35230 $MA_ACCEL_REDUCTION_FACTOR[Z]
= 0.4
MD35242 $MA_ACCEL_REDUCTION_TYPE[Z]
=0
MD35240 $MA_ACCEL_TYPE_DRIVE[Z]
= FALSE
Activation by entering as channel-specific initial setting:
MC_GCODE_RESET_VALUE[20] = 3 (DRIVE)
Part program extract
Program code
Comment
N10 G1 X100 Y50 Z50 F700
; Path motion (X,Y, Z) with DRIVE
N15 Z20
; Path motion (Z) with DRIVE
N20 BRISK
; Switchover to BRISK
N25 G1 X120 Y70
; Path motion (Y, Z) with substitute
characteristic curve
N30 Z100
; Path motion (Z) with BRISK
N35 POS[X] = 200 FA[X] = 500
; Positioning motion (X) with DRIVEA
N40 BRISKA(Z)
; Activate BRISKA for Z
N40 POS[Z] = 50 FA[Z] = 200
; Positioning motion (Z) with BRISKA
N45 DRIVEA(Z)
; Activate DRIVEA for Z
N50 POS[Z] = 100
; Positioning motion (Z) with DRIVE
N55 BRISKA(X)
; results in error message
5.4
Data lists
5.4.1
Machine data
5.4.1.1
NC-specific machine data
Number
Identifier: $MN_
Description
18960
POS_DYN_MODE
Type of positioning axis dynamic response
5.4.1.2
Channel-specific machine data
Number
Identifier: $MC_
Description
20150
GCODE_RESET_VALUES
Initial setting of the G groups
20500
CONST_VELO_MIN_TIME
Minimum time with constant velocity
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5.4 Data lists
Number
Identifier: $MC_
Description
20600
MAX_PATH_JERK
Path-related maximum jerk
20602
CURV_EFFECT_ON_PATH_ACCEL
Influence of path curvature on path dynamic response
20610
ADD_MOVE_ACCEL_RESERVE
Acceleration reserve for overlaid motions
21158
JOG_JERK_ORI
Maximum jerk of the orientation axes when traversing in JOG
21159
JOG_JERK_ORI_ENABLE
Initial setting of the channel-specific jerk limitation of orienta
tion axes for traversing in JOG mode
21166
JOG_ACCEL_GEO
Maximum acceleration rate of the geometry axes when tra
versing in JOG
21168
JOG_JERK_GEO
Maximum jerk of the geometry axes when traversing in JOG
5.4.1.3
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
32000
MAX_AX_VELO
Maximum axis velocity
32300
MAX_AX_ACCEL
Maximum axis acceleration
32301
JOG_MAX_ACCEL
Maximum acceleration in JOG mode
32310
MAX_ACCEL_OVL_FACTOR
Overload factor for velocity jump
32320
DYN_LIMIT_RESET_MASK
Reset behavior of dynamic limits
32400
AX_JERK_ENABLE
Axial jerk limitation
32402
AX_JERK_MODE
Filter type for axial jerk limitation
32410
AX_JERK_TIME
Time constant for axial jerk filter
32420
JOG_AND_POS_JERK_ENABLE
Initial setting for axial jerk limitation
32430
JOG_AND_POS_MAX_JERK
Axial jerk for single axis motion
32431
MAX_AX_JERK
Maximum axial jerk at the block transition in continuouspath mode
32432
PATH_TRANS_JERK_LIM
Max. axial jerk of a geometry axis at block boundary
32433
SOFT_ACCEL_FACTOR
Scaling of acceleration limitation for SOFT
32434
G00_ACCEL_FACTOR
Scaling of acceleration limitation for G00
32435
G00_JERK_FACTOR
Scaling of axial jerk limitation for G00
32436
JOG_MAX_JERK
Maximum axial jerk for JOG motion
32437
AX_JERK_VEL0
First velocity threshold for velocity-dependent jerk
adaptation
32438
AX_JERK_VEL1
Second velocity threshold for the velocity-dependent
jerk adaptation
32439
MAX_AX_JERK_FACTOR
Factor to set the maximum jerk for higher velocities
(velocity-dependent jerk adaptation)
35220
ACCEL_REDUCTION_SPEED_POINT
Speed for reduced acceleration
35230
ACCEL_REDUCTION_FACTOR
Reduced acceleration
35240
ACCEL_TYPE_DRIVE
DRIVE acceleration characteristic for axes on/off
35242
ACCEL_REDUCTION_TYPE
Type of acceleration reduction
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B2: Acceleration
5.4 Data lists
5.4.2
Setting data
5.4.2.1
Channelspecific setting data
Number
Identifier: $SC_
Description
42500
SD_MAX_PATH_ACCEL
Max. path acceleration
42502
IS_SD_MAX_PATH_ACCEL
Analysis of SD 42500: ON/OFF
42510
SD_MAX_PATH_JERK
Max. path-related jerk
42512
IS_SD_MAX_PATH_JERK
Analysis of SD 42510: ON/OFF
5.4.3
System variables
Identifier
Description
$AC_PATHACC
Path acceleration for real-time events
$AC_PATHJERK
Path jerk for real-time events
292
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F1: Travel to fixed stop
6.1
Brief description
Function
With the "Travel to fixed stop" function, moving machine parts, e.g. tailstock or sleeve, can be
traversed so that they can apply a defined torque or force with respect to other machine parts
over any time period.
Characteristics
Programmability using commands in the part program or synchronized action:
Activating and deactivating the "Travel to fixed stop" function
Setting the clamping torque
Setting the monitoring window
Manual intervention option using setting data:
Activating and deactivating the "Travel to fixed stop" function
Setting the clamping torque
Setting the monitoring window
Presettings using machine data
Clamping torque
Monitoring window
Identifying the function status via NC/PLC interface signals
Enable or acknowledgment options via NC/PLC interface signals
Reading the reference and actual status of the function via system variable
"Travel to fixed stop" is possible for axes and spindles.
"Travel to fixed stop" is possible simultaneously for several axes and parallel to the
traversing of other axes.
Multi-channel block search can be performed with calculation of all the required additional
data (SERUPRO).
Simulated axis traversal in conjunction with "travel to fixed stop" and "torque reduction"
possible.
"Vertical" axes can also be moved with FXS to a fixed stop.
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F1: Travel to fixed stop
6.2 Detailed description
6.2
Detailed description
6.2.1
Programming
Function
Travel to fixed stop
The "Travel to fixed stop" function is controlled via the FXS, FXST and FXSW commands.
The activation can also be performed without traversing motion of the relevant axis. The torque
is immediately limited. The fixed stop is monitored as soon as the axis is traversed.
Note
Synchronized actions
The "Travel to fixed stop" function can also be controlled via synchronized actions.
References:
Function Manual, Synchronized Actions
Travel with limited torque/force
Travel with limited torque/force can be controlled via the FOCON, FOCOF and FOC commands
(see Section "Travel with limited torque/force FOC (Page 311)").
Syntax
FXS[<axis>]=<request>
FXST[<axis>]=<clamping torque>
FXSW[<axis>] = <window width>
Meaning
Parameter
Meaning
FXS:
"Travel to fixed stop" function, effectiveness: Modal
<Request>:
0 = switch off through
1 = switch on
FXST:
Set clamping torque
<Clamping torque>:
Clamping torque in % of the maximum drive torque.
SINAMICS S120: p2003
294
FXSW:
Set monitoring window
<Window width>:
Width of the tolerance window around the fixed stop
Unit: mm, inch or degrees
<axis>:
Name of the channel axis, type: AXIS
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F1: Travel to fixed stop
6.2 Detailed description
Changes to the torque limiting (FXST)
The torque limit value can be changed in each block. The change becomes effective before
executing the traversing motion programmed in the block. The torque limitation acts in addition
to the acceleration limitation (ACC).
Ramp-shaped change
A time can be set using the machine data, within which the torque limit value is linearly changed.
MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME (time until the new torque limit is
reached)
Changes to the monitoring window (FXSW)
The monitoring window can be changed in each block. The change becomes effective before
executing the traversing motion programmed in the block.
When the monitoring window is changed, not only does the window width change, but also the
reference point of the window to the actual axis position.
"Travel to fixed stop" when the continuous-path mode is active (G64)
The following machine data can be used to set that with the selection of the (FXS) function
during active continuous-path mode (G64), no exact stop is triggered at the block change
(G60):
MD37060 $MA_FIXED_STOP_ACKN_MASK (monitoring PLC acknowledgements for travel
to fixed stop)
Bit
Value Meaning
Start of the traversing motion without acknowledgement by the PLC
Start of the traversing motion after acknowledgement by the PLC
Supplementary conditions
The traversing motion to the fixed stop can be programmed as a path- or block-related or
modal positioning axis motion.
Travel to fixed stop can be be selected for several machine axes simultaneously.
For a machine axis, which is traversed to a fixed stop, it is not permissible that
transformation, coupling and frame functions are active:
The travel path and the activation of the function must be programmed in one block in the
part program.
If "Travel to fixed stop" is activated via synchronized actions, the travel path and the
activation of the function can be programmed in separate blocks.
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F1: Travel to fixed stop
6.2 Detailed description
6.2.2
Functional sequence
6.2.2.1
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Example of travel to fixed stop
Procedure
The NC detects that the function "Travel to fixed stop" is selected via the command
FXS[x]=1 and signals the PLC using the IS DB31, ... DBX62.4 ("Activate travel to fixed stop")
that the function has been selected.
If the machine data:
MD37060 $MA_FIXED_STOP_ACKN_MASK (monitoring PLC acknowledgements for travel
to fixed stop)
is set correspondingly, the system waits for the acknowledgement of the PLC using the IS
DB31, ... DBX3.1 ("Enable travel to fixed stop").
The programmed target position is then approached from the start position at the programmed
velocity. The fixed stop must be located between the start and target positions of the axis/
spindle. A programmed torque limit (clamping torque specified via FXST[<axis>]) is effective
from the start of the block, i.e. the fixed stop is also approached with reduced torque. Allowance
for this limitation is made in the NC through an automatic reduction in the acceleration rate.
If no torque has been programmed in the block or since the start of the program, then the value
is valid in the axis-specific machine data:
MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque)
is entered.
296
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F1: Travel to fixed stop
6.2 Detailed description
6.2.2.2
Fixed stop is reached
Detecting the fixed stop
Detecting the fixed stop or identifying that the machine axis has reached the fixed stop can be
set using the following machine data:
MD37040 $MA_FIXED_STOP_BY_SENSOR = <value> (fixed stop detection via sensor)
<value>
0
Meaning
The fixed stop has been reached when the contour deviation of the machine axis has ex
ceeded the value set in the machine data:
MD37030 $MA_FIXED_STOP_THRESHOLD (threshold for fixed stop detection)
An external sensor detects when the fixed stop has been reached and informs the control
via the following axial NC/PLC interface signal:
DB31, ... DBX1.2 == 1 (sensor for fixed stop)
The fixed stop has been reached, if one of the conditions, specified under <value> == 0
OR <value> == 1 applies.
Ineffective NC/PLC interface signals
When the axis is in the "Fixed stop reached" state, the following NC/PLC interface signals have
no effect:
DB31, ... DBX1.3 (axis/spindle disable)
DB31, ... DBX2.1 (controller enable)
Actions when the fixed stop is reached
The following actions are executed when the fixed stop is reached:
The torque in the drive is increased up to the programmed clamping torque (FXST)
The remaining distance to go is deleted
The position setpoint is tracked
The NC/PLC interface signal is set: DB31, ... DBX62.5 = 1 ("fixed stop reached")
Executing a block change:
Executing a block change when the fixed stop is reached: MD37060
$MA_FIXED_STOP_ACKN_MASK, Bit 1 = 0
The block change is immediately executed after reaching the fixed stop.
Block change is only executed after the acknowledgment by the PLC user program:
MD37060 $MA_FIXED_STOP_ACKN_MASK, Bit 1 = 1
After reaching the fixed stop, the block is not changed until acknowledgment by the PLC
user program:
DB31, ... DBX1.1 == 1 (acknowledge fixed stop reached)
In order to also maintain the clamping torque after the block change, the NC still outputs a
setpoint for the machine axis.
Activating the fixed stop monitoring or the monitoring window
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F1: Travel to fixed stop
6.2 Detailed description
Monitoring window
If, in the traversing block to the fixed stop or since the beginning of the program, no specific
value for the monitoring window is programmed with FXSW then the value set in the machine
data is active:
MD37020 $MA_FIXED_STOP_WINDOW_DEF (default for fixed stop monitoring window)
If the axis leaves the position it was in when the fixed stop was detected by more than the
specified window, then alarm 20093 "Fixed stop monitoring has responded" is displayed and
the "Travel to fixed stop" function is deselected.
The monitoring window must be selected by the user such that the alarm is activated only
when the axis leaves the fixed stop position.
NOTICE
"Fixed stop reached" and when the fixed stop breaks
As soon as the "fixed stop reached" state is identified, then a speed setpoint derived from the
axis-specific machine data servo gain factor (KV) (MD32200) and the threshold for the fixed
stop detection (MD37030) is entered for the drive. If the fixed stop breaks in this state, then
the axis accelerates until it reaches the monitoring window limit. The velocity that is then
reached is proportional to the values set in the specified machine data. For appropriately high
values, it is possible that the drive accelerates up to the maximum motor speed.
Overview
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298
Fixed stop is reached
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F1: Travel to fixed stop
6.2 Detailed description
6.2.2.3
Fixed stop is not reached
Alarm suppression
Alarms for various causes of breakage can be suppressed using the machine data:
MD37050 $MA_FIXED_STOP_ALARM_MASK = <value>
Value
Description: Suppressed alarms
Alarm 20091 "Fixed stop not reached"
Alarm 20091 "Fixed stop not reached"
Alarm 20094 "Fixed stop aborted"
Alarm 20094 "Fixed stop aborted"
Actions in the case of a fault or breakage
The following actions are executed when a fault occurs or for a breakage:
The NC/PLC interface signal is reset: DB31, ... DBX62.4 = 0 (activate travel to fixed stop)
Depending on the setting in the machine data, the system waits for acknowledgment:
MD37060 $MA_FIXED_STOP_ACKN_MASK
DB31, ... DBX3.1 == 0 (enable travel to fixed stop)
Withdrawing torque limits
Executing a block change
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F1: Travel to fixed stop
6.2 Detailed description
Overview
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6.2.2.4
Fixed stop is not reached
Deselection
The "travel to fixed stop" function is deselected using the command FXS[<axis>] = 0 in a
block of an NC program.
Actions when deselecting the function
When deselecting the function, the following actions are executed:
A preprocessing stop is initiated (STOPRE)
The NC/PLC interface signals are reset
DB31, ... DBX62.4 = 0 (activate travel to fixed stop)
DB31, ... DBX62.5 = 0 (fixed stop reached)
Depending on the machine data, the system waits for acknowledgment from the PLC user
program:
MD37060 $MA_FIXED_STOP_ACKN_MASK
DB31, ... DBX3.1 == 0 (enable travel to fixed stop)
DB31, ... DBX1.1 == 0 (acknowledge fixed stop reached)
Exiting the follow-up mode
Axis resumes closed-loop position control
300
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F1: Travel to fixed stop
6.2 Detailed description
Pulse enable
The pulse enable or pulse inhibit can be canceled via:
Drive: Via terminal EP (enable pulses)
NC/PLC interface signal: DB31, ... DBX21.7 ("pulse enable")
The behavior at the fixed stop can be set via the following machine data:
MD37002 $MA_FIXED_STOP_CONTROL, bit 0 and bit 1 (sequence control for traversing to
fix stop)
Bit
0
Val
ue
Meaning
Behavior for pulseinhibit at the fixed stop
0
"Travel to fixed stop" is aborted
"Travel to fixed stop" is interrupted, i.e. the drive is without power.
Behavior for pulseenable at the fixed stop
0
The torque is injected suddenly.
The torque is linearly ramped-up over the time specified in the machine data:
MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME
Special case: Deleting the pulse enable during deselection
If, during deselection, the function in state: "Waiting for PLC acknowledgements" the pulse
enable is deleted, the torque limit is reduced to 0. In this phase, if pulse enable is set again
torque is no longer established in the drive. Once the deselection has been completed the axis
can be traversed normally again.
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301
F1: Travel to fixed stop
6.2 Detailed description
Overview
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Traversing block with deselection FXS[<axis>]=0
Figure 6-4
6.2.3
Fixed stop deselection
Behavior during block search
Function
Block search with calculation
If the target block is located in a program section in which the axis must stop at a fixed limit,
then the fixed stop is approached if it has not yet been reached.
If the target block is located in the program section in which the axis must not stop at a fixed
limit, then the axis leaves the fixed stop if it is still positioned there.
If the axis is in the "Fixed stop reached" state, message 10208 "Press NC start to continue
the program" is displayed. The program can be continued with NC start.
Clamping torque FXST and monitoring window FXSW have the value that they have for
normal program processing at the start of the target block.
Block search without calculation
The commands FXS, FXST and FXSW are ignored during the block search.
302
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F1: Travel to fixed stop
6.2 Detailed description
Effectiveness of FOCON/FOCOF
The state of the modal-acting torque/force reduction FOCON/FOCOF is maintained during the
search and is effective in the approach block.
Block search with FXS or FOC
The user selects FXS or FOC in a program area of the target block in order to acquire all states
and functions of the machining last valid. The NC starts the selected program in Program test
mode automatically. After the target block has been found, the NC stops at the beginning of
the target block, deselects Program test internally again and displays the Stop condition
"Search target found" in its block display.
CAUTION
SERUPRO approach does not really take the FXS command into account.
The approach to the programmed end position of the FXS block is only simulated without
torque limitation.
If FXS is located between the beginning of the program and the search target, the command
is not executed by the NC. The motion is only simulated up to the programmed end point.
The user can log the turning on and turning off of FXS in the part program. If necessary, the
user can start an ASUB in order to activate or deactivate FXS in this SERUPRO-ASUP.
System variable
The reference and actual state of the "travel to fixed stop" function can be read using the
following system variable:
$AA_FXS (reference state)
$VA_FXS (actual state)
SERUPRO: $AA_FXS (reference state)
During SERUPRO, $AA_FXS supplies the following values depending on the activation status
of the "Travel to fixed stop" function:
Activation status of the "travel to fixed stop" func System variable $AA_FXS ==
tion
"Deactivated"
"Activated"
0 (axis not at fixed stop)
3 ("Travel to fixed stop" selection is active)
Note
During SERUPRO, the system variable $AA_FXS only supplies the values 0 and 3. As a result,
based on $AA_FXS, the program sequence can be changed with SERUPRO compared to the
normal program execution for program branches.
SERUPRO: $VA_FXS (actual state)
During SERUPRO, the variable $VA_FXS always supplies the real state of axis on the machine.
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F1: Travel to fixed stop
6.2 Detailed description
Example
The current state of the "Travel to fixed stop" function can be determined in the SERUPRO
ASUB via the system variables $AA_FXS and $VA_FXS, and the appropriate response
initiated:
Program code: FXS_SERUPRO_ASUP.MPF
Comment
N100 WHEN ($AA_FXS[X]==3) AND ($VA_FXS[X]==0) DO
FXS[X]=1
; Reference=="Selection not active" AND
; Actual=="Axis not at fixed stop"
; => "Switch on"
N200 WHEN ($AA_FXS[X]==0) AND ($VA_FXS[X]==1) DO
FXS[X]=0
; Reference=="Axis not at fixed stop" AND
; Actual=="Fixed stop successfully approached"
; => "Switch on"
N1020 REPOSA
; Reapproaching the contour linearly with all axes
Displaying the REPOS offset
Once the search target has been found, for each axis, the actual state regarding the "Travel
to fixed stop" is displayed using the following NC/PLC interface signals:
DB31, ... DBX62.4 (activate travel to fixed stop)
DB31, ... DBX62.5 (fixed stop reached)
Example:
If the axis is at the fixed stop and the target block is available after deselection of FXS, the new
target position is displayed via DB31, ... DBX62.5 (fixed stop reached) as the REPOS offset.
REPOS and FXS
With REPOS, the functionality of FXS is repeated automatically and called FXS-REPOS in the
following. This sequence is comparable to the FXS_SERUPRO_ASUP.MPF program.
Whereby every axis is taken into account and the last torque programmed before the search
target is used.
The user can treat FXS separately in a SERUPRO ASUB.
The following then applies:
Every FXS action executed in the SERUPRO ASUB automatically takes care of
$AA_FXS[ <axis> ] = $VA_FXS[ <axis> ].
This deactivates FXS-REPOS for axis X.
304
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F1: Travel to fixed stop
6.2 Detailed description
Deactivating FXS-REPOS
FXS-REPOS is deactivated by:
An FXS synchronized action which refers to REPOSA
$AA_FXS[X] = $VA_FXS[X] in the SERUPRO_ASUB
Note
A SERUPRO ASUB without FXS treatment or no SERUPRO ASUB results automatically
in FXS-REPOS.
CAUTION
Speed too high for FXS-REPOS
FXS-REPOS traverse all path axes together to the target position. Axes with and without
FXS treatment thus traverse together with the G code and feedrate valid in the target block.
As a result, the fixed stop may be approached in rapid traverse(G0) or higher velocity.
FOC-REPOS
FOC-REPOS behaves in the same way as FXS-REPOS.
A changing torque characteristic during the program preprocessing cannot be implemented
with FOC-REPOS.
Example
Axis X is traversed from position 0 to 100. FOC is switched on every 20 millimeters for 10
millimeters. The resulting torque characteristic is generated with non-modal FOC and cannot
be traced by FOC-REPOS. Axis X is traversed by FOC-REPOS with or without FOC in
accordance with the last programming before the target block.
For programming examples of FXS "Travel to fixed stop", see Section "Program test
(Page 471)".
6.2.4
Behavior for reset and function abort
NC reset
As long as the function is still not in the "Successful travel to fixed stop" state, the travel to
fixed stop can be aborted with NC reset.
Even when the fixed stop has already has been approached, but the specified stop torque not
yet fully reached, then the function can still be aborted with NC reset. The position setpoint of
the axis is synchronized with the current actual position.
As soon as the function is in the "Successful travel to fixed stop" state, the function also remains
active after the NC reset.
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F1: Travel to fixed stop
6.2 Detailed description
Function abort
A function abort can be triggered by the following events:
Emergency stop
CAUTION
Dangerous machine situations possible for travel to limit stop
It must be ensured that no dangerous machine situations occur while travel to fixed stop
is active when an "Emergency stop" is triggered or reset.
For example, behavior when setting and canceling the pulse enable:
MD37002 $MA_FIXED_STOP_CONTROL, bit 0 (behavior for pulse disable at the stop)
Bit 0 = 0: Travel to fixed stop is aborted
Bit 0 = 1: Travel to fixed stop is interrupted, i.e. the drive is without power
Once the pulse disable is canceled again, the drive presses with the stop torque again.
Note
NC and drive have no power during "Emergency stop", i.e. the PLC must react.
Functional state: "Fixed stop not reached"
Functional state: "Fixed stop aborted"
Aborted by the PLC user program:
DB31, ... DBX62.4 = 0 ("Activate travel to fixed stop")
Cancellation of the pulse enable and machine data parameterization:
MD37002 $MA_FIXED_STOP_CONTROL, bit 0 = 0 (see above)
6.2.5
Behavior with regard to other functions
Measurement with delete distance-to-go
"Travel to fixed stop" (FXS) cannot be programmed in a block with "Measurement with delete
distance-to-go" (MEAS). Except when on function acts on a path axis while the other acts on a
positioning axis or both functions act on positioning axes.
Contour monitoring
The axis contour monitoring function is inoperative while "Travel to fixed stop" is active.
Positioning axes
For "Travel to fixed stop" with positioning axes POSA, the block change is executed even when
the positioning axis has not yet reached the fixed stop by this time.
Vertical axes
The "Travel to fixed stop" function can be used for vertical axes even when alarms are active.
If a function-specific alarm occurs for a vertical axis when traveling to fixed stop, the NC/PLC
interface signal DB11, DBX6.3 (mode group ready) is not reset: This means that the
corresponding drive is not de-energized.
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F1: Travel to fixed stop
6.2 Detailed description
This corresponds to an electronic weight compensation for the vertical axis and can be
configured via the following machine data:
MD37052 $MA_FIXED_STOP_ALARM_REACTION
References
Further information on vertical axes can be found in:
SINAMICS S120 Function Manual
Function Manual, Extended Functions; Compensation (K3),
Section: Electronic counterweight
6.2.6
Setting data
The values programmed via the function-specific FXS, FXST and FXSW commands are written
block-synchronously to the following, immediately effective, axis-specific setting data:
Switching the function on/off
SD43500 $SA_FIXED_STOP_SWITCH (selection/deselection of travel to fixed stop)
Clamping torque
SD43510 $SA_FIXED_STOP_TORQUE (clamping torque)
Note
Clamping torque greater than 100%
A value for the clamping torque in SD43510 greater than 100% of the maximum motor torque
is only advisable for a short time. In addition, the maximum motor torque is limited by the drive.
For example, the following drive parameters have a limiting effect:
p1520/p1521 upper torque limit/force limit / lower torque limit/force limit
p1522/p1523 upper torque limit/force limit / lower torque limit/force limit
p1530/p1531 power limit, motoring / power limit, regenerating
p0640 current limit
p0326 motor stall force correction factor
Detailed information on the drive parameters and the functions can be found in:
References
SINAMICS S120/S150 List Manual
SINAMICS S120 Function Manual
Monitoring window
SD43520 $SA_FIXED_STOP_WINDOW (monitoring window)
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F1: Travel to fixed stop
6.2 Detailed description
Default setting
The defaults for the setting data are set via the following machine data:
Clamping torque:
MD37010 $MA_FIXED_STOP_TORQUE_DEF (default clamping torque)
Monitoring window:
MD37020 $MA_FIXED_STOP_WINDOW_DEF (default monitoring window)
Effectiveness
The setting data for the clamping torque and monitoring window takes effect immediately. In
this way, the clamping state can be adapted to the machining situation at any time by the
operator or via the PLC user program.
References
Further detailed information on the machine and setting data can be found in:
List Manual, Detailed Machine Data Description
See also
Z1: NC/PLC interface signals (Page 1551)
6.2.7
System variables
Reference/actual state
The reference and actual state of the "travel to fixed stop" function can be read using the
following system variables:
$AA_FXS = <value> (status, "Travel to fixed stop" reference state)
$VA_FXS = <value> (status, "Travel to fixed stop" actual state)
<val
ue>
308
Description
Axis is not at fixed stop
Fixed stop was successfully approached
Approach to fixed stop failed
Selection "Travel to fixed stop" is active.
Fixed stop was detected.
Travel to fixed stop deselection active
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F1: Travel to fixed stop
6.2 Detailed description
Additional information
If errors occurred when traversing to the fixed stop ($VA_FXS == 2), then additional information
is displayed in the following system variables:
$VA_FXS_INFO = <value> (additional information when "traveling to fixed stop")
<val
ue>
Description
No additional information available
No approach motion programmed
Programmed end position reached, motion stopped
Cancellation using a reset, DB21, ... DBX7.7 == 1
Monitoring window was exited
Torque reduction rejected by drive
PLC has withdrawn the enable, DB31, ... DBX3.1 == 0 (travel to fixed stop enabled)
Application example for $AA_FXS
In order that a block change is executed, no alarm should be triggered when a fault occurs.
The cause is then determined using the system variable $VA_FXS_INFO and a specific
response initiated.
Requirement: MD37050 $MA_FIXED_STOP_ALARM_MASK = 0 (when traveling to fixed stop,
no alarm initiated)
Program code
Comment
X300 Y500 F200 FXS[X1]=1 FXST[X1]=25 FXSW[X1]=5
; Travel to fixed stop
IF $AA_FXS[X1] == 2 GOTOF FXS_ERROR
; IF fixed stop == reached
R100=$AA_IM[X1]
; THEN (normal case)
IF R100 ...
; Evaluation of the
...
; actual position
GOTOF PROG_END
FXS_ERROR:
CASE($VA_FXS_INFO[X1]) OF 0 GOTOF LABEL_0 OF 1 GOTOF LABEL_1 ...
; ELSE (error case)
; Error handling
LABEL_0: ...
GOTOF CASE_END
LABEL_1: ...
GOTOF CASE_END
...
CASE_END:
...
PROG_END: M30
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; ENDIF end of program
309
F1: Travel to fixed stop
6.2 Detailed description
6.2.8
Alarms
Alarm 20091 "Fixed stop not reached"
If the fixed stop position is not reached during travel to fixed stop, alarm 20091 "Fixed stop not
reached" is displayed and a block change executed.
Alarm 20092 "Travel to fixed stop is still active"
If there is a travel request or renewed function selection for the axis after the fixed stop has
been reached, alarm 20092 "Travel to fixed stop is still active" is displayed.
Alarm 20093 "Standstill monitoring at fixed stop has triggered"
If an axis has reached the fixed stop and is then moved out of this position by more than the
value specified in the setting data
SD43520 FIXED_STOP_WINDOW (fixed stop monitoring window)
alarm 20093 "Standstill monitoring at fixed stop has triggered" is displayed, travel to fixed stop
for this axis is deselected and the following system variable set:
$AA_FXS[x] = 2
Alarm 20094 "Function has been aborted"
The travel to fixed stop is aborted if the clamping torque can no longer be applied due to the
cancellation of the pulse enable, or the requested acknowledgement signal at the NC/PLC
interface has been reset:
Acknowledgement signal required: MD37060 $MA_FIXED _STOP_ACKN_MASK, bit 0 = 1
Acknowledgement signal: DB31, ... DBX3.1 == 0 (enable travel to fixed stop)
Enabling the fixed stop alarms
The following machine data can be use to set whether the fixed stop alarms
Alarm 20091 "Fixed stop not reached",
Alarm 20094 "Fixed stop aborted"
are displayed:
MD37050 $MA_FIXED_STOP_ALARM_MASK (enable of the fixed stop alarms)
Settable functional behavior for fixed stop alarms
The following machine data can be used to set that the function is not aborted when functionspecific alarms occur:
Alarm 20090 Travel to fixed stop not possible
Alarm 20091 Fixed stop not reached
Alarm 20092 Travel to fixed stop is still active
Alarm 20093 Standstill monitoring at fixed stop has triggered
Alarm 20094 Travel to fixed stop aborted
MD37052 $MA_FIXED_STOP_ALARM_REACTION (reaction to fixed stop alarms)
310
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F1: Travel to fixed stop
6.2 Detailed description
Alarm suppression after new programming
Travel to fixed stop can be used for simple measuring processes.
For example, it is possible to carry out a check for tool breakage by measuring the tool length
by traversing onto a defined obstacle. To do so, the fixed stop alarm must be suppressed.
When the function for clamping workpieces is then used "normally," the alarm can be activated
using part program commands.
6.2.9
Travel with limited torque/force FOC
Function
Using the "Force Control" function to traverse with limited torque/force, when traversing, the
maximum permissible torque/force can be limited to a percentage of the maximum possible
axis torque. The limit value can be changed at any time, also while the axis is traversing. The
changes can be realized in the interpolator clock cycle, dependent on distance, time or on any
other variable. The "Force Control" function can also be programmed in synchronized actions.
The function can be permanently activated, or block related.
Programming
Syntax
FOCON[<axis>]
FOCOF[<axis>]
FOC[<axis>]
Meaning
Parameter
Meaning
FOCON:
Activate torque/force limiting
FOCOF:
Deactivate torque/force limiting
FOC:
Activate non-modal torque/force limiting
<axis>:
Channel axis name, type: AXIS
Example
Program code
Comment
N10 FOCON[X]
; Modal activation of the torque limit
N20 X100 Y200 FXST[X]=15
; X travels with reduced torque (15%)
N30 FXST[X]=75 X20
; Changing the torque to 75%,
N40 FOCOF[X]
; Disable torque limit
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F1: Travel to fixed stop
6.2 Detailed description
Parameterization
Machine data
MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque)
The value specified in the machine data is effective after activating the function, as long as
no explicit value is programmed using FXST.
MD36042 $MA_FOC_STANDSTILL_DELAY_TIME (delay time standstill monitoring for
active torque/force limiting)
Permanent activation (FOCON/FOCOF)
Permanent activation of the "Force Control" function after POWER ON or RESET can be set
using the machine data:
MD37080 $MA_FOC_ACTIVATION_MODE, bit 0 and bit 1 (basic setting of the modal force/
torque limiting)
Bit
Value
0
1
Meaning
The "Force Control" function is not active after POWER ON.
The "Force Control" function is active after POWER ON.
The "Force Control" function is not active after RESET.
The "Force Control" function is active after RESET.
If a limiting torque or force is programmed using FXST = <value> before activation, then
this is effective from activation onwards.
If a limiting torque or force was not programmed using FXST = <value> before activation,
then the value specified in the machine data is effective as standard.
MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque)
Block-related activation (FOC)
The function for the actual block is activated using the FOC command.
Activating the function using a synchronized action takes effect up to the end of the current
part program block.
Priority of FXS before FOC
Activating the "Travel to fixed stop" function FXS has a higher priority than the "Force Control"
function. If "Travel to fixed stop" is active at the same time as "Force Control", then the first is
executed.
Deselecting the "Travel to fixed stop" function FXS cancels the clamping. A "Force Control"
function that is at same time permanently active, remains active.
System variable
Status of the "Force Control" function
The status of the "Force Control" function can be read using system variable $AA_FOC.
312
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F1: Travel to fixed stop
6.2 Detailed description
Changing the status of the "Travel to fixed stop" function FXS does not change the status of
the "Force Control" function.
$AA_FOC
Value
Meaning
FOC not active
FOC modal active
FOC non-modal active
Status of torque limiting
The actual status of the torque limiting can be read using system variable
$VA_TORQUE_AT_LIMIT.
$VA_TORQUE_AT_LIMIT
Value
Meaning
actually effective torque < torque limit value
actually effective torque == torque limit value
Restrictions
the "Force Control" function has the following restrictions:
The change of the torque/force limitation representing itself as an acceleration limitation is
only taken into account in the traversing movement at block limits (see command ACC).
Only FOC: No monitoring is possible from the NC/PLC interface to check that the active
torque limit has been reached.
If the acceleration limitation is not adapted accordingly, an increase in the following error
occurs during the traversing motion.
If the acceleration limitation is not adapted accordingly, the end-of-block position is possibly
reached later than specified in:
MD36040 $MA_STANDSTILL_DELAY_TIME.
The machine data:
MD36042 $MA_FOC_STANDSTILL_DELAY_TIME
is introduced for this and monitored in this status.
Possible application for link and container axes
All axes that can be traversed in a channel, i.e. also link axes and container axes, can be
traversed to fixed stop.
References:
Function Manual, Extended Functions; Several Operator Panels on multiple NCUs, Distributed
Systems (B3)
The status of the machine axis is kept in the case of a container rotation, i.e. a clamped machine
axis remains at the stop.
If a modal torque limitation has been activated with FOCON, this is kept for the machine axis
even after a container rotation.
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F1: Travel to fixed stop
6.3 Examples
6.3
Examples
Example 1: Travel to fixed stop with static synchronized actions
Travel to fixed stop (FXS) is initiated when requested via R parameter ($R1) in a static
synchronized action.
Program code
Comment
N10 IDS=1 WHENEVER
; Static synchronized action 1:
(($R1==1) AND
; R1==1 (FXS for Y requested) AND
($AA_FXS[Y]==0)) DO
; Avoidance of multiple selection
; $AA_FXS[Y]==0 (axis not at limit): =>
$R1=0 FXS[Y]=1
; reset $R1, activate FXS for Y
FXST[Y]=10
; Limit torque: 10%
FA[Y]=200
; Axial feedrate Y: 200
POS[Y]=150
; Positioning movement Y
N11 IDS=2 WHENEVER
; Static synchronized action 2:
($AA_FXS[Y]==4) DO
; $AA_FXS[Y]==4 (limit detected): =>
FXST[Y]=30
; Limit torque:
N12 IDS=3 WHENEVER
; Static synchronized action 3:
($AA_FXS[Y]==1) DO
; $AA_FXS[Y]==1 (limit reached successfully): =>
FXST[Y]=$R0
; Limit torque: Value from R parameter $R0
N13 IDS=4 WHENEVER
; Static synchronized action 4:
(($R3==1) AND
; R3==1: Deselection of FXS for Y requested
($AA_FXS[Y]==1)) DO
; $AA_FXS[Y]==1 (limit reached successfully): =>
FXS[Y]=0
; Deselect FXS
FA[Y]=1000 POS[Y]=0
; Positioning movement Y
N20 FXS[Y]=0 G0 G90 X0 Y0
; Set initial settings: FXS deselected,
30%
X and Y at initial position
N30 RELEASE(Y)
; Release Y for movements in synchronized actions
...
N60 GET(Y)
Include axis Y back into the path group
...
Note
Avoidance of multiple selection for FXS
To avoid a multiple selection, we recommend that prior to activating FXS, query either the
$AA_FXS==0 system variable or a user-specific flag. See above, program example N10
314
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F1: Travel to fixed stop
6.4 Data lists
Example 2: Traveling to fixed stop with block-related synchronized actions
"Travel to fixed stop" is activated from a specific position of the traversing motion of the
following block
Program code
Comment
N10 G0 G90 X0
; Starting position
N20 WHEN $AA_IW[X]>17 DO FXS[X]=1
; Synchronized action: Actual position of
X axis > 17
; => activate FXS for axis X
N30 G1 F200 X100
; Traversing motion for axis X
Note
A block-related synchronized action is processed in the following main program block.
6.4
Data lists
6.4.1
Machine data
6.4.1.1
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
36042
FOC_STANDSTILL_DELAY_TIME
Delay time, standstill monitoring for active torque/
force limiting
37000
FIXED_STOP_MODE
Travel to fixed stop mode
37002
FIXED_STOP_CONTROL
Sequence monitoring for travel to fixed stop
37010
FIXED_STOP_TORQUE_DEF
Fixed stop clamping torque default setting
37012
FIXED_STOP_TORQUE_RAMP_TIME
Time until the modified torque limit is reached
37020
FIXED_STOP_WINDOW_DEF
Default for fixed stop monitoring window
37030
FIXED_STOP_THRESHOLD
Threshold for fixed stop detection
37040
FIXED_STOP_BY_SENSOR
Fixed stop detection via sensor
37050
FIXED_STOP_ALARM_MASK
Enabling the fixed stop alarms
37052
FIXED_STOP_ALARM_REACTION
Reaction to fixed stop alarms
37060
FIXED_STOP_ACKN_MASK
Monitoring of PLC acknowledgments for travel to fixed
stop
37070
FIXED_STOP_ANA_TORQUE
Torque limit on fixed stop approach for analog drives
37080
FOC_ACTIVATION_MODE.
Initial setting of the modal torque/force limiting
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F1: Travel to fixed stop
6.4 Data lists
6.4.2
Setting data
6.4.2.1
Axis/spindle-specific setting data
Number
Identifier: $SA_
Description
43500
FIXED_STOP_SWITCH
Selection of travel to fixed stop
43510
FIXED_STOP_WINDOW
Fixed stop clamping torque
43520
FIXED_STOP_TORQUE
Fixed stop monitoring window
6.4.3
Signals
6.4.3.1
Signals to axis/spindle
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Acknowledge fixed stop reached
DB31, ... .DBX1.1
DB380x.DBX1.1
Sensor for fixed stop
DB31, ... .DBX1.2
DB380x.DBX1.2
Axis/spindle disable
DB31, ... .DBX1.3
DB380x.DBX1.3
Controller enable
DB31, .DBX2.1
DB380x.DBX2.1
Travel to fixed stop enabled
DB31, .DBX3.1
DB380x.DBX3.1
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Activate travel to fixed stop
DB31, ... .DBX62.4
DB390x.DBX2.4
Fixed stop reached
DB31, ... .DBX62.5
DB390x.DBX2.5
6.4.3.2
316
Signals from axis/spindle
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G2: Velocities, setpoint / actual value systems, closedloop control
7.1
Brief description
The description of functions explains how to parameterize a machine axis in relation to:
Actual-value/measuring systems
Setpoint system
Operating accuracy
Travel ranges
Axis velocities
Control parameters
7.2
Velocities, traversing ranges, accuracies
7.2.1
Velocities
Maximum path and axis velocities and spindle speed
The maximum path and axis velocities and spindle speed are influenced by the machine
design, the dynamic response of the drive and the limit frequency of the actual-value acquisition
(encoder limit frequency).
The maximum axis velocity is defined in machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
The maximum permissible spindle speed is specified using machine data:
MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed)
For explanations, see Section "S1: Spindles (Page 1199)".
With a high feedrate (resulting from programmed feedrates and feedrate override), the
maximum path velocity is limited to Vmax.
This automatic feedrate limiting can lead to a drop in velocity over several blocks with programs
generated by CAD systems with extremely short blocks.
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
Example:
Interpolation cycle = 12 ms
N10 G0 X0 Y0; [mm]
N20 G0 X100 Y100; [mm]
Path length programmed in block = 141.42 mm
Vmax = (141.42 mm/12 ms) * 0.9 = 10606.6 mm/s = 636.39 m/min
Minimum path, axis velocity
The following restriction applies to the minimum path or axis velocity:
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The computational resolution is defined using machine data:
MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions)
or
MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions)
If Vmin is not reached, no traversing is carried out.
Example:
MD10200 $MN_INT_INCR_PER_MM = 1000 [incr. /mm];
Interpolation cycle = 12 ms;
Vmin = 10 -3/(1000 incr/mm x 12 ms) = 0.005 mm/min;
The value range of the feedrates depends on the computational resolution selected.
For the standard assignment of machine data:
MD10200 $MN_INT_INCR_PER_MM
(computational resolution for linear positions) (1000 incr./mm)
or
MD10210 $MN_INT_INCR_PER_DEG
(computational resolution for angular positions) (1000 incr./deg.)
The following value range can be programmed with the specified resolution:
Range of values for path feed F and geometry axes:
Metric system:
Inch system:
0.001 F 999,999.999
0.001 F 399,999.999 [inch/min, inch/rev]
[mm/min, mm/rev, degrees/min, degrees/rev]
318
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
Range of values for feedrate for positioning axes:
Metric system:
Inch system:
0.001 FA 999,999.999
0.001 FA 399,999.999
[mm/min, mm/rev, degrees/min, degrees/rev]
[inch/min, inch/rev]
Range of values for spindle speed S:
0.001 S 999,999.999 [rpm]
If the computational resolution is increased/decreased by a factor, then the value ranges
change accordingly.
7.2.2
Traversing ranges
Range of values of the traversing ranges
The range of values of the traversing range depends on the computational resolution
selected.
For the standard assignment of machine data:
MD10200 $MN_INT_INCR_PER_MM
(computational resolution for linear positions) (1000 incr./mm)
or
MD10210 $MN_INT_INCR_PER_DEG
(computational resolution for angular positions) (1000 incr./deg.)
The following value range can be programmed with the specified resolution:
Table 7-1
Traversing ranges of axes
G71 [mm, degrees]
G70 [inch, degrees]
Range
Range
Linear axes X, Y, Z, etc.
999,999.999
399,999.999
Rotary axes A, B, C, etc.
999,999.999
999,999.999
Interpolation parameters I, J, K
999,999.999
399,999.999
The unit of measurement of rotary axes is always degrees.
If the computational resolution is increased/decreased by a factor of 10, the ranges of values
change accordingly.
The traversing range can be limited by software limit switches and working areas (see Section
"A3: Axis Monitoring, Protection Zones (Page 79)").
For special features for a large traversing range for linear and rotary axes, see Section "R1:
Referencing (Page 1149)".
The traversing range for rotary axes can be limited via machine data.
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
References:
Function Manual, Extended Functions; Rotary Axes (R2)
7.2.3
Positioning accuracy of the control system
Actual-value resolution and computational resolution
The positioning accuracy of the control depends on the actual-value resolution (=encoder
increments/(mm or degrees)) and the computational resolution (=internal increments/(mm or
degrees)).
The coarse resolution of these two values determines the positioning accuracy of the control.
The input resolution, interpolator and position-control cycle selections have no effect on this
accuracy.
As well as limiting using MD32000, the control limits the maximum path velocity in relation to
the situation and according to the following formula:
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Input/display resolution, computational resolution
Resolutions: Differences
Resolutions, e.g. resolutions of linear and angular positions, velocities, accelerations and jerk,
must be differentiated as follows:
Input resolution
Data is input via the control panel or part programs.
Display resolution
Data is displayed via the control panel.
Computational resolution
Data input via the control panel or part program is displayed internally.
320
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
The input and display resolution is determined by the specified operator panel front used,
whereby the display resolution for position values with the machine data:
MD9004 $MM_DISPLAY_RESOLUTION (display resolution)
can be changed.
The machine data:
MD9011 $MM_DISPLAY_RESOLUTION_INCH (display resolution for INCH measuring
system)
can be used to configure the display resolution for position values with inch setting.
This allows you to display up to six decimal places with the inch setting.
For the programming of part programs, the input resolutions listed in the Programming Guide
apply.
The desired computational resolution is defined using the machine data:
MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions)
and
MD10210 $MN_INT_INCR_PER_ DEG (computational resolution for angular positions).
It is independent of the input/display resolution but should have at least the same
resolution.
The maximum number of places after the decimal point for position values, velocities, etc., in
the part program and the number of places after the decimal point for tool offsets, zero offsets,
etc. (and therefore also for the maximum possible accuracy) is defined by the computational
resolution.
The accuracy of angle and linear positions is limited to the computational resolution by rounding
the product of the programmed value with the computational resolution to an integer number.
To make the rounding clear, powers of 10 should be used for the calculation resolution.
Example of rounding:
Computational resolution: 1000 incr./mm
Programmed path: 97.3786 mm
Effective value: 97.379 mm
Example of programming in the 1/10 m range:
All the linear axes of a machine are to be programmed and traversed within the range of values
0.1 to 1000 m.
In order to position accurately to 0.1 m, the computational resolution must be set to 104
incr./mm.
MD10200 $MN_INT_INCR_PER_MM = 10000 [incr./mm]:
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
Example of related part program:
Program code
Comment
N20 G0 X 1.0000 Y 1.0000
; Axes travel to the position
N25 G0 X 5.0002 Y 2.0003
; Axes travel to the position
X=1.0000 mm, Y=1.0000 mm;
X=5.0002 mm, Y=2.0003 mm
7.2.5
Scaling of physical quantities of machine and setting data
Input/output units
Machine and setting data with a physical unit are interpreted in the input/output units stated
below depending on whether the metric or inch system is selected:
Physical unit
Linear position
Input/output units for standard basic system
Metric
Inch
1 mm
1 inch
Angular position
1 degree
1 degree
Linear velocity
1 mm/min
1 inch/min
Angular velocity
1 rpm
1 rpm
Linear acceleration
1 m/s
1 inch/s2
s2
1 rev./
1 rev./s2
Angular acceleration
Linear jerk
Angular jerk
Time
Position controller servo gain
Revolutional feedrate
Compensation value linear position
Compensation value angular position
1 m/s3
1 inch/s3
1 rev./s3
1 rev./s3
1s
1s
1/s
1/s
1 mm/rev
inch/rev
1 mm
1 inch
1 degree
1 degree
Internally in the control, the following units are used, whatever basic system is selected:
Physical unit
Linear position
Angular position
Linear velocity
1 mm
1 degree
1 mm/s
Angular velocity
1 deg./s
Linear acceleration
1 mm/s2
Angular acceleration
Linear jerk
Angular jerk
322
Unit
1 degree/s2
1 mm/s3
1 degree/s3
Time
1s
Position controller servo gain
1/s
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
Physical unit
Unit
Revolutional feedrate
1 mm/degree
Compensation value linear position
1 mm
Compensation value angular position
1 degree
The user can define different input/output units for machine and setting data. This also requires
an adjustment between the newly selected input/output units and the internal units via the
following machine data:
MD10220 $MN_SCALING_USER_DEF_MASK
MD10230 $MN_SCALING_FACTORS_USER_DEF[n]
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The following applies:
Selected I/O unit = (MD10230 $MN_SCALING_FACTORS_USER_DEF[n]) * internal unit
The selected I/O unit, expressed in the internal units 1 mm, 1 degree, and 1 s must therefore
be entered in machine data MD10230 $MN_SCALING_FACTORS_USER_DEF[n].
Example 1:
Machine data input/output of the linear velocities is to be in m/min instead of mm/min (initial
state).
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.2 Velocities, traversing ranges, accuracies
(The internal unit is mm/s)
The scaling factor for the linear velocities is to differ from the standard setting. For this,
in machine data:
MD10220 $MN_SCALING_USER_DEF_MASK
bit number 2 must be set.
MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value)
The scaling factor for the linear velocities is to differ from the standard setting. For this,
in machine data:
MD10220 $MN_SCALING_USER_DEF_MASK
bit number 2 must be set.
MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value)
The scaling factor is calculated using the following formula:
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0'6&$/,1*B)$&7256B86(5B'()>Q@
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Index n defines the "linear velocity" in the "Scaling factors of physical quantities" list.
Example 2:
In addition to the change in Example 1, the machine data input/output of linear accelerations
must be in ft/s2 instead of m/s2 (initial state).
(The internal unit is mm/s2.)
0'6&$/,1*B86(5B'()B0$6.
+ %LW1RDQG%LW1RIURPH[DPSOH
DVKH[YDOXH
0'6&$/,1*B)$&7256B86(5B'()>@
IW
V
PP
V
0'6&$/,1*B)$&7256B86(5B'()>@
PP
V
PP
V
Index 4 defines the "linear acceleration" in the "Scaling factors of physical quantities" list.
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7.3
Metric/inch measuring system
7.3.1
Conversion of basic system by part program
Programmable switchover of the system of units
The basic system can be switched over within a part program via the G functions G70/G71/
G700/G710 (G group 13). The programmed system of units (G70/G71/G700/G710) and the
basic system may be identical or different at any time. Switchover of the system of units within
a particular section of the part program could, for example, be used to machine an inch thread
on a workpiece within a metric basic system.
The following section of the part program is executed in "metric" in the basic system:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC = 1
Program code
Comment
N100 G71
; Switchover to metric machining
; The conversion factor does not come into effect because the
programmed
; system of units does not differ from the basic system
....
; Metric machining
N200 G70
; Switchover to machining in inches
; The conversion factor comes into effect
...
; Machining in inches
N300
; Switchover to metric machining
...
; Metric machining
Initial state of the G functions
The initial state for the G functions is set for each channel in the following machine data:
MD20150 $MC_GCODE_RESET_VALUES[12] (reset position for G group 13)
When the system of units is changed via the HMI user interface, the reset position is
automatically preset for compatibility with the new system of units with G700 or G710.
Displaying length-related data on the HMI
Length-related data are displayed in the parameterized basic system on the HMI:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic system metric)
The following length-related data is displayed in the configured basic system:
Machine data
Data in the machine coordinate system
Tool data
Zero offsets
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The following length-related data is displayed in the programmed system of units:
Data in the workpiece coordinate system
Reading in part programs from external sources
If part programs, including data sets (zero offsets, tool offsets, etc.), programmed in a system
of units other than the basic system are read in from an external source, the initial setting must
first be changed in machine data MD10240.
NC/PLC interface signals
In the case of NC/PLC interface signals containing dimension information, e.g. feedrate for
path and positioning axes, data exchange is carried out with the PLC in the configured basic
system.
G functions G700/G710
The G functions G700/G710 extend the functionality of G70/G71 as follows:
1. The feedrate is interpreted in the programmed system of units:
G700: length parameters [inch]; feedrates [inch/min]
G710: length parameters [mm]; feedrates [mm/min]
The programmed feedrate is modal and therefore remains active after subsequent G70/G71/
G700/G710 commands. If the feedrate is to apply in the new G70/G71/G700/G710 context,
it must be re-programmed.
2. System variables and machine data specifying lengths in the part program are read and
written in the programmed system of units.
Differences during the reading and writing of machine data and system variables
The following differences exist between G70/G71 and G700/G710 in terms of reading and
writing machine data and system variables in the part program:
G70/G71: Reading and writing takes place in the configured basic system.
G700/G710: Reading and writing is performed in the configured system of units.
Example
The following part program is executed with an initial metric state:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC = 1
Program code
Comment
N100 R1=0 R2=0
N120 G01 G70 X1 F1000
; Programmed system of units: inch
N130 $MA_LUBRICATION_DIST[X]=10
; MD=10 [mm] (basic system)
N150 IF ($AA_IW[X] > $MA_LUBRICATION_DIST[X])
; [mm] > [mm] (basic system)
N160
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Program code
Comment
N170 ENDIF
N180 IF ($AA_IW[X] > 10)
; [mm] (basic system) > 10 [inch]
; (programmed system of units)
N190
R2=1
N200 ENDIF
N210 IF ( (R1+R2) = 1 )
; Alarm if only one of the two
; conditions (N150, N180) is TRUE
N220
SETAL(61000)
N230 ENDIF
N240 M30
N120: if G70 is replaced by G700, alarm 61000 (N220) does not occur.
Synchronized actions
To ensure, in the case of synchronized actions, that the current part program context does not
determine the system of units used in the condition and/or action part, the system of units must
be defined within the synchronized action (condition and/or action parts). This is the only way
of achieving defined, reproducible behavior in the use of length-related data within a
synchronized action.
Example 1
The system of units is not specified within the synchronized action. The X axis is therefore
traversed in the system of units of the parameterized initial setting:
Program code
Comment
N100 R1=0
N110 G0 X0 Z0
N120 WAITP(X)
N130 ID=1 WHENEVER $R1==1 DO POS[X]=10
; X = 10 inch or mm, depending on the
; rest of the part program
N140 R1=1
N150 G71 Z10 F10
; Z = 10 mm, X = 10 mm
N160 G70 Z10 F10
; Z = 10 inch, X = 10 inch
N170 G71 Z10 F10
; Z = 10 mm, X = 10 mm
N180 M30
Example 2
The "metric" system of units is explicitly programmed with G71 within the synchronized action.
This means the traversing motion of the X axis takes place in the metric measuring system:
Program code
Comment
N100 R1=0
N110 G0 X0 Z0
N120 WAITP(X)
N130 ID=1 WHENEVER $R1==1 DO G71 POS[X]=10
; X = 10 mm, independent of the
; rest of the part program
N140 R1=1
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Program code
Comment
N150 G71 Z10 F10
; Z = 10 mm, X = 10 mm
N160 G70 Z10 F10
; Z = 10 inch, X = 10 mm
N170 G71 Z10 F10
; Z = 10 mm, X = 10 mm
N180 M30
Reading and writing of data in the case of G70/G71 and G700/G710 in the part program
Data area
G70 / G71
G700 / G710
Read
Write
Read
Write
Display, decimal places (WCS)
Display, decimal places (MCS)
Feedrates
Positional data X, Y, Z
Interpolation parameters I, J, K
Circle radius (CR)
Polar radius (RP)
Thread pitch
Programmable FRAME
Settable FRAMES
Basic frames
External zero offsets
Axial preset offset
Operating range limit (G25/G26)
Protection zones
Tool offsets
Length-related machine data
Length-related setting data
Length-related system variables
GUD
LUD
PUD
R parameters
Siemens cycles
Jog/handwheel increment factor
P: Writing/reading is performed in the programmed system of units.
G: Writing/reading takes place in the configured basic system.
Note
Read position data in synchronized actions
If a system of units has not been explicitly programmed in the synchronized action (condition
component and/or action component) length-related position data in the synchronized action
will always be read in the parameterized basic system.
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References:
Programming Manual, Fundamentals; List of Addresses
NC-specific conversion factor
The default conversion factor in the machine data:
MD10250 $MN_SCALING_VALUE_INCH (conversion factor for switchover to inch system)
is set to 25.4 for converting from the metric to the inch system. By changing the conversion
factor, the control system can also be adapted to customer-specific systems of units.
Axis-specific conversion factor
The default conversion factor in the axis-specific machine data:
MD31200 $MA_SCALING_FACTOR_G70_G71 (conversion factor when G70/G71 is active)
is set to 25.4 for converting from the metric to the inch system. By changing the conversion
factor, the control system can also be adapted to customer-specific systems of units for each
axis.
7.3.2
Manual switchover of the basic system
General
The control system can operate with the metric or inch system. The initial setting of the system
of units (basic system) is defined in the following machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic system metric).
Depending on the basic system, all length-related data is interpreted either as metric or inch
measurements.
The relevant softkey on the HMI in the "Machine" operating area is used to change the system
of units of the controller.
The system of units is only switched over under the following supplementary conditions:
MD10260 $MN_CONVERT_SCALING_SYSTEM=1
MD20110 $MC_RESET_MODE_MASK, bit 0 is set in every channel.
All channels are in the Reset state.
Axes do not currently traverse with JOG, DRF, or PLC.
Constant grinding wheel peripheral speed (GWPS) is not active.
Actions such as part program start or mode change are disabled while the system of units is
being switched over.
The actual change in the system of units is made by writing all the necessary machine data
and subsequently activating them.
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The following machine data are automatically switched over consistently for all configured
channels:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
MD20150 $MN_GCODE_RESET_VALUES
Reset position
When the system of units is switched over, the reset position of the G group 13 is automatically
adapted.
MD20150 $MC_GCODE_RESET_VALUES[12] = <current system of units>
Note
The availability of the softkey and, therefore, its functionality, can be configured using the
compatibility machine data:
MD10260 $MN_CONVERT_SCALING_SYSTEM
If several NCUs are linked by NCU-link, the switchover has the same effect on all linked NCUs.
If the requirements for a switchover are not fulfilled on one of the connected NCUs, no
switchover will take place on any of the NCUs. It is assumed that interpolations between several
NCUs will take place on the existing NCUs, whereby the interpolations can provide correct
results only if the same systems of units are used.
References:
Function Manual, Extended Functions; Several Control Panels on Multiple NCUs, Distributed
Systems (B3)
System data
When the system of units is switched over, from the user's viewpoint, all length-related
specifications are converted to the new system of units automatically.
This includes:
Positions
Feedrates
Accelerations
Jerk
Tool offsets
Programmable, settable and external zero offsets and DRF offsets
Compensation values
Protection zones
Machine data
Jog and handwheel factors
After the changeover, all of the above data is available in physical quantities.
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Data, for which no unique physical units are defined, is not converted automatically.
This includes:
R parameters
GUDs (Global User Data)
LUDs (Local User Data)
PUDs (Program global User Data)
Analog inputs/outputs
Data exchange via FC21
In this case, the user is requested to take into account the currently valid system of units:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
The current system of units setting can be read using PLC interface signal:
DB10 DBX107.7 (inch system)
Using the signal:
DB10 DBB71 (change counter, system of units inch/metric)
the "system of units change counter" can be read out
The system of units for sag compensation is configured using:
MD32711 $MA_CEC_SCALING_SYSTEM_METRIC
References:
Function Manual Extended Functions; Compensations (K3)
The system of units for positional data of the indexing axis tables and switching points for
software cams is configured in machine data element:
MD10270 $MN_POS_TAB_SCALING_SYSTEM.
References:
Function Manual, Extended Functions; Software Cams, Limit Switching Signals (N3) /
Indexing Axes (T1)
User tool data
The physical units for user-defined tool and tool cutting edge data can be set in the following
machine data:
MD10290 $MN_CC_TDA_PARAM_UNIT
MD10292 $MN_CC_TOA_PARAM_UNIT
When the system of units is switched over, all length-related tool data is converted to the new
system of units.
Reference point
The reference point is retained. It is not necessary to repeat referencing.
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Input resolution and computational resolution
The input and calculation resolution is defined as an internal number of increments per
millimeter.
MD10200 $MN_INT_INCR_PER_MM
The precision of entry of linear positions is limited to the calculation resolution. The product of
the programmed position value and the calculation resolution is rounded up to the next integer.
To make the rounding clear, powers of 10 should be used for the calculation resolution.
Example
1 inch = 25.4 mm 0.0001 inch = 0.00254 mm = 2.54 m = 2540 nm
To be able to program and display the last 40 nm, a value of 100,000 must be parameterized
for the input and calculation resolution.
Only with this identical setting for both systems of units is it possible to change the system of
units without a significant loss of accuracy. Once MD10200 has been set to this value, it will
not need to be changed each time the system of units is switched over.
JOG and handwheel factor
The machine data:
MD31090 $MA_JOG_INCR_WEIGHT
consists of two values containing axis-specific increment weighting factors for each of the two
systems of units.
Depending on the actual setting in machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
the controller automatically sets the appropriate value.
The user defines the two increment factors, e.g. for the first axis, during the installation and
startup phase:
Metric:
MD31090 $MA_JOG_INCR_WEIGHT[0;AX1]=0.001 mm
Inch:
MD31090 $MA_JOG_INCR_WEIGHT[1;AX1]=0.00254 mm 0.0001 Inch
In this way, MD31090 does not have to be written on every inch/metric switchover.
Remaining distances are not accumulated during incremental traversing with JOG when the
system of units is changed, since all internal positions always refer to mm.
Data backup
Individual data sets that are read from the control and contain data affected by the system of
units, are assigned an identifier during reading that indicates the current setting for the system
of units:
MD10260 $MN_CONVERT_SCALING_SYSTEM
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
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The identifier records in which system of units the data have been read out. This ensures that
no data sets are read into the control with a system of units other than that which is currently
set.
Since the language instruction is also evaluated in part programs, these can also be "protected"
against operator errors as described above. You can, therefore, prevent part programs
containing only metric data, for example, from running on an inch system of units.
Archive and machine data sets are downward-compatible with the following setting:
MD11220 $MN_INI_FILE_MODE = 2
Note
The INCH/METRIC operation is only generated if the compatibility machine data:
MD10260 $MN_CONVERT_SCALING_SYSTEM = TRUE
Rounding machine data
All length-related machine data is rounded to the nearest 1 pm when writing in the inch system
(MD10240 $MN_SCALING_SYSTEM_IS_METRIC=0 and MD10260
$MN_CONVERT_SCALING_SYSTEM=1), to avoid rounding problems.
This corrects the loss of accuracy resulting from conversion to ASCII when reading out a data
backup in the inch system of measurement when the data is read back into the system.
7.3.3
FGROUP and FGREF
Programming
It should be possible to program the effective machining feedrate in the usual way as a path
feedrate via the F value in processing procedures where the tool, the workpiece or both are
moved by a rotary axis (e.g. laser machining of rotating tubes).
In order to achieve this, it is necessary to specify an effective radius (reference radius) for each
of the rotary axes involved. You can do this by programming the modal NC address:
FGREF[<rotary axis>]=<reference radius>
The unit of the reference radius depends on the G70/G71/G700/G710 setting.
In order to include the axes in the calculation of the path feedrate, they must all be specified
in the FGROUP command.
In order to ensure compatibility with the behavior with no FGREF programming, the evaluation
1 degree = 1 mm is activated on system powerup and RESET.
This corresponds to a reference radius of:
FGREF = 360 mm / (2) = 57.296 mm
This default is independent of the active basic system
(MD10240 $MN_SCALING_SYSTEM_IS_METRIC) and the currently active G70/G71/G700/
G710 setting.
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Special features of the feedrate weighting for rotary axes in FGROUP:
Program code
N100 FGROUP(X,Y,Z,A)
N110 G1 G91 A10 F100
N120 G1 G91 A10 X0.0001 F100
The programmed F value in block N110 is evaluated as a rotary axis feedrate in degrees/min,
while the feedrate weighting in block N120 is either 100 inch/min or 100 mm/min, depending
on the current inch/metric setting.
NOTICE
Different systems of units
The FGREF factor also works if only rotary axes are programmed in the block. The normal F
value interpretation as degree/min applies in this case only if the radius reference corresponds
to the FGREF default:
For G71/G710: FGREF[A]=57.296
For G70/G700: FGREF[A]=57.296/25.4
Example
The following example is intended to demonstrate the effect of FGROUP on the path and path
feedrate. The variable $AC_TIME contains the time of the block start in seconds. It can only
be used in synchronized actions.
Program code
Comment
N100 G0 X0 A0
N110 FGROUP(X,A)
N120 G91 G1 G710 F100
; Feedrate = 100 mm/min or 100 degrees/min
N130 DO $R1=$AC_TIME
N140 X10
; Feedrate = 100 mm/min, path = 10 mm, R1 = approx. 6
s
N150 DO $R2=$AC_TIME
N160 X10 A10
; Feedrate = 100 mm/min, path = 14.14 mm, R2 = approx.
8 s
N170 DO $R3=$AC_TIME
N180 A10
; Feedrate = 100 degrees/min, path = 10 degrees, R3
= approx. 6 s
N190 DO $R4=$AC_TIME
N200 X0.001 A10
; Feedrate = 100 mm/min, path = 10 mm, R4 = approx. 6
s
N210 G700 F100
; Feedrate = 2540 mm/min or 100 degrees/min
N220 DO $R5=$AC_TIME
N230 X10
; Feedrate = 2540 mm/min, path = 254 mm, R5 = approx.
6 s
N240 DO $R6=$AC_TIME
N250 X10 A10
334
; Feedrate = 2540 mm/min, path = 254.2 mm, R6 = approx.
6 s
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Program code
Comment
N260 DO $R7=$AC_TIME
N270 A10
; Feedrate = 100 degrees/min, path = 10 degrees, R7
= approx. 6 s
N280 DO $R8=$AC_TIME
N290 X0.001 A10
; Feedrate = 2540 mm/min, path = 10 mm, R8 = approx.
0.288 s
N300 FGREF[A]=360/(2*$PI)
; Set 1 degree = 1 inch via the effective radius
N310 DO $R9=$AC_TIME
N320 X0.001 A10
; Feedrate = 2540 mm/min, path = 254 mm, R9 = approx.
6 s
N330 M30
Diagnostics
Read reference radius
The value of the reference radius of a rotary axis can be read using system variables:
For the display in the user interface, in synchronized actions or with a preprocessing stop
in the part program via the system variable:
$AA_FGREF[<axis>]
Current main run value
Without preprocessing stop in the part program via the system variable:
$PA_FGREF[<axis>]
Programmed value
If no values are programmed, the default 360 mm / (2) = 57.296 mm (corresponding to 1 mm
per degree) will be read in both variables.
For linear axes, the value in both variables is always 1 mm.
Read path axes affecting velocity
The axes involved in path interpolation can be read using system variables:
For the display in the user interface, in synchronized actions or with a preprocessing stop
in the part program via the system variables:
$AA_FGROUP[<axis>]
$AC_FGROUP_MASK
Returns the value "1" if the specified axis affects the path
velocity in the current main run record by means of the
basic setting or through FGROUP programming. Otherwise,
the variable returns the value "0".
Returns a bit key of the channel axes programmed with
FGROUP which are to affect the path velocity.
Without preprocessing stop in the part program via system variables:
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7.4 Setpoint/actual-value system
$PA_FGROUP[<axis>]
Returns the value "1" if the specified axis affects the path
velocity by means of the basic setting or through FGROUP
programming. Otherwise, the variable returns the value "0".
Returns a bit key of the channel axes programmed with
FGROUP which are to affect the path velocity.
$P_FGROUP_MASK
7.4
Setpoint/actual-value system
7.4.1
General
Control loop
A control loop with the following structure can be configured for every closed-loop controlled
axis/spindle:
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Block diagram of a control loop
Setpoint output
A setpoint telegram can be output for each axis/spindle. The setpoint output to the actuator is
realized from the SINUMERIK 840D sl.
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7.4 Setpoint/actual-value system
Actual-value acquisition
A maximum of two measuring systems can be connected for each axis/spindle, e.g. a direct
measuring system for machining processes with high accuracy requirements and an indirect
measuring system for high-speed positioning tasks.
The number of encoders used is recorded in the machine data:
MD30200 $MA_NUM_ENCS (number of encoders)
In the case of two actual-value branches, the actual value is acquired for both branches.
The active measuring system is always used for position control, absolute value calculation
and display. If both measuring systems are activated at the same time by the PLC interface,
positioning measuring system 1 is chosen internally by the controller.
Reference point approach is executed by the selected measuring system.
Each position measuring system must be referenced separately.
For an explanation of encoder monitoring, see Section "A3: Axis Monitoring, Protection
Zones (Page 79)".
For an explanation of actual-value acquisition compensation functions, see:
References:
Function Manual, Extended Functions; Compensations (K3)
Switching between measuring systems
One can switch between the two measuring systems through the following NC/PLC interface
signals:
DB31, ... DBX1.5 (position measuring system 1)
DB31, ... DBX1.6 (position measuring system 2)
For further information, see Section "A2: Various NC/PLC interface signals and functions
(Page 35)".
It is possible to switch over measuring systems at any time, the axes do not have to be
stationary to do this. Switchover only takes place if a permissible deviation between the actual
values and the two measuring systems has not been violated.
The associated tolerance is entered in the machine data:
MD36500 $MA_ENC_CHANGE_TOL (max. tolerance on position actual value switchover)
On switchover, the current difference between position measuring system 1 and 2 is traversed
immediately.
Monitoring
The permissible deviation between the actual values of the two measuring systems is to be
entered in the machine data:
MD36510 $MA_ENC_DIFF_TOL
For the cyclic comparison of the two measuring systems used, this difference must not be
exceeded, as otherwise Alarm 25105 "Measuring systems deviate" is generated.
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7.4 Setpoint/actual-value system
If the axis is not referenced (at least in the current control measuring system), then the related
monitoring is not active if MD36510 = 0 or if neither of the two measuring systems in the axis
is active/available.
Types of actual-value acquisition
The used encoder type must be defined through the following machine data:
MD30240 $MA_ENC_TYPE (type of actual-value acquisition (actual position value))
Simulation axes
The speed control loop of an axis can be simulated for test purposes.
The axis "traverses" with a following error, similar to a real axis.
A simulation axis is defined by setting the two following machine data to "0":
MD30130 $MA_CTRLOUT_TYPE[n] (output value of setpoint)
MD30240 $MA_ENC_TYPE[n] (type of actual-value acquisition)
As soon as the standard machine data has been loaded, the axes become simulation axes.
The setpoint and actual value can be set to the reference point value with reference point
approach.
The machine data:
MD30350 $MA_SIMU_AX_VDI_OUTPUT (output of axis signals with simulation axes)
can be used to define whether the axis-specific interface signals are to be output on the PLC
during the simulation.
Actual-value correction
If actual-value corrections performed by the NC on the encoder selected for position control
do not influence the actual value of another encoder defined in the same axis, then this encoder
is to be declared as "independent" via the following machine data:
MD30242 $MA_ENC_IS_INDEPENDENT
Actual-value corrections include the following:
Modulo treatment
Reference point approach
Measuring system comparison
PRESET
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7.4 Setpoint/actual-value system
7.4.2
Setpoint and encoder assignment
Setpoint marshalling
The following machine data is relevant for the setpoint assignment of a machine axis.
MD30100
$MA_CTRLOUT_SEGMENT_NR
Setpoint assignment: Bus segment
System
Value
840D sl
MD30110
Meaning
PROFIBUS DP / PROFINET (default)
$MA_CTRLOUT_MODULE_NR
Setpoint assignment: Drive number / module number
System
Value
840D sl
Meaning
The logical I/O address of the drive is assigned from MD13050
$MN_DRIVE_LOGIC_ADDRESS[ n ] via the drive number.
The drive number (x) results from the index (n) of MD13050:
x= n+1
Note
The machine data is of no significance if the drive is simulated (MD30130
$MA_CTRLOUT_TYPE = 0).
MD30120
$MA_CTRLOUT_NR
Setpoint assignment: Setpoint output on drive module/module
System
Value
840D sl
MD30130
Meaning
Modular drive at PROFIBUS / PROFINET with PROFIdrive profile (default)
$MA_CTRLOUT_TYPE
Setpoint output type
System
Value
840D sl
Meaning
Simulation (operation without drive)
Setpoint output active
Encoder assignment
The following machine data is relevant for assigning the encoder information of the drive transferred in the PROFIdrive telegram - to the encoder inputs of the machine axis:
MD30210
$MA_ENC_SEGMENT_NR[ n ]
Actual value assignment, bus segment
System
Value
840D sl
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Meaning
PROFIBUS DP / PROFINET
339
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7.4 Setpoint/actual-value system
MD30220
$MA_ENC_MODULE_NR[ n ]
Actual value assignment: Drive number/measuring circuit number
System
Value
840D sl
Meaning
The logical I/O address of the drive is assigned from MD13050
$MN_DRIVE_LOGIC_ADDRESS[ n ] via the drive number.
The drive number (x) results from the index (n) of MD13050:
x= n+1
MD30230
$MA_ENC_INPUT_NR[ n ]
Actual value assignment: Input on drive module/measuring circuit module
System
Value
840D sl
Meaning
Number of the encoder interface within the PROFIdrive telegram
Examples
PROFIdrive telegram 103
x = 1 1st encoder interface (G1_ZSW, G1_XIST1, G1_XIST2)
x = 2 2nd encoder interface (G2_ZSW, G2_XIST1, G2_XIST2)
PROFIdrive telegram 118
x = 1 1st encoder interface (G2_ZSW, G2_XIST1, G2_XIST2)
x = 2 2nd encoder interface (G3_ZSW, G3_XIST1, G3_XIST2)
Note:
For SINAMICS S120:
- Encoder 1 (G1_...): Motor encoder
- Encoder 2 (G2_...): Direct measuring system
- Encoder 3 (G3_...): Additional measuring system
MD30240
$MA_ENC_TYPE[ n ]
Encoder type of the actual value sensing (actual position value)
System
Value
Meaning
840D sl
Simulation (operation without encoder)
Incremental encoder
Absolute encoder
Note:
Corresponds to PROFIdrive parameter p979
340
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7.4 Setpoint/actual-value system
MD30242
$MA_ENC_IS_INDEPENDENT[ n, axis ]
Encoder is independent
System
Value
840D sl
Meaning
The encoder is not independent.
The encoder is independent.
If the actual-value corrections, which are made for the encoder selected for the
position control, are not to influence the actual value of the second encoder
defined in the same axis, then this should be declared as independent.
Actual value corrections are:
- Modulo handling
- Reference point approach
- Measuring system alignment
- PRESET
Example: One axis, two encoders, the 2nd encoder is independent
MD30200 $MA_NUM_ENCS[ AX1 ] = 2
MD30242 $MA_ENC_IS_INDEPENDENT[ 0, AX1 ] = 0
MD30242 $MA_ENC_IS_INDEPENDENT[ 1, AX1 ] = 1
Selection, position measuring system 1 / 2: DB31.DBX1.5 / 1.6
If encoder 1 is selected for closed-loop position control, then the actual value
corrections are only performed on this encoder, as encoder 2 is independent.
If encoder 2 is selected for position control, then the actual value corrections are
performed on both encoders, as encoder 1 is not independent.
This means that the machine data only has an effect on the passive encoder of
a machine axis.
The passive encoder is dependent.
The actual encoder value is changed by the active encoder. In combination with
MD35102 $MA_REFP_SYNC_ENCS = 1, for reference point approach, the pas
sive encoder is aligned to the active encoder - but is NOT referenced.
In the referencing mode MD34200 $MA_ENC_REFP_MODE = 3 (distance-co
ded reference marks) the passive encoder is automatically referenced with the
next traversing motion after passing the zero mark distance. This is done inde
pendent of the actual operating mode setting.
The encoder is independent.
For modulo rotary axes, modulo actual value corrections are also performed in
the passive encoder.
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7.4 Setpoint/actual-value system
Note
Machine data index [ n ]
The machine data index [ n ] for encoder assignment has the following meaning:
n = 0: First encoder assigned to the machine axis
n = 1: Second encoder assigned to the machine axis
The assignment is made using machine data:
MD30220 $MA_ENC_MODULE_NR[ n ]
MD30230 $MA_ENC_INPUT_NR[ n ]
References
Commissioning Manual, CNC Commissioning: NC, PLC, Drive;
Section: "Communication between the NC and the drive" > "Drives: Assign axis"
7.4.3
Adapting the motor/load ratios
Gear types
The following gear types are available for adapting the mechanical ratios:
342
Gear type
Activation
Adaptation
Installation location
Motor/load gear
Parameter set
Fixed configuration
Gear unit
Measuring gear encoder
Power ON
Sensor-dependent
Sensor-side
Load intermediate gear unit
NewConfig
Load-dependent
Tool-side
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Local position of gear unit/encoder
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Gear unit types and encoder locations
Motor/load gear
The motor/load gear supported by SINUMERIK is configured via the following machine data:
MD31060 $MA_DRIVE_AX_RATIO_NUMERA (numerator load gearbox)
MD31050 $MA_DRIVE_AX_RATIO_DENOM (denominator load gearbox)
The transmission ratio is obtained from the numerator/denominator ratio of both machine data.
The associated parameter sets are used automatically as default by the controller to
synchronize the position controller with the relevant transmission ratios.
Since a gear stage change is not always carried out automatically, and there are also several
ways to request a gear stage change, the position controller is not always incorporated via
parameter sets.
Note
For further information about the parameter sets for gear stage change, see Section "S1:
Spindles (Page 1199)".
Intermediate gear
Additional, configurable load intermediate gears are also supported by the controller:
MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (intermediate gear numerator)
MD31064 $MA_DRIVE_AX_RATIO2_DENOM (intermediate gear denominator)
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Power tools generally have their "own" intermediate gear. Such variable mechanics can be
configured by multiplying the active intermediate gearbox and the motor/load gearbox.
CAUTION
Different gearbox transmission ratios for switching
Unlike the motor/load gear, there is no parameter set for the intermediate gear and, therefore,
no way of controlling the time-synchronized switchover to the part program or PLC (NC/PLC
interface). Part programming during gear change is, therefore, ruled out. It remains the task
of the user to match the synchronization of the relevant changed machine data to the
corresponding mechanical switchover and activate it. On switchover during a motion,
compensations cannot be ruled out due to jumps in the scaling factors. These are not
monitored for violation of the maximum acceleration.
Encoder directly at the tool
Another connection option is possible for a "tool-side encoder" on the intermediate gear, by
configuring machine data:
MD31044 $MA_ENC_IS_DIRECT2
Encoder not directly at the tool
The following supplementary conditions apply to a gear change of the intermediate gear in
position-control mode:
The gear ratio to be changed is incorporated in a re-scaling of the encoder information in
this case.
In this case, the following applies to axes/spindles in positioning mode:
A non-abrupt gear change is only possible at zero speed.
To do this, the tool-side position before and after a gear change are set equal for a change
in the ratio, since the mechanical position does not (or hardly) change during a gear stage
change.
Recommendation:
To avoid 21612 "Controller enable reset during motion", changeover should be carried out
"only at zero speed". It is still permissible and expedient to switch the axis or spindle to
speed-control or follow-up mode before or during a gear change.
Boundary conditions
If the encoder to be used for position control is connected directly at the tool, the gear stage
change only affects the physical quantities at the speed interface between the NC and the
drive of the motor/load gear. The internal parameter sets are not changed.
344
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7.4 Setpoint/actual-value system
Reference point and position reference
CAUTION
Loss of the position reference
The controller cannot detect all possible situations that can lead to loss of the machine position
reference. Therefore, it is the responsibility of the commissioning engineer or user to initiate
explicit referencing of zero marker synchronization in such cases.
In the case of gear changes, it is not possible to make a statement about the effect of the
reference point or machine position reference on the encoder scaling. In such cases, the
controller partially cancels the status "Axis referenced/synchronized".
If the position reference to the machine, tool, etc., has been lost, it must first be restored through
appropriate adjustment or referencing of the lost reference point. This is especially important
for the functions Travel to fixed stop, Referencing to Bero, Cam and Zero marker.
Note
In order to permit new referencing without an interrupting RESET,
machine data:
MD34080 $MA_REFP_MOVE_DIST
and
MD34090 $MA_REFP_MOVE_DIST_CORR
are changed over to NewConfig effectiveness.
For further explanations, see Section "R1: Referencing (Page 1149)".
7.4.4
Speed setpoint output
Control direction and travel direction of the feed axes
You must determine the travel direction of the feed axis before starting work.
Control direction
Before the position control is started up, the speed controller and current controller of the drive
must be started up and optimized.
Travel direction
With the machine data:
MD32100 $MA_AX_MOTION_DIR (travel direction),
the direction of motion of the axis can be reversed,
without affecting the control direction of the position control.
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7.4 Setpoint/actual-value system
Speed setpoint adjustment
SINUMERIK 840D sl
In the case of speed setpoint comparison, the NC is informed which speed setpoint
corresponds to which motor speed in the drive, for parameterizing the axial control and
monitoring. This comparison is carried out automatically.
For PROFIBUS DP drives, alternatively, the manual speed setpoint comparison is also
possible.
Manual comparison
In the machine data:
MD32250 $MA_RATED_OUTVAL
a value not equal to zero is entered.
Note
Velocity adjustment and maximum speed setpoint
Owing to the automatic speed setpoint comparison a velocity adjustment is not necessary
for SINUMERIK 840D sl!
Maximum speed setpoint
For SINUMERIK 840D sl, the maximum speed setpoint is defined as a percentage. 100%
means maximum speed setpoint or maximum speed for PROFIdrive drives (manufacturerspecific setting parameters in the drive, e.g. p1082 for SINAMICS).
The output of the spindle speed is implemented in the NC for SINUMERIK 840D sl.
Data for five gear stages are realized in the controller.
These stages are defined by a minimum and maximum speed for the stage itself and by a
minimum and maximum speed for the automatic gear stage changeover. A new set gear stage
is output only if the new programmed speed cannot be traversed in the current gear stage.
With the machine data:
MD36210 $MA_CTRLOUT_LIMIT[n] (maximum speed setpoint)
the speed setpoint is restricted percentage-wise
Values up to 200% are possible.
When the speed is exceeded, an alarm is generated.
346
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7.4 Setpoint/actual-value system
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Maximum speed setpoint
However, due to control processes, the axes should not reach their maximum velocity
(MD32000 $MA_MAX_AX_VELO) at 100% of the speed setpoint, but at 80% to 95%.
In case of axes, whose maximum speed is attained at around 80% of the speed setpoint range,
the default value (80%) of the machine data:
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
can be taken over.
7.4.5
Machine data of the actual value system
Axis-specific machine data
To parameterize the actual value system, the following axis-specific machine data should be
set:
Encoder and parameter set-independent machine data:
$MA_
Meaning
MD30200 NUM_ENCS
Number of encoders
MD30300 IS_ROT_AX
Rotary axis / spindle
MD30310 ROT_IS_MODULO
Modulo conversion for rotary axis / spindle
MD30320 DISPLAY_IS_MODULO
360-degree modulo display for rotary axis or
spindle
MD30330 MODULO_RANGE
Size of the modulo range.
MD30340 MODULO_RANGE_START
Start position of the modulo range.
MD31030 $MA_LEADSCREW_PITCH
Leadscrew pitch
MD31064 $MA_DRIVE_AX_RATIO2_DENOM
Intermediate gear denominator
MD31066 $MA_DRIVE_AX_RATIO2_NUMERA
Intermediate gear numerator
MD32000 $MA_MAX_AX_VELO
Maximum axis velocity
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7.4 Setpoint/actual-value system
Encoder-dependent machine data: $MA_
Meaning
MD30210 ENC_SEGMENT_NR[ n ]
Actual value assignment: Number of bus
segments
MD30220 ENC_MODULE_NR[ n ]
Actual value assignment: Drive number/
measuring circuit number
MD30230 ENC_INPUT_NR[ n ]
Actual value assignment: Input on drive
module/measuring circuit module
MD30240 ENC_TYPE[ n ]
Encoder type of the actual value sensing
(position actual value)
MD30242 ENC_IS_INDEPENDENT[ n ]
Encoder is independent
MD30244 ENC_MEAS_TYPE[ n ]
Encoder measuring type
MD30250 ACT_POS_ABS[ n ]
Internal encoder position
MD30260 ABS_INC_RATIO[ n ]
Absolute encoder: Ratio between the abso
lute resolution and the incremental resolu
tion
MD30270 ENC_ABS_BUFFERING[ n ]
Absolute encoder: Traversing range exten
sion
MD34090 $MA_REFP_MOVE_DIST_CORR[ n ]
Reference point offset
MD34320 $MA_ENC_INVERS[ n ]
Length measuring system is in the opposite
sense
n: Encoder index, with n = 0, 1, ... (1st encoder, 2nd encoder, etc.)
Note
Machine data with NEWCONFIG effectiveness criterion can be activated either in the part
program with the command NEWCONF or via the user interface by pressing a softkey.
7.4.6
Actual-value resolution
7.4.6.1
Machine data of the actual value resolution
Depending where the measuring system (encoder) is mounted, the following measuring
system types should be taken into account:
Load-side encoder: Direct measuring system (DM)
Motor-side encoder: Indirect measuring system (IM)
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7.4 Setpoint/actual-value system
Parameterizing the actual value resolution depending on the axis type (linear/rotary axis)
The control system calculates the actual value resolution based on the following machine data.
Machine data for calculating the actual value resolution
MD30300 $MA_IS_ROT_AX
MD31000 $MA_ENC_IS_LINEAR[ n ]
MD31010 $MA_ENC_GRID_POINT_DIST[ n ]
Linear axis
Linear axis
Linear scale /
direct measuring
system
Indirect
Direct
measur measuring
ing system
system:
Machine/
tool
Rotary axis
Indirect
measur
ing sys
tem
Direct
measur
ing sys
tem: Ma
chine/tool
Spacing
MD34320 $MA_ENC_INVERS[ n ]
1)
MD31020 $MA_ENC_RESOL[ n ]
Pulses/
rev
Pulses/
rev
Pulses/
rev
Pulses/
rev
MD31025 $MA_ENC_PULSE_MULT[ n ]
Encoder multipli
cation
MD31030 $MA_LEADSCREW_PITCH
mm/rev.
mm/rev.
MD31040 $MA_ENC_IS_DIRECT[ n ]
-/1
MD31044 $MA_ENC_IS_DIRECT2[ n ]
-/1
MD31050 $MA_DRIVE_AX_RATIO_DENOM[ n ]
Load
rev.
-/1
Load
rev.
2)
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[ n ]
Motor
rev. if in
feed
gear avail
able
-/1
Motor
rev.
2)
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[ n ]
Encoder
rev.
Encoder
rev.
Encoder
rev.
Encoder
rev.
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[ n ]
Motorside en
coder 3)
Motor
rev.
Motor
rev.
Load
rev.
- Not relevant
1) For distance-coded measuring systems
2) These machine data are not required for encoder matching (path evaluation). However,
they must be entered correctly for the setpoint calculation! Otherwise the required servo
gain factor (KV) will not be set. The load revolutions are entered into machine data
MD31050 $MA_DRIVE_AX_RATIO_DENOM and the motor revolutions in machine data
MD31060 $MA_DRIVE_AX_RATIO_NUMERA.
3) The encoder on the motor side is a built-in encoder and, therefore, does not have a
measuring gear unit.
The transmission ratio is always 1:1.
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7.4 Setpoint/actual-value system
Machine data of the actual value resolution
The actual-value resolution results from the design of the machine, whether gearboxes are
available and their gear ratio, the leadscrew pitch for linear axes and the resolution of the
encoder being used. The following machine data must be set for this on the control system:
Encoder and parameter set-independent machine data:
$MA_
Meaning
MD30300 IS_ROT_AX
Axis is a rotary axis / spindle
MD31010 ENC_GRID_POINT_DIST
Distance between reference marks of the
linear scale
MD31030 LEADSCREW_PITCH
Leadscrew pitch
MD31064 DRIVE_AX_RATIO2_DENOM
Denominator of attached gearbox
MD31066 DRIVE_AX_RATIO2_NUMERA
Numerator of attached gearbox
Encoder-dependent machine data: $MA_
Meaning
MD31000 ENC_IS_LINEAR[ n ]
Measuring system is a linear scale
MD31020 ENC_RESOL[ n ]
Encoder pulses per revolution
MD31025 ENC_PULSE_MULT[ n ]
Encoder multiplication (high resolution)
MD31040 ENC_IS_DIRECT[ n ]
Direct or indirect measuring system
MD31044 ENC_IS_DIRECT2[ n ]
Encoders installed at the attached gearbox
MD31070 DRIVE_ENC_RATIO_DENOM[ n ]
Measuring gearbox denominator
MD31080 DRIVE_ENC_RATIO_NUMERA[ n ]
Measuring gearbox numerator
n: Encoder index, with n = 0, 1, ... (1st encoder, 2nd encoder, etc.)
Parameter-set-dependent machine data: $MA_
Meaning
MD31050 $MA_DRIVE_AX_RATIO_DENOM[ m ]
Denominator load gearbox
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[ m ]
Numerator load gearbox
m: Parameter set index, with m = 0, 1, ... (1st parameter set, 2nd parameter set, etc.)
Parameterizing the computational resolution
The ratio of control-internal computational resolution to the actual-value resolution is an
indication of how exactly the values calculated by the control system can be implemented on
the machine.
Computational resolution: Linear axes
350
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Computational resolution: Rotary axes
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Machine data
General machine data: $MN_
Meaning
MD10200 INT_INCR_PER_MM
Computational resolution for linear positions
MD10210 INT_INCR_PER_DEG
Computational resolution for angular posi
tions
Recommended setting
The above components and settings that are responsible for the actual-value resolution, should
be selected so that the actual-value resolution is higher than the parameterized computational
resolution.
Computational resolution
Actual-value resolution
7.4.6.2
Example: Linear axis with linear scale
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Figure 7-4
Linear axis with linear scale
The ratio of the internal increments to the encoder increments per mm is calculated as follows:
Internal increments / mm
Encoder increments /mm
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
ENC_GRID_POINT_DIST [n] * INT_INCR_PER_MM
ENC_PULSE_MULT[n]
351
G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
7.4.6.3
Example: Linear axis with rotary encoder on motor
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Linear axis with rotary encoder on motor
The ratio of the internal increments to the encoder increments per mm is calculated as follows:
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Example
Assumptions:
Rotary encoder on the motor: 2048 pulses/revolution
Internal pulse multiplication: 2048
Gearbox, motor / ball screw: 5:1
Leadscrew pitch: 10 mm/revolution
Computational resolution: 10000 increments per mm
Machine data
352
Value
MD30300 $MA_IS_ROT_AX
MD31000 $MA_ENC_IS_LINEAR[0]
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Machine data
Value
MD31040 $MA_ENC_IS_DIRECT[0]
MD31020 $MA_ENC_RESOL[0]
2048
MD31025 $MA_ENC_PULSE_MULT
2048
MD31030 $MA_LEADSCREW_PITCH
10
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0]
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0]
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0]
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0]
MD10210 $MN_INT_INCR_PER_DEG
10000
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An encoder increment corresponds to 0.004768 internal increments or 209.731543 encoder
increments correspond to an internal increment.
7.4.6.4
Example: Linear axis with rotary encoder on the machine
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Figure 7-6
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Linear axis with rotary encoder on the machine
The ratio of the internal increments to the encoder increments per mm is calculated as follows:
Basic Functions
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353
G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
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Rotary axis with rotary encoder on motor
The ratio of the internal increments to the encoder increments per degree is calculated as
follows:
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Example
Assumptions:
Rotary encoder on the motor: 2048 pulses/revolution
Internal pulse multiplication: 2048
Gearbox, motor / rotary axis: 5:1
Computational resolution: 1000 increments per degree
Machine data
Value
MD30300 $MA_IS_ROT_AX
MD31000 $MA_ENC_IS_LINEAR[0]
MD31040 $MA_ENC_IS_DIRECT[0]
MD31020 $MA_ENC_RESOL[0]
2048
MD31025 $MA_ENC_PULSE_MULT
2048
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0]
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0]
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0]
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0]
MD10210 $MN_INT_INCR_PER_DEG
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1000
GHJUHHV
LQFUGHJUHHV
An encoder increment corresponds to 0.017166 internal increments or 58.254689 encoder
increments correspond to an internal increment.
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
7.4.6.6
Example: Rotary axis with rotary encoder on the machine
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Rotary axis with rotary encoder on the machine
The ratio of the internal increments to the encoder increments per degree is calculated as
follows:
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(QFRGHULQFUHPHQWVGHJUHHV
356
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
7.4.6.7
Example: Intermediate gear with encoder on the tool
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Figure 7-9
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Intermediate gear with encoder directly on the rotating tool
The ratio of the internal increments to the encoder increments per degree is calculated as
follows:
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(QFRGHULQFUHPHQWVGHJUHHV
7.5
Closed-loop control
7.5.1
General
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Position control of an axis/spindle
The closed-loop control of an axis consists of the current and speed control loop of the drive
plus a higher-level position control loop in the NC.
The basic structure of an axis/spindle position control is illustrated below:
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
357
G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
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Principle representation of the setpoint processing and closed-loop control
For information on the jerk limitation, see Section "B2: Acceleration (Page 243)".
For a description of the feedforward control, backlash, friction compensation, and leadscrew
error compensation.
References:
Function Manual Extended Functions; Compensations (K3)
Fine interpolation
Using the fine interpolator (FIPO), the contour precision can be further increased by reducing
the staircase effect in the speed setpoint. You can set three different types of fine interpolation:
MD33000 $MA_FIPO_TYPE = <FIPO mode>
<FIPO mode>
Meaning
Differential fine interpolation with mean value generation (smoothing) over an IPO
cycle
Cubic fine interpolation
Cubic fine interpolation optimized for use with the pre-control for the highest contour
precision
Servo gain factor (KV)
In order that few contour deviations occur in the continuous-path mode, a high servo gain factor
(KV) is necessary:
MD32200 $MA_POSCTRL_GAIN[n]
358
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
However, if the servo gain factor (KV) is too high, instability, overshoot and possibly
impermissible high loads on the machine will result.
The maximum permissible servo gain factor (KV) depends on the following:
Design and dynamics of the drive
(rise time, acceleration and braking capacity)
Machine quality
(elasticity, oscillation damping)
Position control cycle or speed control cycle for active DSC
The servo gain factor (KV) is defined as:
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Dynamic response adaptation
Axes that interpolate with one another, but with different servo gain factors (KV) can be set to
the same following error using the dynamic adaptation function. This allows an optimum
contour accuracy to be achieved without loss of control quality by reducing the servo gain
factors (KV) to the dynamically weakest axis.
The function is activated via:
MD32900 $MA_DYN_MATCH_ENABLE = 1 (dynamic response adaptation)
The dynamic response adaptation is realized by entering a new equivalent time constant. It is
calculated from the difference in the equivalent time constant of the dynamically weakest axis
and the axis to be adapted:
MD32910 $MA_DYN_MATCH_TIME [n] = <difference in the equivalent time constant>
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
359
G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
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Figure 7-11
Dynamic response adaptation
Example of a dynamic response adaptation of three axes without speed feedforward control
The equivalent time constant of the position control loop is:
Axis 1:
30 ms
Axis 2:
20 ms
Axis 3:
24 ms
With an equivalent time constant of 30 ms, axis 1 is the dynamically weakest axis.
This results in the following new equivalent time constants for the axes:
Axis 1:
Axis 2:
Axis 3:
MD32910 $MA_DYN_MATCH_TIME = 0 ms
MD32910 $MA_DYN_MATCH_TIME = 30 ms - 20 ms = 10 ms
MD32910 $MA_DYN_MATCH_TIME = 30 ms - 24 ms = 6 ms
Approximation formulas for the equivalent time constant of the position control loop of an axis
The equivalent time constant Tequiv of the position control loop of an axis is approximately
calculated depending on the type of feedforward control:
Without feedforward control:
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360
0'326&75/B*$,1>V@
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
With speed feedforward control:
76SDUHV
0'(48,9B63(('&75/B7,0(
For combined torque/speed feedforward control
76SDUHV
0'(48,9B&855&75/B7,0(
Note
If dynamic response adaptation is realized for a geometry axis, then all other geometry axes
must be set to the same dynamic response.
References:
Commissioning Manual CNC: NCK, PLC, Drives
7.5.2
Parameter sets of the position controller
Six parameter sets per machine axis are available to quickly adapt the position control to the
changed machine properties during operation, e.g. a gear change of the spindle, or to adjust
the dynamic response to another axis, e.g. during tapping.
Machine data
A parameter set comprises the following machine data:
Number
Identifier $MA_
Meaning
31050
DRIVE_AX_RATIO_DENOM
Denominator load gearbox
31060
DRIVE_AX_RATIO_NUMERA
Numerator load gearbox
32200
POSCTRL_GAIN
Servo gain factor (KV)
32452
BACKLASH_FACTOR
Backlash compensation
32610
VELO_FFW_WEIGHT
Feedforward control factor
36012
STOP_LIMIT_FACTOR
Exact stop coarse/fine factor and zero speed
32800
EQUIV_CURRCTRL_TIME
Equivalent time constant, current control loop for feed
forward control
32810
EQUIV_SPEEDCTRL_TIME
Equivalent time constant, speed control loop for feed
forward control
32910
DYN_MATCH_TIME
Time constant for dynamic response adaptation
36200
AX_VELO_LIMIT
Threshold value for velocity monitoring
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
Tapping, thread cutting
For tapping or thread cutting, the following applies with regard to the parameter sets of axes:
For machine axes that are not involved in tapping or thread cutting, parameter set 1 (index
= 0) is active. The other parameter sets do not have to be taken into account.
For machine axes that are involved in tapping or thread cutting, the same parameter set
number as that of the current gear stage of the spindle is active.
All parameter sets correspond to the gear stages and must therefore be parameterized.
The current parameter set is displayed on the user interface at:
"Operating area switchover" > "Diagnostics" > "Service axis"
Parameter sets during gear stage change
Each gear stage of a spindle is assigned a separate parameter set. The gear stage is selected
via the following NC/PLC interface signal:
DB31, ... DBX16.0 - 16.2 = <actual gear stage>
Actual gear stage
DB31, ... DBX16.0 - 16.2
Parameter set
1. Gear stage
000
(Index=1)
1. Gear stage
001
(Index=1)
2. Gear stage
010
(Index=2)
3. Gear stage
011
(Index=3)
4. Gear stage
100
(Index=4)
5. Gear stage
101
110
111
(Index=5)
For further information on gear stages for spindles, see Section "S1: Spindles (Page 1199)".
7.6
Optimization of the control
7.6.1
Position controller, position setpoint filter: Balancing filter
Function
With feedforward control active, the position setpoint is sent through a socalled balancing filter
before it reaches the controller itself. It is thus possible to control the speed setpoint to 100%
in advance, without resulting in overshoots when positioning.
Activation
The feedforward control variant is selected and so also the filter activated using the axisspecific machine data:
362
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
MD32620 $MA_FFW_MODE (feedforward control mode)
Value Meaning
3
Speed precontrol
Combined torque/speed precontrol
Activating and deactivating via the part program
Part programs can be used to activate and deactivate the feedforward control for all axes,
using commands FFWON and FFWOF.
If the feedforward control of the individual axes should not be influenced by FFWON/FFWOF, the
setting in the following machine data must be changed for these axes:
MD32630 $MA_FFW_ACTIVATION_MODE (activate feedforward control from program)
Parameterization
Recommended setting for recommissioning
If recommissioning, or if default values have been loaded (switch position 1 on commissioning
switch and POWER ON), the following machine data default values apply:
MD32620 $MA_FFW_MODE = 3
MD32610 $MA_VELO_FFW_WEIGHT (feedforward control factor for the velocity
feedforward control) = 1
The balancing time for the speed feedforward control then just has to be adjusted in the
following machine data:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop for
feedforward control)
Setting the equivalent time constant of the speed control loop (MD32810)
We recommend that the axis be allowed to move in and out in "AUTOMATIC" mode with a
part program and that travel-in to the target position, i.e. the actual position value of the active
measuring system, be monitored with the servo trace.
The initial value for setting is the time constant of the speed control loop. This can be read
from the reference frequency characteristic of the speed control loop. In the frequent case of
a PI controller with speed setpoint smoothing, an approximate equivalent time can be read
from drive machine data p1414, p1415, p1416 and p1421.
This start value (e.g. 1.5 ms) is now entered:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME = 0.0015
The axis then travels forward and backward and the operator monitors a greatly-magnified
characteristic of the actual position value at the target position.
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
The following rules apply to making manual fine adjustments:
Monitoring
Measure
Overshoot
Increase MD32810
Increasing the value slows the axis down but increases the geometric contour error
on curves; similar to reducing the position controller gain: MD32200
$MA_POSCTRL_GAIN. This can be observed on the user interface in the operating
section "Diagnostics" > "Axis service" using the computed KV value.
Excessively slow
approach
Reduce MD32810
Reducing the value speeds the axis up but decreases the geometric contour error
on curves.
MD32810 fine adjustment
Therefore, MD32810 should be assigned as small a value as possible, with the overshoot
setting the limit during positioning. Furthermore, the initial value is only modified slightly during
fine adjustment, typically by adding or deducting 0.25 ms.
For example, if the initial value is 1.5 ms, the optimum value calculated manually is usually
within the range 1.25 ms to 1.75 ms.
In the case of axes equipped with direct measuring systems (load encoders) and strong
elasticity, you may possibly accept small overshoots of some micrometers. These can be
reduced with the help of the position setpoint filter for dynamic response adaptation (MD32910
$MA_DYN_MATCH_TIME) and for jerk (MD32410 $MA_AX_JERK_TIME), which also reduces
the axis speed.
Identical axis data within an interpolation group
All the axes within an interpolation group should have identical settings in the following data:
MD32200 $MA_POSCTRL_GAIN (adapted using MD32910)
MD32620 $MA_FFW_MODE
MD32610 $MA_VELO_FFW_WEIGHT
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (or MD32800
$MA_EQUIV_CURRCTRL_TIME) (dependent on the mechanical system and drive)
MD32400 $MA_AX_JERK_ENABLE
MD32402 $MA_AX_JERK_MODE
MD32410 $MA_AX_JERK_TIME
The servo gain display (KV) of the user interface in operating section "Diagnostics" > "Axis
service" is used for checking.
Non-identical axis data within an interpolation group
If identical values are not possible for the above data, the following machine data can be used
to make an adjustment:
MD32910 $MA_DYN_MATCH_TIME (time constant of dynamic response adaptation)
This allows the same servo gain value (KV) to be displayed.
364
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
Different servo gain display values (KV) usually point to the following:
The gear ratios do not match in one or several axes.
The feedforward control setting data does not match.
Setting the equivalent time constant of the current control loop (MD32800)
The activation of the torque feedforward control filter is performed with:
MD32620 $MA_FFW_MODE = 4
The same rules and recommendations apply to setting the time constant of the current control
loop MD32800 $MA_EQUIV_CURRCTRL_TIME as to the speed feedforward control.
Limitation to stiff machines
Experience has shown that this expenditure is only worthwhile in the case of very stiff
machines, and requires appropriate experience. The elasticities of the machine are often
excited due to the injection of the torque so strongly that the existing vibrations neutralize the
gain in contour accuracy.
In this case, it would be worth trying Dynamic Stiffness Control (DSC) as an alternative:
MD32640 $MA_STIFFNESS_CONTROL_ENABLE = 1
Note
If DSC is to be activated (MD32640 = 1), no parameters may be assigned for actual-value
inversion in the NC (MD32110 $MA_ENC_FEEDBACK_POL = -1).
In DSC mode, actual-value inversion may only be undertaken in the drive (SINAMICS
parameter p0410).
Control response with POWER ON, RESET, REPOS, etc.
In the case of POWER ON and RESET, as well as with "Enable machine data", the setting
data of the feedforward control is read in again (see the appropriate values of the machine
data).
Mode change, block search and REPOS have no influence on the feedforward control.
7.6.2
Position controller, position setpoint filter: Jerk filter
Function
In some applications, such as when milling sculptured surfaces, it can be advantageous to
smooth the position setpoint curves using the jerk filter to obtain better surfaces by reducing
the excitations of machine vibrations. The filter effect of the position setpoints must be as strong
as possible without impermissibly affecting contour accuracy. The smoothing behavior of the
filter must also be as "symmetrical" as possible, i.e. if the same contour was to be traversed
both forward and backward, the characteristic rounded by the filter should be as similar as
possible in both directions.
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
The effect of the filter can be monitored by means of the effective servo gain factor (KV), which
is displayed on the "Axis service" screen form. The filtering effect rounds the position setpoints
slightly, thus reducing the path accuracy so that with increasing filter time a smaller effective
servo gain factor (KV) is displayed.
Note
The jerk filter creates a dependent phase offset for each amplitude setting. Only the additional
use of the phase filter (see "Position controller, position setpoint filter: Phase filter (Page 368)")
permits a transparent setting of the axis dynamic response.
Activation
To activate the axial jerk filter setpoint, the following machine data must be set to "TRUE":
MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)
Parameterization
The axial jerk filter is parameterized via the machine data:
MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limitation)
MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)
Example:
MD32400 $MA_AX_JERK_EN
ABLE
=1
Enable filter calculation
MD32402
$MA_AX_JERK_MODE
=2
Filter mode, moving average value
MD32410
$MA_AX_JERK_TIME
= 0.02
Set the filter time in seconds (e.g. 20 ms)
If filter mode:MD32402 $MA_AX_JERK_MODE = 2 was not activated previously, "Power On"
must be initiated once.
Otherwise, "Enable machine data" or "Reset" at the machine control panel are sufficient.
Note
Generally, the filter is set using:MD32402 $MA_AX_JERK_MODE = 2.
366
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
Fine adjustment
The fine adjustment of the jerk filter is carried out as follows:
1. Assess the traversing response of the axis
(e.g. based on positioning processes with servo trace).
2. Modify the filter time in MD32410 $MA_AX_JERK_TIME.
3. Activate the modified time via "Enable machine data" or RESET on the machine control
panel.
Deactivation
Disabling the jerk filter:
1. Block the filter calculation:
MD32400 $MA_AX_JERK_ENABLE = 0
2. Activate the interlock via "Enable machine data" or RESET on the machine control panel.
Boundary conditions
Filter times
The jerk filter is only effective when the time constant (MD32410) is greater than one position
control cycle.
Filter effect
The display of the calculated servo gain factor (KV) in the "Axis service" screen form displays
smaller values than would be appropriate based on the filter effect.
Path accuracy is better than the displayed servo gain (KV) suggests.
Therefore, on resetting MD32400 = 1 to MD32400 = 2, the displayed servo gain (KV) can
be reduced while retaining the same filter time, although the path accuracy improves.
Axes that are interpolating axes with one another
Must be set identically.
Once an optimum value has been identified for these axes, the one with the longest filter
time should be used as the setting for all axes within the interpolation group.
References
For further information on jerk limitation at the interpolator level, see Sections "Jerk limitation
with single-axis interpolation (SOFTA) (axis-specific) (Page 262)" and "Axis/spindlespecific
machine data (Page 291)".
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
7.6.3
Position controller, position setpoint filter: Phase filter
Function
The axial phase filter setpoint (dead time / delay) implements a pure phase shift with which
the setpoint phase response can be influenced. Together with the axial setpoint jerk filter
(MD32402_$MA_AX_JERK_MODE[<Axis>] = 2; see section "Position controller, position
setpoint filter: Jerk filter (Page 365)") it makes it possible to adapt the amplitude response and
the phase response independently of one another to the dynamically weakest of several axes,
which should proceed along a programmed course together.
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Axial phase filter setpoint time constant: 19.2 ms
Figure 7-12
Effect of the axial phase filter setpoint:
Parameter assignment: Time constant
The time constant for the axial phase filter setpoint can be set in the range:
(0 to 64) * position control cycle clock (MD10061 $MN_POSCTRL_CYCLE_TIME)
The value of the time constants must be entered in seconds [s] in the machine data:
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>]
Example: Position control cycle clock: 2 ms adjustable time constant: 0.0 to 0.128 s
Note
The time constant of the phase filter setpoint delays the axis' response characteristics for
tapping, retractions, and exact stops / block changes, etc. It is therefore recommended to set
the time constant as low as possible.
Limiting to a maximum value
A greater time constant than the permitted maximum value (64 * position control cycle clock)
is limited internally to the maximum value. No message / alarm is displayed.
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7.6 Optimization of the control
Parameter assignment: Activation
The function of the axial phase filter setpoint must be activated with the following machine data:
MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = "TRUE"
Examples
Assumption: Position control cycle clock = 2 ms
1. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = "FALSE"
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = <Time constant>
Phase filter setpoint: Not active
Time constant: Irrelevant
2. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = TRUE
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = 0.002
Phase filter setpoint: Active
Time constant: 2 ms the setpoint output is delayed by a position control cycle clock.
3. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = TRUE
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = 0.256
Phase filter setpoint: Active
Set time constant: 256 ms;
maximum possible time constant: 64 * 2 ms = 128 ms
internally effective time constant: 128 ms
Supplementary conditions
SINUMERIK Safety Integrated
The phase filter setpoint delays the output of axial setpoints; e.g. for retractions (ESR for Stop
E). However, the phase filter setpoint has no influence over shutdown processes; e.g. the SBH
activation time.
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7.6 Optimization of the control
7.6.4
Position controller: injection of positional deviation
Preconditions
The function can only be used on axes with two encoders:
MD30200 $MA_NUM_ENCS = 2
One of the encoders must be parameterized as an indirect measuring system and the other
as a direct measuring system:
Direct measuring system:
MD31040 $MA_ENC_IS_DIRECT[1]=1
The encoder for position actual-value acquisition is connected directly to the machine
(load encoder).
Indirect measuring system:
MD31040 $MA_ENC_IS_DIRECT[0]=0
The encoder for position actual-value acquisition is located on the motor (motor
encoder).
Telegram type 136 or 138 must be configured as standard telegram type for PROFIdrive
both in the drive and also in the NC (MD13060 $MN_DRIVE_TELEGRAM_TYPE).
Function
For active injected positional deviation, the difference position between the direct and the
indirect measuring system of an axis is determined and in accordance with the weighting-factor
setting is applied as additional current setpoint for the feedforward control in the position control
cycle. The resulting oscillation damping improves the stability and positioning behavior of the
axis.
Application
The function is used for axes with strong tendency to vibrate.
Effectiveness
The function acts only for axes with small natural frequency (to approximately 20 Hz).
Activation/parameterization
The function is activated by specifying the weighting factor:
MD32950 $MA_POSCTRL_DAMPING (damping of the speed control loop) = <value>
Value range: -100% ... +100%
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7.6 Optimization of the control
An input value "100%" means: A supplementary torque in accordance with SINAMICS
parameter p2003 is applied when the determined position difference between the two
measuring systems reaches the following value:
With linear motors: 1 mm
With linear axis with rotary motor: MD31030 $MA_LEADSCREW_PITCH (leadscrew pitch)
For rotary axis/spindle: 360 degrees
Standard setting is 0. In this case, the injection of positional deviation is inactive.
Note
The weighting factor MD32950 $MA_POSCTRL_DAMPING can be set on the basis of step
responses, for example.
If the control approaches the stability limit (vibration inclination increases), the parameter is
too large or the value has the incorrect sign.
7.6.5
Position control with proportional-plus-integral-action controller
Function
As standard, the core of the position controller is a P controller. It is possible to switch-in an
integral component for special applications (such as an electronic gear). The resulting
proportional-plus-integral-action controller then corrects the error between setpoint and actual
positions down to zero in a finite, settable time period when the appropriate machine data is
set accordingly.
CAUTION
Overshootings of the actual position for activated PI controller
In this instance, you must decide whether this effect is admissible for the application in
question. Knowledge of the control technology and measurements with servo trace are an
absolute prerequisite for using the function. If the appropriate machine data is incorrectly set,
then machines could be damaged due to instability.
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7.6 Optimization of the control
Procedure
1. First optimize the position control loop as a proportional-action controller using the tools
described in the previous subsections.
2. Increase the tolerances of the following machine data while measurements are being taken
to determine the quality of the position control with proportional-plus-integral-action
controller:
MD36020 $MA_POSITIONING_TIME
MD36030 $MA_STANDSTILL_POS_TOL
MD36040 $MA_STANDSTILL_DELAY_TIME
MD36400 $MA_CONTOUR_TOL
3. Activate the position control loop as a proportional-plus-integral-action controller by setting
the following machine data:
MD32220 $MA_POSCTRL_INTEGR_ENABLE ; set value 1
MD32210 $MA_POSCTRL_INTEGR_TIME ; integral time [sec.]
Effect of integral time:
Tn 0:
The control error is corrected quickly; however, the control loop can become instable.
Tn :
Effectiveness of the integral component is almost 0. Behavior of the controller like a
pure proportional controller.
4. Find the right compromise for Tn between these two extreme cases for the application.
Note
Tn must not be chosen too near the stability limit because the occurrence of an instability
can cause machine damage.
It is therefore recommended to set Tn to no less than 1 s.
Use servo trace to trace the travel-in of an automatic program traveling to and from a target
position.
5. Set the servo trace to display the following:
Following error
Actual velocity
Actual position
Reference position
6. Reset the tolerance values in the following machine data to the required values, once the
optimum value for Tn has been identified:
MD36020 $MA_POSITIONING_TIME
MD36030 $MA_STANDSTILL_POS_TOL
MD36040 $MA_STANDSTILL_DELAY_TIME
MD36400 $MA_CONTOUR_TOL
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7.6 Optimization of the control
Supplementary conditions
DSC
If the integrator function is used, DSC (Dynamic Stiffness Control) must be switched off.
Example
Setting result after several iterative processes for KR and Tn.
Machine data settings:
MD32220 $MA_POSCTRL_INTEGR_ENABLE = 1
MD32210 $MA_POSCTRL_INTEGR_TIME = 0.003
MD32200 $MA_POSCTRL_GAIN[1] = 5.0
Parameter set selection 0
Each of the following quantities - following error, actual velocity, actual position, and position
setpoint - has been recorded by servo trace. When traversing in JOG mode, the characteristic
of the individual data shown in the following figure was then drawn.
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G2: Velocities, setpoint / actual value systems, closed-loop control
7.7 Data lists
7.7
Data lists
7.7.1
Machine data
7.7.1.1
Displaying machine data
Number
Identifier: $MM_
Description
9004
DISPLAY_RESOLUTION
Display resolution
9010
SPIND_DISPLAY_RESOLUTION
Display resolution for spindles
9011
DISPLAY_RESOLUTION_INCH
Display resolution for INCH system of measurement
7.7.1.2
NC-specific machine data
Number
Identifier: $MN_
Description
10000
AXCONF_MACHAX_NAME_TAB
Machine axis name
10050
SYSCLOCK_CYCLE_TIME
System basic cycle
10070
IPO_SYSCLOCK_TIME_RATIO
Factor for interpolator cycle
10060
POSCTRL_SYSCLOCK_TIME_RATIO
Factor for position-control cycle
10200
INT_INCR_PER_MM
Computational resolution for linear positions
10210
INT_INCR_PER_DEG
Computational resolution for angular positions
10220
SCALING_USER_DEF_MASK
Activation of scaling factors
10230
SCALING_FACTORS_USER_DEF
Scaling factors of physical quantities
10240
SCALING_SYSTEM_IS_METRIC
Basic system metric
10250
SCALING_VALUE_INCH
Conversion factor for switchover to
inch system
10260
CONVERT_SCALING_SYSTEM
Basic system switchover active
10270
POS_TAB_SCALING_SYSTEM
Measuring system of position tables
10290
CC_TDA_PARAM_UNIT
Physical units of the tool data for CC
10292
CC_TOA_PARAM_UNIT
Physical units of the tool edge data for CC
13050
DRIVE_LOGIC_ADDRESS
Logical drive addresses
13060
DRIVE_TELEGRAM_TYPE
Standard message frame type for PROFIBUS DP
13070
DRIVE_FUNCTION_MASK
DP function used
13080
DRIVE_TYPE_DP
Drive type PROFIBUS DP
7.7.1.3
Channelspecific machine data
Number
Identifier: $MC_
Description
20150
GCODE_RESET_VALUES
Initial setting of the G groups
374
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7.7 Data lists
7.7.1.4
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
30110
CTRLOUT_MODULE_NR
Setpoint assignment: Drive number
30120
CTRLOUT_NR
Setpoint assignment: Setpoint output on drive module
30130
CTRLOUT_TYPE
Output type of setpoint
30200
NUM_ENCS
Number of encoders
30220
ENC_MODULE_NR
Actual value assignment: Drive module number
30230
ENC_INPUT_NR
Actual value assignment: Input on the drive module
30240
ENC_TYPE
Type of actual-value acquisition (position actual value)
30242
ENC_IS_INDEPENDENT
Encoder is independent
30300
IS_ROT_AX
Rotary axis
31000
ENC_IS_LINEAR
Direct measuring system (linear scale)
31010
ENC_GRID_POINT_DIST
Distance between reference marks on linear scales
31020
ENC_RESOL
Encoder pulses per revolution
31030
LEADSCREW_PITCH
Leadscrew pitch
31040
ENC_IS_DIRECT
Encoder is connected directly to the machine
31044
ENC_IS_DIRECT2
Encoder on intermediate gear
31050
DRIVE_AX_RATIO_DENOM
Denominator load gearbox
31060
DRIVE_AX_RATIO_NUMERA
Numerator load gearbox
31064
DRIVE_AX_RATIO2_DENOM
Intermediate gear denominator
31066
DRIVE_AX_RATIO2_NUMERA
Intermediate gear numerator
31070
DRIVE_ENC_RATIO_DENOM
Measuring gearbox denominator
31080
DRIVE_ENC_RATIO_NUMERA
Measuring gearbox numerator
31090
JOG_INCR_WEIGHT
Weighting of increment for INC/handwheel
31200
SCALING_FACTOR_G70_G71
Factor for converting values when G70/G71 is active
32000
MAX_AX_VELO
Maximum axis velocity
32100
AX_MOTION_DIR
Travel direction
32110
ENC_FEEDBACK_POL
Sign actual value (feedback polarity)
32200
POSCTRL_GAIN
Servo gain factor (KV)
32210
POSCTRL_INTEGR_TIME
Integrator time position controller
32220
POSCTRL_INTEGR_ENABLE
Activation of integral component of position controller
32250
RATED_OUTVAL
Rated output voltage
32260
RATED_VELO
Rated motor speed
32450
BACKLASH
Backlash
32500
FRICT_COMP_ENABLE
Friction compensation active
32610
VELO_FFW_WEIGHT
Feedforward control factor for speed feedforward con
trol
32620
FFW_MODE
Feedforward control mode
32630
FFW_ACTIVATION_MODE
Activate feedforward control from program
32650
AX_INERTIA
Moment of inertia for torque feedforward control
32652
AX_MASS
Axis mass for torque precontrol
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7.7 Data lists
Number
Identifier: $MA_
Description
32711
CEC_SCALING_SYSTEM_METRIC
System of measurement of sag compensation
32800
EQUIV_CURRCTRL_TIME
Equivalent time constant current control loop for feed
forward control
32810
EQUIV_SPEEDCTRL_TIME
Equivalent time constant speed control loop for feed
forward control
32890
DESVAL_DELAY_ENABLE
Axial phase filter setpoint
32895
DESVAL_DELAY_TIME
Time constant for the axial phase filter setpoint
32900
DYN_MATCH_ENABLE
Dynamics matching
32910
DYN_MATCH_TIME [n]
Time constant for dynamic response adaptation
32930
POSCTRL_OUT_FILTER_ENABLE
Activation of low-pass filter at position controller output
32950
POSCTRL_DAMPING
Damping of the speed control loop
33000
FIPO_TYPE
Fine interpolator type
34320
ENC_INVERS[n]
Length measuring system is inverse
35100
SPIND_VELO_LIMIT
Maximum spindle speed
36200
AX_VELO_LIMIT [n]
Threshold value for velocity monitoring
36210
CTRLOUT_LIMIT[n]
Maximum speed setpoint
36400
AX_JERK_ENABLE
Axial jerk limitation
36410
AX_JERK_TIME
Time constant for axial jerk filter
36500
ENC_CHANGE_TOL
Max. tolerance for position actual-value switchover
36510
ENC_DIFF_TOL
Measuring system synchronism tolerance
36700
ENC_COMP_ENABLE[n]
Interpolatory compensation
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8.1
Brief description
8.1.1
Function
Auxiliary functions permit activation of the system functions of the NCK and PLC user functions.
Auxiliary functions can be programmed in:
Part programs
Synchronized actions
User cycles
For detailed information on the use of auxiliary function outputs in synchronized actions, see:
References:
Function Manual, Synchronized Actions
Predefined auxiliary functions
Predefined auxiliary functions activate system functions. The auxiliary function is also output
to the NC/PLC interface.
The following auxiliary functions are predefined:
Type
Function
Example
Meaning
Additional function
M30
End of program
Spindle function
S100
Spindle speed 100 (e.g. rpm)
Tool number
T3
Tool number 3
D, DL
Tool offset
D1
Tool cutting edge number 1
Feedrate
F1000
Feedrate 1000 (e.g. mm/min)
Userdefined auxiliary functions
User-defined auxiliary functions are either extended predefined auxiliary functions or userspecific auxiliary functions.
Extension of predefined auxiliary functions
Extension of predefined auxiliary functions refers to the "address extensions" parameter. The
address extension defines the number of the spindle to which the auxiliary function applies.
The spindle function M3 (spindle right) is predefined for the master spindle of a channel. If a
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8.1 Brief description
2nd spindle is assigned to a channel, a corresponding user-defined auxiliary function must be
defined that extends the predefined auxiliary function.
Type
Function
Example
Meaning
Additional function
M2=3
2nd spindle: Spindle right
Spindle function
S2=100
2nd spindle: Spindle speed = 100 (e.g. rpm)
Tool number
T2=3
User-specific auxiliary functions
User-specific auxiliary functions do not activate system functions. User-specific auxiliary
functions are output to the NC/PLC interface only. The functionality of the auxiliary functions
must be implemented by the machine manufacturer / user in the PLC user program.
Type
Function
Example
Meaning
Auxiliary function
H2=5
User-specific function
1)
8.1.2
1)
Recommendation
Definition of an auxiliary function
An auxiliary function is defined by the following parameters:
Type, address extension and value
The three parameters are output to the NC/PLC interface.
Output behavior
The auxiliary function-specific output behavior defines for how long an auxiliary function is
output to the NC/PLC interface and when it is output relative to the traversing motion
programmed in the same part program block.
Group assignment
An auxiliary function can be assigned to a particular auxiliary function group. The output
behavior can be defined separately for each auxiliary function group. This becomes active
if no auxiliary function-specific output behavior has been defined. Group membership also
affects output of an auxiliary function after block search.
For more detailed information on auxiliary function output to the NC/PLC interface, see Section
"P3: Basic PLC program for SINUMERIK 840D sl (Page 821)".
8.1.3
Overview of the auxiliary functions
M functions
M (special function)
Address extension
Value
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
0 (implicit)
---
0 ... 99
INT
Function
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8.1 Brief description
M (special function)
Remarks:
The address extension is 0 for the range between 0 and 99.
Mandatory without address extension: M0, M1, M2, M17, M30
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
1 ... 20
Spindle number
1 ... 99
INT
Function
Remarks:
M3, M4, M5, M19, M70 with address extension as the spindle number. (e.g. M2=5; spindle stop for spindle 2).
Without an address extension, the function influences the master spindle.
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
0 ... 99
Any
100 ... 2147483647
INT
Function
Remarks:
User-specific M functions.
8)
See "Meaning of footnotes" at the end of the overview.
Use
Controlling machine functions in synchronism with the part program.
Further information
The following M functions have a predefined meaning: M0, M1, M2, M17, M30
M3, M4, M5, M6, M19, M70, M40, M41, M42, M43, M44, M45.
For each M function (M0 - M99), there is a dynamic signal at the NC/PLC interface that
indicates the validity (new output) of the M function. In addition, 64 further signals can be
assigned for user M functions (see Section "P3: Basic PLC program for SINUMERIK 840D
sl (Page 821)").
For subprograms, machine data can be used to set whether an output of the M function
should be undertaken for the end of the part program M17, M2 and M30 to the PLC:
MD20800 $MC_SPF_END_TO_VDI (subprogram end to PLC)
For the predefined M function M40 M45, only limited redefinition of the output specification
is possible.
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H2: Auxiliary function outputs to PLC
8.1 Brief description
The predefined auxiliary functions M0, M1, M17, M30, M6, M4, M5 cannot be redefined.
M function-specific machine data:
MD10800 $MN_EXTERN_CHAN_SYNC_M_NO_MIN
MD10802 $MN_EXTERN_CHAN_SYNC_M_NO_MAX
MD10804 $MN_EXTERN_M_NO_SET_INT
MD10806 $MN_EXTERN_M_NO_DISABLE_INT
MD10814 $MN_EXTERN_M_NO_MAC_CYCLE
MD10815 $MN_EXTERN_M_NO_MAC_CYCLE_NAME
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR
MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO
MD22200 $MC_AUXFU_M_SYNC_TYPE
MD22530 $MC_TOCARR_CHANGE_M_CODE
MD22532 $MC_GEOAX_CHANGE_M_CODE
MD22534 $MC_TRAFO_CHANGE_M_CODE
MD22560 $MC_TOOL_CHANGE_M_CODE
S functions
S (spindle function)
Address extension
Value
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
0 ... 20
Spindle number 5)
0 ... 3.4028 exp38 3)
REAL
Spindle speed
Remarks:
The master spindle of the channel is addressed if no address extension is specified.
3)
, 5), 8) See "Meaning of footnotes" at the end of the overview.
Use
Spindle speed.
Further information
S functions are assigned to auxiliary function group 3 by default.
Without an address extension, the S functions refer to the master spindle of the channel.
S function-specific machine data:
MD22210 $MC_AUXFU_S_SYNC_TYPE (output time of the S functions)
H functions
H (aux. function)
Address extension
Range of values
380
Value
Meaning
Range of values
Type
Meaning
Number 8)
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H2: Auxiliary function outputs to PLC
8.1 Brief description
H (aux. function)
0 ... 99
Any
- 2147483648 ...
+ 2147483647
INT
0 ... 3.4028 exp38 2) 3) 4)
REAL
Any
Remarks:
The functionality must be implemented by the user in the PLC user program.
2) 3) 4) 8)
See "Meaning of footnotes" at the end of the overview.
Use
User-specific auxiliary functions.
Further information
H function-specific machine data:
MD22110 $MC_AUXFU_H_TYPE_INT (type of H-auxiliary function is an integer)
MD22230 $MC_AUXFU_H_SYNC_TYPE (output time of the H functions)
T functions
T (tool number) 5) 6)
Address extension
Value
Range of values
Meaning
Range of values
1 ... 12
Spindle number
0 ... 32000
(with active tool man (also symbolic tool names for
agement)
active tool management)
Type
Meaning
Number 8)
INT
Selection of the tool
Remarks:
Tool names are not output to the PLC. 1)
1) 5) 6) 8)
See "Meaning of footnotes" at the end of the overview.
Use
Tool selection.
Further information
Identification of the tools, optionally via tool number or location number (see Section "W1:
Tool offset (Page 1363)").
References:
Function Manual Tool Management
When T0 is selected, the current tool is removed from the toolholder but not replaced by a
new tool (default setting).
T function-specific machine data:
MD22220 $MC_AUXFU_T_SYNC_TYPE (output time of the T functions)
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H2: Auxiliary function outputs to PLC
8.1 Brief description
D functions
D (tool offset)
Address extension
Value
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
---
---
0 ... 9
INT
Selection of the tool
offset
Remarks:
Clearing the tool offset with D0. Default is D1.
8)
See "Meaning of footnotes" at the end of the overview.
Use
Selection of the tool offset.
Further information
Initial setting: D1
After a tool change, the default tool cutting edge can be parameterized via:
MD20270 $MC_CUTTING_EDGE_DEFAULT (basic position of the tool cutting edge
without programming)
Deselection of the tool offset: D0
D function-specific machine data:
MD22250 $MC_AUXFU_D_SYNC_TYPE (output time of the D functions)
DL functions
DL (additive tool offset)
Address extension
Value
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
---
---
0 ... 6
INT
Selection of the addi 1
tive tool offset
Remarks:
The additive tool offset selected with DL refers to the active D number.
8)
See "Meaning of footnotes" at the end of the overview.
Use
Selection of the additive tool offset with reference to an active tool offset.
Further information
Initial setting: DL = 0
DL values cannot be output to the PLC via synchronized actions.
Default setting of the additive tool offset without an active DL function:
MD20272 $MC_SUMCORR_DEFAULT (basic setting of the additive offset without a
program)
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H2: Auxiliary function outputs to PLC
8.1 Brief description
Deselection of the additive tool offset: DL = 0
DL function-specific machine data:
MD22252 $MC_AUXFU_DL_SYNC_TYPE (output time DL functions)
F functions
F (feedrate)
Address extension
Value
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
---
---
0.001 ... 999 999.999
REAL
Path feedrate
Remarks:
--8)
See "Meaning of footnotes" at the end of the overview.
Use
Path velocity.
Further information
F function-specific machine data:
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of F functions)
FA functions
FA (axial feedrate)
Address extension
Value
Range of values
Meaning
Range of values
Type
Meaning
Number 8)
1 - 31
Axis number
0.001 ... 999 999.999
REAL
Axial feedrate
Remarks:
--8)
See "Meaning of footnotes" at the end of the overview.
Use
Axial velocity.
Further information
F function-specific machine data:
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of F functions)
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H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Meaning of footnotes
1)
2)
3)
4)
5)
6)
7)
8)
8.2
If tool management is active, neither a T change signal nor a T word is output to the interface
(channel).
The type for the values can be selected by the user via MD22110 $MC_AUX
FU_H_TYPE_INT.
Because of the limited display options on the operator panel screens, the REAL type values
displayed are restricted to:
999 999 999.9999 to 999 999 999.9999
The NC calculates internally but with complete accuracy.
The REAL values are rounded and output to the PLC when setting the machine data:
MD22110 $MC_AUXFU_H_TYPE_INT = 1 (type of H-auxiliary functions is an integer)
The PLC user program must interpret the value transferred according to the machine data
setting.
If the tool management is active, the meaning of the address extension can be parameter
ized. Address extension = 0 means the value must be replaced by that of the master spindle
number, i.e. it is equivalent to not programming the address extension.
Auxiliary functions M19 "Position spindle" collected during a block search are not output
to the PLC.
M6: Range of values of the address extension:
- without tool management: 0 ... 99
- with tool management: 0 ... maximum spindle number
0: to be replaced by the value of the master spindle number or master toolholder
If tool management is active, the auxiliary function M6 "Tool change" can only be program
med once in a part program block, irrespective the address extensions that are program
med.
Maximum number of auxiliary functions per part program block.
Predefined auxiliary functions
Function
Every pre-defined auxiliary function is assigned to a system function and cannot be changed.
If a pre-defined auxiliary function is programmed in a part program/cycle, then this is output to
the PLC via the NC/PLC interface and the corresponding system function is executed in the
NCK.
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H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Definition of a predefined auxiliary function
The parameters of the predefined auxiliary function are stored in machine data and can be
changed in some cases. All machine data, which are assigned to an auxiliary function, have
the same index <n>.
MD22040 $MC_AUXFU_PREDEF_GROUP[<n>] (group assignment of predefined
auxiliary functions)
MD22050 $MC_AUXFU_PREDEF_TYPE[<n>] (type of predefined auxiliary functions)
MD22060 $MC_AUXFU_PREDEF_EXTENSION[<n>] (address extension for predefined
auxiliary functions)
MD22070 $MC_AUXFU_PREDEF_VALUE[<n>] (value of predefined auxiliary functions)
MD22080 $MC_AUXFU_PREDEF_SPEC[<n>] (output behavior of predefined auxiliary
functions)
8.2.1
Overview: Predefined auxiliary functions
Significance of the parameters listed in the following tables:
Parameter
Meaning
Index <n>
Machine data index of the parameters of an auxiliary function
Type
MD22050 $MC_AUXFU_PREDEF_TYPE[<n>]
Address extension
MD22060 $MC_AUXFU_PREDEF_EXTENSION[<n>]
Value
MD22070 $MC_AUXFU_PREDEF_VALUE[<n>]
Group
MD22040 $MC_AUXFU_PREDEF_GROUP[<n>]
Predefined auxiliary functions
General auxiliary functions, Part 1
System function
Index <n>
Type
Address ex
tension
Value
Group
Stop
Conditional stop
End of subprogram
17
30
(0)
6 1)
(1)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
(2)
Spindle left
(2)
Tool change
Spindle-specific auxiliary functions, spindle 1
System function
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
385
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 1
System function
Index <n>
Type
Address ex
tension
Value
Group
Spindle stop
Position spindle
(2)
19
Axis mode
10
Automatic gear stage
11
40
(4)
Gear stage 1
12
41
(4)
Gear stage 2
13
42
(4)
Gear stage 3
14
43
(4)
Gear stage 4
15
44
(4)
Gear stage 5
16
45
(4)
Spindle speed
17
-1
(3)
Index <n>
Type
Address ex
tension
Value
Group
Feedrate
18
-1
(1)
Cutting edge selection
19
-1
(1)
DL
20
-1
(1)
Tool selection
21
(0)
-1
(1)
Stop (associated)
22
-1 3)
Conditional stop (associated)
23
-1
4)
5)
70
(2)
2)
(2)
General auxiliary functions, Part 2
System function
End of subprogram
24
-1
Nibbling
25
20 6)
(10)
Nibbling
26
23 6)
(10)
Nibbling
27
22 6)
(11)
Nibbling
28
Nibbling
29
Nibbling
30
Nibbling
Nibbling
25
6)
(11)
26 6)
(12)
122 6)
(11)
31
125
(11)
32
27 6)
(12)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
33
(72)
Spindle left
34
(72)
Spindle stop
35
(72)
Position spindle
36
19
Axis mode
37
Automatic gear stage
38
6)
Spindle-specific auxiliary functions, spindle 2
System function
386
70
2)
40
(72)
(72)
(74)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 2
System function
Index <n>
Type
Address ex
tension
Value
Group
Gear stage 1
39
41
(74)
Gear stage 2
40
42
(74)
Gear stage 3
41
43
(74)
Gear stage 4
42
44
(74)
Gear stage 5
43
45
(74)
Spindle speed
44
-1
(73)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
45
(75)
Spindle left
46
(75)
Spindle stop
47
(75)
Position spindle
48
19
Axis mode
49
Automatic gear stage
50
40
(77)
Gear stage 1
51
41
(77)
Gear stage 2
52
42
(77)
Gear stage 3
53
43
(77)
Gear stage 4
54
44
(77)
Gear stage 5
55
45
(77)
Spindle speed
56
-1
(76)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
57
(78)
Spindle left
58
(78)
Spindle stop
59
(78)
Spindle-specific auxiliary functions, spindle 3
System function
70
2)
(75)
(75)
Spindle-specific auxiliary functions, spindle 4
System function
Position spindle
60
19
(78)
Axis mode
61
70 2)
(78)
Automatic gear stage
62
40
(80)
Gear stage 1
63
41
(80)
Gear stage 2
64
42
(80)
Gear stage 3
65
43
(80)
Gear stage 4
66
44
(80)
Gear stage 5
67
45
(80)
Spindle speed
68
-1
(79)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
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H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 5
System function
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
69
(81)
Spindle left
70
(81)
Spindle stop
71
(81)
Position spindle
72
19
Axis mode
73
Automatic gear stage
74
40
(83)
Gear stage 1
75
41
(83)
Gear stage 2
76
42
(83)
Gear stage 3
77
43
(83)
Gear stage 4
78
44
(83)
Gear stage 5
79
45
(83)
Spindle speed
80
-1
(82)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
81
(84)
Spindle left
82
(84)
Spindle stop
83
(84)
70
2)
(81)
(81)
Spindle-specific auxiliary functions, spindle 6
System function
Position spindle
84
19
(84)
Axis mode
85
70 2)
(84)
Automatic gear stage
86
40
(86)
Gear stage 1
87
41
(86)
Gear stage 2
88
42
(86)
Gear stage 3
89
43
(86)
Gear stage 4
90
44
(86)
Gear stage 5
91
45
(86)
Spindle speed
92
-1
(85)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
93
(87)
Spindle left
94
(87)
Spindle stop
95
(87)
Position spindle
96
19
Axis mode
97
Spindle-specific auxiliary functions, spindle 7
System function
388
70
2)
(87)
(87)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 7
System function
Index <n>
Type
Address ex
tension
Value
Group
Automatic gear stage
98
40
(89)
Gear stage 1
99
41
(89)
Gear stage 2
100
42
(89)
Gear stage 3
101
43
(89)
Gear stage 4
102
44
(89)
Gear stage 5
103
45
(89)
Spindle speed
104
-1
(88)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
105
(90)
Spindle left
106
(90)
Spindle stop
107
(90)
Position spindle
108
19
Axis mode
109
Automatic gear stage
110
40
(92)
Gear stage 1
111
41
(92)
Gear stage 2
112
42
(92)
Gear stage 3
113
43
(92)
Gear stage 4
114
44
(92)
Gear stage 5
115
45
(92)
Spindle speed
116
-1
(91)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
117
(93)
Spindle left
118
(93)
Spindle stop
119
(93)
Position spindle
120
19
Axis mode
121
Automatic gear stage
122
40
(95)
Gear stage 1
123
41
(95)
Gear stage 2
124
42
(95)
Gear stage 3
125
43
(95)
Gear stage 4
126
44
(95)
Gear stage 5
127
45
(95)
Spindle speed
128
-1
(94)
Spindle-specific auxiliary functions, spindle 8
System function
70
2)
(90)
(90)
Spindle-specific auxiliary functions, spindle 9
System function
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
70
2)
(93)
(93)
389
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 10
System function
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
129
10
(96)
Spindle left
130
10
(96)
Spindle stop
131
10
(96)
Position spindle
132
10
19
Axis mode
133
10
Automatic gear stage
134
10
40
(98)
Gear stage 1
135
10
41
(98)
Gear stage 2
136
10
42
(98)
Gear stage 3
137
10
43
(98)
Gear stage 4
138
10
44
(98)
Gear stage 5
139
10
45
(98)
Spindle speed
140
10
-1
(97)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
141
11
(99)
Spindle left
142
11
(99)
Spindle stop
143
11
(99)
Position spindle
144
11
19
(99)
Axis mode
145
11
70 2)
(99)
Automatic gear stage
146
11
40
(101)
Gear stage 1
147
11
41
(101)
Gear stage 2
148
11
42
(101)
Gear stage 3
149
11
43
(101)
Gear stage 4
150
11
44
(101)
Gear stage 5
151
11
45
(101)
Spindle speed
152
11
-1
(100)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
153
11
(102)
Spindle left
154
12
(102)
Spindle stop
155
12
(102)
Position spindle
156
12
19
Axis mode
157
12
70
2)
(96)
(96)
Spindle-specific auxiliary functions, spindle 11
System function
Spindle-specific auxiliary functions, spindle 12
System function
390
70
2)
(102)
(102)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 12
System function
Index <n>
Type
Address ex
tension
Value
Group
Automatic gear stage
158
12
40
(104)
Gear stage 1
159
12
41
(104)
Gear stage 2
160
12
42
(104)
Gear stage 3
161
12
43
(104)
Gear stage 4
162
12
44
(104)
Gear stage 5
163
12
45
(104)
Spindle speed
164
12
-1
(103)
Index <n>
Type
Address ex
tension
Value
Group
165
13
(105)
Spindle left
166
13
(105)
Spindle stop
167
13
(105)
Position spindle
168
13
19
Axis mode
169
13
Automatic gear stage
170
13
40
(107)
Gear stage 1
171
13
41
(107)
Gear stage 2
172
13
42
(107)
Gear stage 3
173
13
43
(107)
Gear stage 4
174
13
44
(107)
Gear stage 5
175
13
45
(107)
Spindle speed
176
13
-1
(106)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
177
14
(108)
Spindle left
178
14
(108)
Spindle stop
179
14
(108)
Position spindle
180
14
19
Axis mode
181
14
Automatic gear stage
182
14
40
(110)
Gear stage 1
183
14
41
(110)
Gear stage 2
184
14
42
(110)
Gear stage 3
185
14
43
(110)
Gear stage 4
186
14
44
(110)
Gear stage 5
187
14
45
(110)
Spindle speed
188
14
-1
(109)
Spindle-specific auxiliary functions, spindle 13
System function
Spindle right
70
2)
(105)
(105)
Spindle-specific auxiliary functions, spindle 14
System function
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
70
2)
(108)
(108)
391
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 15
System function
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
189
15
(111)
Spindle left
190
15
(111)
Spindle stop
191
15
(111)
Position spindle
192
15
19
Axis mode
193
15
Automatic gear stage
194
15
40
(113)
Gear stage 1
195
15
41
(113)
Gear stage 2
196
15
42
(113)
Gear stage 3
197
15
43
(113)
Gear stage 4
198
15
44
(113)
Gear stage 5
199
15
45
(113)
Spindle speed
200
15
-1
(112)
Index <n>
Type
Address ex
tension
Value
Group
201
16
(114)
Spindle left
202
16
(114)
Spindle stop
203
16
(114)
Position spindle
204
16
19
(114)
Axis mode
205
16
70 2)
(114)
Automatic gear stage
206
16
40
(116)
Gear stage 1
207
16
41
(116)
Gear stage 2
208
16
42
(116)
Gear stage 3
209
16
43
(116)
Gear stage 4
210
16
44
(116)
Gear stage 5
211
16
45
(116)
Spindle speed
212
16
-1
(115)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
213
17
(117)
Spindle left
214
17
(117)
Spindle stop
215
17
(117)
Position spindle
216
17
19
Axis mode
217
17
70
2)
(111)
(111)
Spindle-specific auxiliary functions, spindle 16
System function
Spindle right
Spindle-specific auxiliary functions, spindle 17
System function
392
70
2)
(117)
(117)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 17
System function
Index <n>
Type
Address ex
tension
Value
Group
Automatic gear stage
218
17
40
(119)
Gear stage 1
219
17
41
(119)
Gear stage 2
220
17
42
(119)
Gear stage 3
221
17
43
(119)
Gear stage 4
222
17
44
(119)
Gear stage 5
223
17
45
(119)
Spindle speed
224
17
-1
(118)
Index <n>
Type
Address ex
tension
Value
Group
225
18
(120)
Spindle left
226
18
(120)
Spindle stop
227
18
(120)
Position spindle
228
18
19
Axis mode
229
18
Automatic gear stage
230
18
40
(122)
Gear stage 1
231
18
41
(122)
Gear stage 2
232
18
42
(122)
Gear stage 3
233
18
43
(122)
Gear stage 4
234
18
44
(122)
Gear stage 5
235
18
45
(122)
Spindle speed
236
18
-1
(121)
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
237
19
(123)
Spindle left
238
19
(123)
Spindle stop
239
19
(123)
Position spindle
240
19
19
Axis mode
241
19
Automatic gear stage
242
19
40
(125)
Gear stage 1
243
19
41
(125)
Gear stage 2
244
19
42
(125)
Gear stage 3
245
19
43
(125)
Gear stage 4
246
19
44
(125)
Gear stage 5
247
19
45
(125)
Spindle speed
248
19
-1
(124)
Spindle-specific auxiliary functions, spindle 18
System function
Spindle right
70
2)
(120)
(120)
Spindle-specific auxiliary functions, spindle 19
System function
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
70
2)
(123)
(123)
393
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Spindle-specific auxiliary functions, spindle 20
System function
Index <n>
Type
Address ex
tension
Value
Group
Spindle right
249
20
(126)
Spindle left
250
20
(126)
Spindle stop
251
20
(126)
Position spindle
252
20
19
Axis mode
253
20
Automatic gear stage
254
20
40
(128)
Gear stage 1
255
20
41
(128)
Gear stage 2
256
20
42
(128)
Gear stage 3
257
20
43
(128)
Gear stage 4
258
20
44
(128)
Gear stage 5
259
20
45
(128)
Spindle speed
260
20
-1
(127)
70
2)
(126)
(126)
Toolholder-specific auxiliary functions, T auxiliary functions
System function
394
Index <n>
Type
Address ex
tension
Value
Group
Tool selection
261
-1
129
Tool selection
262
-1
130
Tool selection
263
-1
131
Tool selection
264
-1
132
Tool selection
265
-1
133
Tool selection
266
-1
134
Tool selection
267
-1
135
Tool selection
268
-1
136
Tool selection
269
-1
137
Tool selection
270
10
-1
138
Tool selection
271
11
-1
139
Tool selection
272
12
-1
140
Tool selection
273
13
-1
141
Tool selection
274
14
-1
142
Tool selection
275
15
-1
143
Tool selection
276
16
-1
144
Tool selection
277
17
-1
145
Tool selection
278
18
-1
146
Tool selection
279
19
-1
147
Tool selection
280
20
-1
148
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
Toolholder-specific auxiliary functions, M6 auxiliary functions
System function
Index <n>
Type
Address ex
tension
Value
Group
Tool change
281
6 1)
149
Tool change
282
6 1)
150
Tool change
283
1)
151
Tool change
284
6 1)
152
Tool change
285
1)
153
Tool change
286
6 1)
154
Tool change
287
1)
155
Tool change
288
1)
156
Tool change
289
6 1)
157
Tool change
290
10
1)
158
Tool change
291
11
6 1)
159
Tool change
292
12
1)
160
Tool change
293
13
1)
161
Tool change
294
14
6 1)
162
Tool change
295
15
1)
163
Tool change
296
16
6 1)
164
Tool change
297
17
1)
165
Tool change
298
18
6 1)
166
Tool change
299
19
1)
167
Tool change
300
20
1)
168
Legend:
( ) The value can be changed.
1)
The value is depends on the machine data:
MD22560 $MC_TOOL_CHANGE_M_MODE (M function for tool change)
2)
The value can be preset with a different value using the following machine data:
3)
4)
MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR (M function for switching over to con
trolled axis mode (ext. mode))
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR (M function for switching over to control
led axis mode)
Note
The value 70 is always output at the PLC.
The value is set using machine data:
MD22254 $MC_AUXFU_ASSOC_M0_VALUE (additional M function for program stop)
The value is set using machine data:
MD22256 $MC_AUXFU_ASSOC_M1_VALUE (additional M function for conditional stop)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
395
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
5)
6)
8.2.2
The value is set using machine data:
MD10714 $MN_M_NO_FCT_EOP (M function for spindle active after reset)
The value is set using machine data:
MD26008 $MC_NIBBLE_PUNCH_CODE (definition of M functions)
Overview: Output behavior
Significance of the parameters listed in the following table:
Parameter
Meaning
Index <n>
Machine data index of the parameters of an auxiliary function
Output behavior
MD22080 $MC_AUXFU_PREDEF_SPEC[<n>], Bits 0 ... 18
Bits 19 ... 31: Reserved
Output behavior of the predefined auxiliary functions
System function
Index <n>
Output behavior, bit
18
17
16
15
14
13
12
11
10
Stop
(0)
(0)
(0) (1)
Conditional stop
(0)
(0)
(0) (1)
End of subroutine
(0)
(0)
(0) (1)
(0)
(0)
(0) (1)
(0)
(0)
(0) (1)
Tool change
(0)
(0) (0) (0) (0) (0) (0) (1) (0) (0) (0) (0) (1)
Spindle right
(0)
(0) (0) (0) (0) (0) (0) (1) (0) (0) (0) (0) (1)
Spindle left
(0)
(0) (0) (0) (0) (0) (0) (1) (0) (0) (0) (0) (1)
Spindle stop
(0)
(0) (0) (0) (0) (0) (0) (1) (0) (0) (0) (0) (1)
Spindle positioning
(0)
(0) (0) (0) (0) (0) (0) (1) (0) (0) (0) (0) (1)
Axis mode
10
(0)
(0) (0) (0) (0) (0) (0) (1) (0) (0) (0) (0) (1)
Automatic gear stage
11
(0)
(0) (0) (0) (0)
(0) (0) (0) (0) (1)
Gear stage 1
12
(0)
(0) (0) (0) (0)
(0) (0) (0) (0) (1)
Gear stage 2
13
(0)
(0) (0) (0) (0)
(0) (0) (0) (0) (1)
Gear stage 3
14
(0)
(0) (0) (0) (0)
(0) (0) (0) (0) (1)
Gear stage 4
15
(0)
(0) (0) (0) (0)
(0) (0) (0) (0) (1)
Gear stage 5
16
(0)
(0) (0) (0) (0)
(0) (0) (0) (0) (1)
Spindle speed
17
(0)
(0) (0) (0)
(0) (1) (0) (0) (0)
(0) (1)
Feed
18
(0)
(0) (0) (0)
(0) (1) (0)
(1)
(0) (1)
Cutting edge selection
19
(0)
(0) (0) (0)
(0) (0) (1)
(0)
(0) (1)
DL
20
(0)
(0) (0) (0)
(0) (0) (1)
(0)
(0) (1)
Tool selection
21
(0)
(0) (0) (0)
(0) (0) (1)
(0)
(0) (1)
Stop (associated)
22
(0)
(0) (1)
396
(0)
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H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
System function
Index <n>
Output behavior, bit
Conditional stop (asso
ciated)
23
(0)
(0)
(0) (1)
End of subroutine
24
(0)
(0)
(0) (1)
Nibbling
25
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
26
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
27
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
28
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
29
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
30
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
31
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
Nibbling
32
(0)
(0) (0) (0) (0) (0) (1) (0)
(0) (0) (0) (1)
( ) The value can be changed.
Significance of the bits
Bit
Meaning
Acknowledgement "normal" after an OB1 cycle
An auxiliary function with normal acknowledgment is output to the NC/PLC interface at the beginning of the OB1 cycle.
The auxiliary function-specific change signal indicates to the PLC user program that the auxiliary function is valid.
The auxiliary function is acknowledged as soon as organization block OB1 has run once. This corresponds to a
complete PLC user cycle.
The auxiliary function with normal acknowledgment is output in synchronism with the part program block in which it
is programmed. If execution of the parts program block, e.g. path and/or positioning axis movements, is completed
before acknowledgment of the auxiliary function, the block change is delayed until after acknowledgment by the PLC.
In continuous-path mode, a constant path velocity can be maintained in conjunction with an auxiliary function with
normal acknowledgment, if the auxiliary function is output by the PLC during the traversing motion and before reaching
the end of the block.
Acknowledgement "quick" with OB40
An auxiliary function with quick acknowledgment is output to the NC/PLC interface before the next OB1 cycle. The
auxiliary function-specific change signal indicates to the PLC user program that the auxiliary function is valid.
The auxiliary function is acknowledged immediately by the PLC basic program in the next OB40 cycle. Acknowledg
ment of the auxiliary function is not confirmation that the corresponding PLC user function has been executed. The
auxiliary function is still executed in the OB1 cycle. Next output of the auxiliary functions to the PLC is therefore not
possible until after this OB1 cycle has run completely. This is noticeable in continuous-path mode (drop in path velocity)
especially if auxiliary functions with quick acknowledgment are output in several consecutive part program blocks.
With auxiliary functions with quick acknowledgment, it cannot be guaranteed that the PLC user program will respond
in synchronism with the block.
Note
Parameterization of the output behavior of auxiliary functions as "quick auxiliary functions" is only possible in con
junction with user-defined auxiliary functions.
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8.2 Predefined auxiliary functions
Bit
Meaning
No predefined auxiliary function
A predefined auxiliary function is treated like a user-defined auxiliary function with this setting. The auxiliary function
then no longer triggers the corresponding system function but is only output to the PLC.
Example:
Reconfiguration of the "Position spindle" auxiliary function (index 9) to a user-defined auxiliary function with normal
acknowledgment and output prior to the traversing motion.
MD22080 $MC_AUXFU_PREDEF_SPEC [ 9 ] = 'H25' (100101B)
No output to the PLC
The auxiliary function is not output to the PLC.
Spindle response after acknowledgement by the PLC
The associated system function is only executed after acknowledgment by the PLC.
Output prior to motion
The auxiliary function is output to the PLC before the traversing motions programmed in the part program block (path
and/or block-related positioning axis movements).
Output during motion
The auxiliary function is output to the PLC during the traversing motions programmed in the part program block (path
and/or block-related positioning axis movements).
Output at block end
The auxiliary function is output to the PLC after the traversing motions programmed in the part program block have
been completed (path and/or block-related positioning axis movements).
Not output after block search, types 1, 2, 4
Block search, types 1, 2, 4: The auxiliary function collected during the block search is not output.
Collection during block search with program test (type 5, SERUPRO)
For a block search with program test, the auxiliary function is collected group-specific in the following system variables:
$AC_AUXFU_M_VALUE[<n>]
$AC_AUXFU_M_EXT[<n>]
$AC_AUXFU_M_STATE[<n>]
10
No output during block search with program test (type 5, SERUPRO)
For block search with program test, the auxiliary function is not output to the PLC.
11
Cross-channel auxiliary function (SERUPRO)
For block search with program test (SERUPRO), the help function is collected on a cross-channel basis in the global
list of the auxiliary functions.
Note
For each auxiliary function group, only the last auxiliary function of the group is always collected.
12
Output performed via synchronized action (read only)
The bit is set if the auxiliary function was output to the PLC via a synchronized action.
13
Implicit auxiliary function (read-only)
The bit is set if the auxiliary function was implicitly output to the PLC.
14
Active M01 (read only)
The bit is set if the auxiliary function, for active M01, was output to the PLC.
15
No output during positioning test run
During the run-in test, the auxiliary function is not output to the PLC.
16
398
Nibbling off
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8.2 Predefined auxiliary functions
Bit
Meaning
17
Nibbling on
18
Nibbling
Note
In the case of auxiliary functions for which no output behavior has been defined, the following
default output behavior is active:
Bit 0 = 1: Output duration one OB1 cycle
Bit 7 = 1: Output at block end
8.2.3
Parameterization
8.2.3.1
Group assignment
The handling of the auxiliary functions for a block search is defined using the group assignment
of an auxiliary function. The 168 auxiliary function groups available are subdivided into
predefined and user-definable groups:
Predefined groups:
User-defined groups:
1 ... 4
10 ... 12
5 ... 9
72 ... 168
13 ... 71
Each predefined auxiliary function is assigned, as standard, to an auxiliary function group. For
most pre-defined auxiliary functions, this assignment can be changed using the following
machine data:
MD22040 $MC_AUXFU_PREDEF_GROUP[<n>] (group assignment of predefined auxiliary
functions)
If an auxiliary function is not assigned to any group, then a value of "0" should be entered into
the machine data.
For the pre-defined auxiliary functions with the following indices <n>, the group assignment
cannot be changed: 0, 1, 2, 3, 4, 22, 23, 24
Note
1. Auxiliary function group and block search
Auxiliary functions of the 1st auxiliary function group are, for a block search, only collected,
but not output.
8.2.3.2
Type, address extension and value
An auxiliary function is programmed via the type, address extension and value parameters
(see Section "Programming an auxiliary function (Page 412)").
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8.2 Predefined auxiliary functions
Type
The identifier of an auxiliary function is defined via the "type," e.g.:
"M"
For additional function
"S"
For spindle function
"F"
For feed
The setting is made via the following machine data:
MD22050 $MC_AUXFU_PREDEF_TYPE[<n>] (type of predefined auxiliary functions)
Note
The "type" cannot be changed for predefined auxiliary functions.
Address extension
The "address extension" of an auxiliary function is for addressing different components of the
same type. In the case of predefined auxiliary functions, the value of the "address extension"
is the spindle number to which the auxiliary function applies.
The setting is made via the following machine data:
MD22060 $MC_AUXFU_PREDEF_EXTENSION[<n>] (address extension for predefined
auxiliary functions)
Grouping together auxiliary functions
To assign an auxiliary function for all spindles of a channel to the same auxiliary function group,
the value "-1" is entered for the "address extension" parameter.
Example:
The auxiliary function M3 (machine data index = 6) is assigned to the second auxiliary function
group for all the channel's spindles.
MD22040 $MC_AUXFU_PREDEF_GROUP[ 6 ]
MD22050 $MC_AUXFU_PREDEF_TYPE[ 6 ]
MD22060 $MC_AUXFU_PREDEF_EXTENSION[ 6 ]
MD22070 $MC_AUXFU_PREDEF_VALUE[ 6 ]
=2
= "M"
= -1
=3
Value
The parameters "value" and "type" define the meaning of an auxiliary function, i.e. the system
function that is activated on the basis of this auxiliary function.
The "value" of an auxiliary function is defined in the machine data:
400
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8.2 Predefined auxiliary functions
MD22070 $MC_AUXFU_PREDEF_VALUE[<n>] (value of predefined auxiliary functions)
Note
The "value" cannot be changed for a predefined auxiliary function. For some predefined
auxiliary functions, the "value" can be reconfigured via additional machine data (see Section
"Associated auxiliary functions (Page 408)").
8.2.3.3
Output behavior
Parameter "Output behavior" defines when the predefined auxiliary function is output to the
NC/PLC interface and when it is acknowledged by the PLC.
The setting is done via the following machine data:
MD22080 $MC_AUXFU_PREDEF_SPEC[<n>] (output behavior of predefined auxiliary
functions)
Output behavior relative to motion
Output prior to motion
The traversing motions (path and/or block-related positioning axis movements) of the
previous part program block end with an exact stop.
The auxiliary functions are output at the beginning of the current parts program block.
The traversing motion of the actual part program block (path and/or positioning axis motion)
is only started after acknowledgment of the auxiliary functions by the PLC:
Output duration one OB1 cycle (normal acknowledgment): after one OB1 cycle
Output duration one OB40 cycle (quick acknowledgment): after one OB40 cycle
Output during motion
The auxiliary functions are output at the beginning of the traversing motions (path and/or
positioning axis movements).
The path velocity of the current parts program block is reduced so that the time to the end
of the block is greater than the time to acknowledgment of the auxiliary functions by the
PLC.
Output duration one OB1 cycle (normal acknowledgment): one OB1 cycle
Output duration one OB40 cycle (quick acknowledgment): one OB40 cycle
Output after motion
The traversing motions (path and/or block-related positioning axis movements) of the
current part program block end with an exact stop.
The auxiliary functions are output after completion of the traversing motions.
The block change is performed after acknowledgment of the auxiliary functions by the PLC:
Output duration one OB1 cycle (normal acknowledgment): after one OB1 cycle
Output duration one OB40 cycle (quick acknowledgment): after one OB40 cycle
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8.2 Predefined auxiliary functions
Examples of different output behavior
The following figures illustrate the differing behavior regarding:
Output and acknowledgment of the auxiliary function
Spindle response (speed change)
Traverse movement (velocity change)
The binary values specified in the diagrams under "Output behavior" refer to the parameterized
output behavior (MD22080).
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
H2: Auxiliary function outputs to PLC
8.2 Predefined auxiliary functions
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8.3
Userdefined auxiliary functions
There are two uses for user-defined auxiliary functions:
Extension of predefined auxiliary functions
User-specific auxiliary functions
Extension of predefined auxiliary functions
Because there is only one set of machine data for the predefined auxiliary functions, they can
only ever be used to address one spindle of the channel. To address further spindles, userdefined auxiliary functions must be parameterized to supplement the predefined auxiliary
functions.
Extension of predefined auxiliary functions refers to the "address extensions" parameter. The
number of the spindle that the auxiliary function refers to is entered in the "address extension"
parameter.
404
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8.3 Userdefined auxiliary functions
The relevant predefined auxiliary functions can be extended for the following system functions:
System function
Type
Address extension 1)
Value
Tool change
Spindle right
Spindle left
Spindle stop
Position spindle
19
Axis mode
70
Automatic gear stage
40
Gear stage 1
41
Gear stage 2
42
Gear stage 3
43
Gear stage 4
44
Gear stage 5
45
Spindle speed
-1
Tool selection
-1
1)
Address extension = 1 is the default value used in the auxiliary functions predefined in the machine
data
Example:
Extension of the predefined auxiliary function for the system function "spindle right" for the
second and third spindle of the channel.
Auxiliary function "spindle right" for the second spindle of the channel:
MD22010 $MC_AUXFU_ASSIGN_TYPE[ n ]
= "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[ n ]
=2
MD22030 $MC_AUXFU_ ASSIGN_VALUE[ n ]
=3
Auxiliary function "spindle right" for the third spindle of the channel:
MD22010 $MC_AUXFU_ ASSIGN_TYPE[ m ]
= "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[ m ]
=3
MD22030 $MC_AUXFU_ ASSIGN_VALUE[ m ]
=3
User-specific auxiliary functions
User-specific auxiliary functions have the following characteristics:
User-specific auxiliary functions only activate user functions.
No system functions can be activated by user-specific auxiliary functions.
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8.3 Userdefined auxiliary functions
A user-specific auxiliary function is output to the PLC according to the parameterized output
behavior.
The functionality of a user-specific auxiliary function is implemented by the machine
manufacturer/user in the PLC user program.
8.3.1
Parameterization
8.3.1.1
Maximum number of user-defined auxiliary functions
The maximum number of user-defined auxiliary function per channel can be parameterized
via the machine data:
MD11100 $MN_AUXFU_MAXNUM_GROUP_ASSIGN (maximum number of user-defined
auxiliary functions)
8.3.1.2
Group assignment
The handling of the auxiliary functions for a block search is defined using the group assignment
of an auxiliary function. The 168 auxiliary function groups available are subdivided into
predefined and user-definable groups:
Predefined groups:
User-defined groups:
1 ... 4
10 ... 12
5 ... 9
72 ... 168
13 ... 71
Every user-defined auxiliary function is assigned as standard to the 1st auxiliary function group.
The assignment can be changed using the following machine data:
MD22000 $MC_AUXFU_ASSIGN_GROUP[<n>] (group assignment of user-defined auxiliary
functions)
If an auxiliary function is not assigned to any group, then a value of "0" should be entered into
the machine data.
Note
1. Auxiliary function group and block search
Auxiliary functions of the 1st auxiliary function group are, for a block search, only collected,
but not output.
8.3.1.3
Type, address extension and value
An auxiliary function is programmed via the type, address extension and value parameters
(see Section "Programming an auxiliary function (Page 412)").
406
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8.3 Userdefined auxiliary functions
Type
The name of an auxiliary function is defined via the "type".
The identifiers for user-defined auxiliary functions are:
Type
Identifier
Meaning
"H"
Auxiliary function
User-specific auxiliary functions
"M"
Special function
"S"
Spindle function
Extension of predefined auxiliary func
tions
"T"
Tool number
The setting is made via the following machine data:
MD22010 $MC_AUXFU_ASSIGN_TYPE[<n>] (type of user-defined auxiliary functions)
Address extension
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[<n>] (address extension user-defined
auxiliary functions)
The functionality of the address extension is not defined in user-specific auxiliary functions. It
is generally used to distinguish between auxiliary functions with the same "value".
Grouping together auxiliary functions
If all the auxiliary functions of the same type and value are assigned to the same auxiliary
function group, a value of "-1" must be entered for the "address extension" parameter.
Example:
All user-specific auxiliary functions with the value "= 8" are assigned to the tenth auxiliary
function group.
MD22000 $MC_AUXFU_ASSIGN_GROUP [ 1 ]
MD22010 $MC_AUXFU_ ASSIGN_TYPE [ 1 ]
MD22020 $MC_AUXFU_ ASSIGN_EXTENSION [ 1 ]
MD22030 $MC_AUXFU_ ASSIGN_VALUE [ 1 ]
= 10
= "H"
= -1
=8
Value
MD22030 $MC_AUXFU_ASSIGN_VALUE[<n>] (value of user-defined auxiliary functions)
The functionality of the "value" parameter is not defined in user-specific auxiliary functions.
The value is generally used to activate the corresponding PLC user function.
Grouping together auxiliary functions
If all the auxiliary functions of the same type and address extension are assigned to the same
auxiliary function group, a value of "-1" must be entered for the "value" parameter.
Example:
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8.4 Associated auxiliary functions
All user-specific auxiliary functions with the address extension "= 2" are assigned to the
eleventh auxiliary function group.
MD22000 $MC_AUXFU_ASSIGN_GROUP [ 2 ]
MD22010 $MC_AUXFU_ ASSIGN_TYPE [ 2 ]
MD22020 $MC_AUXFU_ ASSIGN_EXTENSION [ 2 ]
MD22030 $MC_AUXFU_ ASSIGN_VALUE [ 2 ]
8.3.1.4
= 11
= "H"
=2
= -1
Output behavior
The "output behavior" of user-defined auxiliary functions can be parameterized via the machine
data:
MD22035 $MC_AUXFU_ASSIGN_SPEC[<n>] (output behavior of user-defined auxiliary
functions)
For a description of the individual output parameters, see the "Output behavior (Page 401)"
section of the predefined auxiliary functions. The information given there can be applied
analogously to the output behavior of user-defined auxiliary functions.
8.4
Associated auxiliary functions
Function
Associated auxiliary functions are user-defined auxiliary functions that have the same effect
as the corresponding predefined auxiliary functions. User-defined auxiliary functions can be
associated for the following predefined auxiliary functions:
M0 (stop)
M1 (conditional stop)
Requirements
The precondition for association of a user-defined auxiliary function with one of the predefined
auxiliary functions mentioned is parameterization of a user-defined auxiliary function. Only "M"
is allowed as a "type" parameter of the user-defined auxiliary function.
Parameter assignment
Association of a user-defined auxiliary function with one of the predefined auxiliary functions
mentioned is set in the machine data:
MD22254 $MC_AUXFU_ASSOC_M0_VALUE (additional M function for program stop)
MD22256 $MC_AUXFU_ASSOC_M1_VALUE (additional M function for conditional stop)
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8.4 Associated auxiliary functions
Group assignment
The group assignment of an associated user-defined auxiliary function is always the group
assignment of the corresponding predefined auxiliary function.
Application
Associated auxiliary functions can be used in:
Main program
Subroutine
Cycle
Note
Associated auxiliary functions may not be used in synchronized actions.
NC/PLC interface signals
In the case of an associated user-defined auxiliary function, the same signals are output to the
NC/PLC interface as for the corresponding predefined auxiliary function. To distinguish which
auxiliary function has actually been programmed, the value of the user-defined auxiliary
function ("value" parameter) is output as the value of the auxiliary function. This means it is
possible to distinguish between predefined and user-defined auxiliary functions in the PLC
user program.
Note
A change in machine data MD22254 and/or MD22256 may require corresponding adjustment
of the PLC user program:
Specific NC/PLC interface signals
The following specific NC/PLC interface signals are available:
DB21, ... DBX318.5 (associated M00/M01 active) feedback signal
DB21, ... DBX30.5 (activate associated M01) activation signal
Boundary conditions
Please note the following boundary conditions:
A user-defined auxiliary function may not be multiply associated.
Predefined auxiliary functions (e.g. M3, M4, M5 etc.) may not be associated.
Example
Associating the user-defined auxiliary function M123 with M0:
MD22254 $MC_AUXFU_ASSOC_M0_VALUE = 123
The user-defined auxiliary function M123 thus has the same functionality as M0.
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8.5 Type-specific output behavior
8.5
Type-specific output behavior
Function
The output behavior of auxiliary functions relative to a traversing motions programmed in the
parts program block can be defined type-specifically.
Parameter assignment
Parameters are assigned to type-specific output behavior via the machine data:
MD22200 $MC_AUXFU_M_SYNC_TYPE (output time for M functions)
MD22210 $MC_AUXFU_S_SYNC_TYPE (output time for S functions)
MD22220 $MC_AUXFU_T_SYNC_TYPE (output time for T functions)
MD22230 $MC_AUXFU_H_SYNC_TYPE (output time for H functions)
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time for F functions)
MD22250 $MC_AUXFU_D_SYNC_TYPE (output time for D functions)
MD22252 $MC_AUXFU_DL_SYNC_TYPE (output time for DL functions)
The following output behaviors can be parameterized:
MD $MC_AUXFU_xx_SYNC_TYPE = <value>
Value
Output behavior
Output prior to motion
Output during motion
Output at block end
No output to the PLC
Output according to the output behavior defined with MD22080
For a description of the various output behaviors, see the section titled "Output behavior
(Page 401)".
Note
For the output behavior that can be set for each type of auxiliary function, please refer to the
"Detailed Description of Machine Data" Parameter Manual.
Example
Output of auxiliary functions with different output behaviors in a part program block with
traverse movement.
410
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8.6 Priorities of the output behavior for which parameters have been assigned
Output behavior for which parameters have been assigned:
MD22200 $MC_AUXFU_M_SYNC_TYPE = 1
MD22220 $MC_AUXFU_T_SYNC_TYPE = 0
MD22230 $MC_AUXFU_H_SYNC_TYPE = 2
M function:
Output during motion
T function:
Output prior to motion
H function:
Output at the end of the block
Parts program block:
Program code
...
N10 G01 X100 M07 H5 T5
...
Time sequence for auxiliary function output:
;
7
0
+
W
!6WDUW1
8.6
Priorities of the output behavior for which parameters have been
assigned
The following priorities must be observed for the following areas in connection with the
parameterized output behavior of an auxiliary function:
Output duration (normal / quick acknowledgement)
Output relative to motion (prior to / during / after the motion)
As a general rule, the parameterized output behavior with lower priority becomes active if no
output behavior with higher priority has been parameterized.
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8.7 Programming an auxiliary function
Output duration
The following priorities apply to the output duration:
Priority
Output behavior
Defined via:
Highest
Auxiliary function-specific
Part program instruction: QU()
(see Section "Programmable output duration (Page 414)")
Auxiliary function-specific
MD22035 $MC_AUXFU_ASSIGN_SYNC[<n>]
MD22080 $MC_AUXFU_PREDEF_SYNC[<n>]
Group-specific
MD11110 $MC_AUXFU_GROUP_SPEC[<n>]
Lowest
Not defined
Default output behavior: Output duration one OB1 cycle
Output relative to motion
The following rules apply to output relative to motion:
Priority
Output behavior
Defined via:
Highest
Auxiliary function-specific
MD22035 $MC_AUXFU_ASSIGN_SYNC[<n>]
Group-specific
MD11110 $MC_AUXFU_GROUP_SPEC[<n>]
Type-specific
MD22200 $MC_AUXFU_M_SYNC_TYPE
MD22080 $MC_AUXFU_PREDEF_SYNC[<n>]
MD22210 $MC_AUXFU_S_SYNC_TYPE
MD22220 $MC_AUXFU_T_SYNC_TYPE
MD22230 $MC_AUXFU_H_SYNC_TYPE
MD22240 $MC_AUXFU_F_SYNC_TYPE
MD22250 $MC_AUXFU_D_SYNC_TYPE
MD22252 $MC_AUXFU_DL_SYNC_TYPE
Lowest
Not defined
Default output behavior: Output at block end
Note
Part program blocks without path motion
In a part program block without a path motion (even those with positioning axes and spindles),
the auxiliary functions are all output immediately in a block.
8.7
Programming an auxiliary function
Syntax
An auxiliary function is programmed in a part program block with the following syntax:
<Type>[<Address extension>=]<Value>
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8.7 Programming an auxiliary function
Note
If no address extension is programmed, the address extension is implicitly set = 0.
Predefined auxiliary functions with the address extension = 0 always refer to the master spindle
of the channel.
Symbolic addressing
The values for the "address extension" and "value" parameters can also be specified
symbolically. The symbolic name for the address extension must then be stated in brackets.
Example:
Symbolic programming of the auxiliary function M3 (spindle right) for the first spindle:
Program code
Comment
DEF SPINDEL_NR=1
; First spindle in the channel
DEF DREHRICHTUNG=3
; Clockwise direction of rotation
N100 M[SPINDEL_NR] = DREHRICHTUNG
; corresponding to: M1=3
Note
If you use symbolic names to program an auxiliary function, the symbolic name is not
transferred when the auxiliary function is output to the PLC. The corresponding numerical value
is transferred instead.
Examples
Example 1: Programming of predefined auxiliary functions
Program code
Comment
N10 M3
; "Spindle right" for the master spindle of the channel.
N20 M0=3
; "Spindle right" for the master spindle of the channel.
N30 M1=3
; "Spindle right" for the 1st spindle of the channel.
N40 M2=3
; "Spindle right" for the 2nd spindle of the channel.
Example 2: Programming examples of auxiliary functions with the corresponding values for
output to the PLC
Program code
Comment
DEF Coolant=12
; Output to PLC: - - -
DEF Lubricant=130
; Output to PLC: - - -
H[coolant]=lubricant
; Output to PLC: H12=130
H=coolant
; Output to PLC: H0=12
H5
; Output to PLC: H0=5
H=5.379
; Output to PLC: H0=5.379
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8.8 Programmable output duration
Program code
8.8
Comment
H17=3.5
; Output to PLC: H17=3.5
H[coolant]=13.8
; Output to PLC: H12=13.8
H='HFF13'
; Output to PLC: H0=65299
H='B1110'
; Output to PLC: H0=14
H5.3=21
; Error
Programmable output duration
Function
User-specific auxiliary functions, for which the output behavior "Output duration of an OB1
cycle (slow acknowledgement)" was parameterized, can be defined for individual outputs via
the parts program guide QU (Quick) for auxiliary functions with quick acknowledgement.
Syntax
An auxiliary function with quick acknowledgment is defined in a part program block with the
following syntax:
<Type>[<Address extension>]=QU(<Value>)
Example
Different behavior for the output of the auxiliary functions M100 and M200 in a parts program.
The output behavior of the auxiliary functions is parameterized as follows:
M100
Output duration one OB1 cycle (slow acknowledgment)
Output during motion
M200
Output duration one OB1 cycle (slow acknowledgment)
Output prior to motion
Program code
Comment
N10 G94 G01 X50 M100
; Output of M100: during the motion
; Acknowledgment: slow
N20 Y5 M100 M200
; Output of M200: prior to the motion
; Output of M100: during the motion
; Acknowledgment: slow
N30 Y0 M=QU(100) M=QU(200)
; Output of M200: prior to the motion
; Output of M100: during the motion
; Acknowledgement: quick
N40 X0
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8.9 Auxiliary function output to the PLC
Program code
Comment
N50 M100 M200
; Output of M200: immediate 1)
; Output of M100: immediate 1)
; Acknowledgment: slow
M17
1)
Without a traverse movement, auxiliary functions are always output to the PLC immediately.
The following figure shows the time sequence of the part program. Please note the time
difference during the processing of parts program blocks N20 and N30.
;D[LV
<D[LV
0
0
%ORFNQXPEHU
1
1
1
1
1
0
6WUREHIURP1&.DQG
DFNQRZOHGJPHQWE\EDVLF
0
3/&SURJUDP
0FKDQJH ,6
0FKDQJH ,6
3/&F\FOHWLPH 2%
8.9
2%
Auxiliary function output to the PLC
Function
On output of an auxiliary function to the PLC, the following signals and values are transferred
to the NC/PLC interface:
Change signals
"Address extension" parameter
"Value" parameter
Data areas in the NC/PLC interface
The change signals and values of the auxiliary functions are within the following data areas in
the NC/PLC interface:
Change signals for auxiliary function transfer from NC channel:
DB21, ... DBB58 - DBB67
Transferred M and S functions:
DB21, ... DBB68 - DBB112
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8.10 Auxiliary functions without block change delay
Transferred T, D and DL functions:
DB21, ... DBB116 - DBB136
Transferred H and F functions:
DB21, ... DBB140 - DBB190
Decoded M signals (M0 - M99):
DB21, ... DBB194 - DBB206 (dynamic M functions)
For information on the access procedure to the NC/PLC interface, see Section "P3: Basic PLC
program for SINUMERIK 840D sl (Page 821)".
A detailed description of the above data areas in the NC/PLC interface can be found in:
References:
List Manual, Lists, Book 2; PLC User Interfaces,
Section: Channel-specific signals (DB 21 - DB 30)"
8.10
Auxiliary functions without block change delay
Function
For auxiliary functions with parameterized and/or programmed output behavior, too:
"Output duration one OB40 cycle (quick acknowledgment)"
"Output before the motion" or "Output during the motion"
there may be drops in velocity in continuos-path mode (short traverse paths and high
velocities). This the system has to wait for acknowledgment of the auxiliary function by the
PLC toward the end of the block. To avoid these velocity drops, the block change can be made
irrespective of whether such auxiliary functions have been acknowledged:
Parameter assignment
Suppression of the block change delay with quick auxiliary functions is set via the machine
data:
MD22100 $MC_AUXFU_QUICK_BLOCKCHANGE (block change delay with quick auxiliary
functions)
Value
Meaning
In the case of quick auxiliary function output to the PLC, the block change is delayed until
acknowledgment by the PLC (OB40).
In the case of quick auxiliary function output to the PLC, the block change is not delayed.
Boundary conditions
Synchronism of auxiliary functions that are output without a block change delay is no longer
ensured for the part program block in which they are programmed. In the worst case scenario,
acknowledgment comes one OB40 cycle and execution of the auxiliary function comes one
OB1 cycle after the change to the next part program block.
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8.12 Response to overstore
8.11
M function with an implicit preprocessing stop
Function
Triggering a preprocessing stop in conjunction with an auxiliary function can be programmed
explicitly via the STOPRE part program command. Always triggering a preprocessing stop in
M function programming can be parameterized for each M function via the following machine
data:
MD10713 $MN_M_NO_FCT_STOPRE[<n>] (M function with preprocessing stop)
Example
The user-defined M function M88 is intended to trigger a preprocessing stop.
Parameter assignment:
MD10713 $MN_M_NO_FCT_STOPRE [ 0 ] = 88
Application:
Parts program (extract)
Program code
Comment
...
N100 G0 X10 M88
; Traversing motion and implicit preprocessing stop via M88
N110 Y=R1
; N110 is only interpreted after the traversing motion has
been completed and the M function has been acknowledged.
...
Boundary conditions
If a subroutine called indirectly via an M function in a part program in one of the following ways,
no preprocessing stop is performed:
MD10715 $MN_M_NO_FCT_CYCLE (M function to be replaced by subroutine)
M98 (ISO dialect T / ISO dialect M)
8.12
Response to overstore
Overstore
On the SINUMERIK operator interface, before starting the following functions:
NC START of a part program
NC START to resume an interrupted part program
the auxiliary functions that are output at the start can be changed by the "Overstore" function.
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8.13 Behavior during block search
Possible applications include:
Addition of auxiliary functions after block search
Restoring the initial state to position a part program
Types of auxiliary functions that can be overstored
The following types of auxiliary functions can be overstored:
M (special function)
S (spindle speed)
T (tool number)
H (aux. function)
D (tool offset number)
DL (additive tool offset)
F (feed)
Duration of validity
An overstored auxiliary function, e.g. M3 (spindle right), is valid until it is overwritten by another
auxiliary function from the same auxiliary function group, by additional overstoring or by
programming in a part program block.
8.13
Behavior during block search
8.13.1
Auxiliary function output during type 1, 2, and 4 block searches
Output behavior
In the case of type 1, 2, and 4 block searches, the auxiliary functions are collected on the basis
of specific groups. The last auxiliary function in each auxiliary function group is output after
NC-START in a separate part program block before the actual reentry block, and has the
following output behavior:
Output duration of one OB1 cycle (normal acknowledgement)
Output prior to motion
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8.13 Behavior during block search
Output control
Whether or not the auxiliary function is output to the PLC after a block search can be configured
via bit 8 of the machine data:
MD22080 $MC_AUXFU_PREDEF_SPEC[<n>]
(output behavior of predefined auxiliary functions)
where <n> = system function index (0 ... 32)
MD22035 $MC_AUXFU_ASSIGN_SPEC[<n>]
(output behavior of user-defined auxiliary functions)
where <n> = auxiliary function index (0 ... 254)
MD11110 $MN_AUXFU_GROUP_SPEC[<n>]
(output behavior of the auxiliary functions in a group)
where <n> = group index (0 ... 63)
Bit
10
Value
Meaning
Output during type 1, 2, and 4 block searches
No output during type 1, 2, and 4 block searches
This behavior does not affect the display and does not affect variables
$AC_AUXFU_STATE[<n>], $AC_AUXFU_VALUE[<n>], and $AC_AUXFU_EXT[<n>].
The auxiliary functions are always regarded as collected after a block search, even though
they are not output to the PLC.
During collection, an auxiliary function that is not output after a block search also overwrites
an auxiliary function whose bit 8 is not set.
The user can scan the collected auxiliary functions after a block search and, under certain
circumstances, output them again by means of the subprogram or synchronized actions.
Note
The following auxiliary functions are not collected:
Auxiliary functions which are not assigned to any auxiliary function group.
Auxiliary functions which are assigned to the first auxiliary function group.
Overstorage of auxiliary functions
After completion of a block search, the collected auxiliary functions are ouput on the next NCSTART. If it is necessary to output additional auxiliary functions, they can be added via the
"Overstore" function (see Section "Response to overstore (Page 417)").
M19 behavior (position spindle)
After a block search, the last spindle positioning command programmed with M19 is always
carried out, even if other spindle-specific auxiliary functions are programmed between the part
program with M19 and the target block. Setting the necessary spindle enables must therefore
be derived from the interface signals of the traverse commands in the PLC user program:
DB31, ... DBX64.6/64.7 (traversing command minus/plus)
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8.13 Behavior during block search
In this case, the spindle-specific auxiliary functions M3, M4, and M5 are not suitable because
they might not be output to the PLC until after the spindle positioning.
For detailed information on the block search, see Section "K1: Mode group, channel, program
operation, reset response (Page 455)".
8.13.2
Assignment of an auxiliary function to a number of groups
Function
User-defined auxiliary functions can also be assigned to multiple groups via the group
assignment (MD22000 $MC_AUXFU_ASSIGN_GROUP). During the block search these
auxiliary functions are collected for all the configured groups.
Note
Predefined auxiliary functions can only be assigned to one group.
Example
The DIN includes the following M-commands for coolant output:
M7: Coolant 2 ON
M8: Coolant 1 ON
M9: Coolants 1 and 2 OFF
Consequently, both coolants can also be active together:
If M7 and M8 are collected in two separate groups (e.g. groups 5 and 6)
If M9 has to be assigned to these two groups, e.g.
Group 5: M7, M9
Group 6: M8, M9
Parameterization:
MD11100 $MN_AUXFU_MAXNUM_GROUP_ASSIGN = 4
MD22000 $MC_AUXFU_ASSIGN_GROUP [0] = 5
MD22000 $MC_AUXFU_ASSIGN_GROUP [1] = 5
MD22000 $MC_AUXFU_ASSIGN_GROUP [2] = 6
MD22000 $MC_AUXFU_ASSIGN_GROUP [3] = 6
MD22010 $MC_AUXFU_ASSIGN_TYPE [0] = M
MD22010 $MC_AUXFU_ASSIGN_TYPE [1] = M
MD22010 $MC_AUXFU_ASSIGN_TYPE [2] = M
MD22010 $MC_AUXFU_ASSIGN_TYPE [3] = M
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8.13 Behavior during block search
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [0] = 0
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [1] = 0
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [2] = 0
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [3] = 0
MD22030 $MC_AUXFU_ASSIGN_VALUE [0] = 7
MD22030 $MC_AUXFU_ASSIGN_VALUE [1] = 9
MD22030 $MC_AUXFU_ASSIGN_VALUE [2] = 8
MD22030 $MC_AUXFU_ASSIGN_VALUE [3] = 9
MD22035 $MC_AUXFU_ASSIGN_SPEC [0] = 'H121'
MD22035 $MC_AUXFU_ASSIGN_SPEC [1] = 'H121'
MD22035 $MC_AUXFU_ASSIGN_SPEC [2] = 'H121'
MD22035 $MC_AUXFU_ASSIGN_SPEC [3] = 'H121'
Part program (section):
Program code
...
N10 ... M8
N20 ... M9
N30 ... M7
...
During the block search, the auxiliary function M9 is collected for groups 5 and 6.
Scan of the collected M auxiliary functions:
M function of the fifth group: $AC_AUXFU_M_VALUE [4] = 7
M function of the sixth group: $AC_AUXFU_M_VALUE [5] = 9
8.13.3
Time stamp of the active M auxiliary function
When outputting collected auxiliary functions following a block search, attention must be paid
to the sequence during collecting. For this reason, each group is assigned a time stamp which
can be queried on a group-specific basis by way of the system variable below:
$AC_AUXFU_M_TICK[<n>] (time stamp of the active M auxiliary function)
8.13.4
Determining the output sequence
Function
The following predefined procedure is provided to simplify the process of determining the
output sequence of M auxiliary functions for the programmer:
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8.13 Behavior during block search
AUXFUMSEQ(VAR INT _NUM_IN, VAR INT _M_IN[], VAR INT _EXT_IN[], VAR
INT _NUM_OUT, VAR INT _M_OUT[], VAR INT _EXT_OUT[])
Input parameters:
VAR INT _NUM_IN:
VAR INT _M_IN[]:
VAR INT _EXT_IN[]:
Number of relevant M commands
Field of relevant M codes
Field of relevant M address extensions
Output parameters:
VAR INT _NUM_OUT:
VAR INT _M_OUT[]:
VAR INT _EXT_OUT[]:
Number of determined M codes
Field of determined M codes
Field of determined M address extensions
The function determines the sequence in which the M auxiliary functions, which have been
collected on a group-specific basis, are output for the predefined M codes. The sequence is
determined from the collection times $AC_AUXFU_M_TICK[<n>] (see Section "Time stamp of
the active M auxiliary function (Page 421)").
A particular M code is only taken into account once, even if it belongs to more than one group.
If the number of relevant M commands is less than or equal to 0, all the collected M codes are
output. The number of relevant M commands is limited to 64.
Example
M commands for coolant output:
M7: Coolant 2 ON
M8: Coolant 1 ON
M9: Coolants 1 and 2 OFF
Group assignment:
Group 5: M7, M9
Group 6: M8, M9
Part program (section):
Program code
...
N10 ... M8
N20 ... M9
N30 ... M7
...
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8.13 Behavior during block search
During block searches, the auxiliary functions are collected on the basis of specific groups.
The last auxiliary function in an auxiliary function group is output to the PLC following a block
search:
Group 5: M7
Group 6: M9
If they are output in the sequence M7 M9, no coolant is then active. However, coolant 2
would be active during the execution of the program. Therefore, the correct output sequence
for the M auxiliary functions is determined with an ASUP which contains the predefined
procedure AUXFUMSEQ():
Program code
DEF INT _I, _M_IN[3], _EXT_IN[3], _NUM_OUT, _M_OUT[2], _EXT_OUT[2]
_M_IN[0]=7 _EXT_IN[0]=0
_M_IN[1]=8 _EXT_IN[1]=0
_M_IN[2]=9 _EXT_IN[2]=0
AUXFUMSEQ(3,_M_IN,_EXT_IN,_NUM_OUT,_M_OUT,_EXT_OUT)
FOR _I = 0 TO _NUM_OUT-1
M[_EXT_OUT[_I]]=_M_OUT[_I]
ENDFOR
8.13.5
Output suppression of spindle-specific auxiliary functions
Function
In certain situations, such as a tool change, it may be necessary not to output the spindlespecific auxiliary functions collected during the block search in action blocks, but to delay
output, for example, until after a tool change. The automatic output of the spindle-specific
auxiliary functions after a block search may be suppressed for this purpose. Output can then
be performed manually later by overstoring or by an ASUB.
Parameterization
Suppression of the automatic output of the spindle-specific auxiliary functions after a block
search is set via machine data:
MD11450 $MN_SEARCH_RUN_MODE (behavior after a block search)
Bit
Value
Meaning
The output of the spindle-specific auxiliary functions is performed in the action blocks.
Output of the auxiliary functions is suppressed in the action blocks.
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8.13 Behavior during block search
System variables
The spindle-specific auxiliary functions are always stored in the following system variables
during block searches, irrespective of the parameter assignment described above:
System variable
Description
$P_SEARCH_S [<n> ]
Accumulated spindle speed
Range of values:
$P_SEARCH_SDIR [<n>]
0 ... Smax
Accumulated spindle direction of rotation
Range of values:
$P_SEARCH_SGEAR [<n>]
3, 4, 5, -5, -19, 70
Accumulated spindle gear stage M function
Range of values:
$P_SEARCH_SPOS [<n>]
40 ... 45
Accumulated spindle position
Range of values:
0 ... MD30330 $MA_MODULO_RANGE
(size of the module range)
or
Accumulated traversing path
Range of values:
$P_SEARCH_SPOSMODE [<n>]
-100.000.000 ... 100.000.000
Accumulated position approach mode
Range of values:
0 ... 5
For later output of the spindle-specific auxiliary functions, the system variables can be read in
an ASUB, for example, and output after the action blocks are output:
DB21, ... DBX32.6 = 1 (last action block active)
Note
The contents of the system variables $P_S, $P_DIR and $P_SGEAR may be lost after block
search due to synchronization operations.
For more detailed information on ASUB, block search and action blocks, see Section "K1:
Mode group, channel, program operation, reset response (Page 455)".
Example
Block search for contour with suppression of output of the spindle-specific auxiliary functions
and start of an ASUB after output of action blocks.
Parameterization: MD11450 $MN_SEARCH_RUN_MODE, bit 2 = 1
After the block search on N55, the ASUB is started.
Part program:
Program code
Comment
N05 M3 S200
; Spindle 1
N10 G4 F3
N15 SPOS=111
; Spindle 1 is positioned to 111 degrees in the ASUB
N20 M2=4 S2=300
; Spindle 2
N25 G4 F3
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8.13 Behavior during block search
Program code
Comment
N30 SPOS[2]=IC(77)
; Spindle 2 traverses incrementally by 77 degrees
N55 X10 G0
; Target block
N60 G4 F10
N99 M30
ASUB:
Program code
Comment
PROC ASUP_SAVE
MSG ("Output of the spindle functions")
DEF INT SNR=1
AUSG_SPI:
M[SNR]=$P_SEARCH_SGEAR[SNR]
; Output gear stage
S[SNR]=$P_SEARCH_S[SNR]
; Output speed (for M40, a suitable
gear stage is determined)
M[SNR]=$P_SEARCH_SDIR[SNR]
; Output direction of rotation, positioning or axis mode
SNR=SNR+1
; Next spindle
REPEAT AUSG_SPI P=$P_NUM_SPINDLES-1
; For all spindles
MSG("")
REPOSA
RET
Explanation of example
If the number of spindles is known, outputs of the same type can be written in one part program
block to reduce program runtime.
Output of $P_SEARCH_SDIR should be made in a separate part program block because
spindle positioning or switchover to axis mode in conjunction with the gear change can cause
an alarm.
If the ASUB which has been started is ended with REPOSA, spindle 1 remains at position 111
degrees, while spindle 2 is repositioned at position 77 degrees.
If a different response is required, the program sequence for block search (for example) "N05
M3 S..." and "N30 SPOS[2] = IC(...)" requires special treatment.
Whether block search is active can be ascertained in the ASUB via the system variable
$P_SEARCH.
$P_SEARCH==1 ; Block search active
In the case of incremental positioning after speed control operation, the path to be traversed
is defined but, in some cases, the final position reached only becomes known during
positioning. This is the case, for example, during position calibration on crossing the zero mark
when switching on position control. For this reason, the distance programmed after the zero
position is accepted as the REPOS position (REPOSA in the ASUB).
Supplementary conditions
Collected S values
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8.13 Behavior during block search
The meaning of an S value in the part program depends on the feed type that is currently active:
G93, G94, G95, G97, G971:
G96, G961:
The S value is interpreted as the speed
The S value is interpreted as a constant cutting rate
If the feed operation is changed (e.g. for a tool change) before output of the system variable
$P_SEARCH_S, the original setting from the target block in the part program must be restored
to avoid use of the wrong type of feed.
Collected direction of rotation
For output of the direction of rotation, the system variable $P_SEARCH_SDIR is assigned
default value "-5" at the start of the block search. This value has no effect on output.
This ensures that the last spindle operating mode is retained for a block search across program
sections in which spindles are not programmed with a direction of rotation, positioning or axis
mode.
The programming of M19, SPOS, and SPOSA is collected as "M-19" (internal M19) in the
system variables $P_SEARCH_SDIR as an alternative to M3, M4, M5, and M70.
For the output of "M-19", the positioning data is read internally from the system variables
$P_SEARCH_SPOS and $P_SEARCH_SPOSMODE. Both system variables can also be
written to, in order, for example, to make corrections.
Note
Because of the assignments described above (e.g. M[<n>] = $P_SEARCH_SDIR[<n>]), the
values "5" and "19" generally remain hidden from the user and only have to be observed in
the case of special evaluation of the system variables in the ASUB.
8.13.6
Auxiliary function output with a type 5 block search (SERUPRO)
Output behavior
In the case of type 5 block searches (SERUPRO), an auxiliary function can be output to the
PLC during the block search and/or collected on a group-specific basis in the following system
variables:
$AC_AUXFU_PREDEF_INDEX[<n>] (index of a predefined auxiliary function)
$AC_AUXFU_TYPE[<n>] (type of auxiliary function)
$AC_AUXFU_STATE[<n>] (output state of the auxiliary function)
$AC_AUXFU_EXT[<n>] (address extension of the auxiliary function)
$AC_AUXFU_VALUE[<n>] (value of the auxiliary function)
For a description of the system variables, see Section "Querying system variables (Page 440)".
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8.13 Behavior during block search
Output control
Whether an auxiliary function is output to the PLC during a type 5 block search (SERUPRO)
and/or collected on a group-specific basis in the following system variables can be configured
via bits 9 and 10 of the machine data:
MD22080 $MC_AUXFU_PREDEF_SPEC[<n>]
(output behavior of predefined auxiliary functions)
where <n> = system function index (0 ... 32)
MD22035 $MC_AUXFU_ASSIGN_SPEC[<n>]
(output behavior of user-defined auxiliary functions)
where <n> = auxiliary function index (0 ... 254)
MD11110 $MN_AUXFU_GROUP_SPEC[<n>]
(output behavior of the auxiliary functions in a group)
where <n> = group index (0 ... 63)
Bit
Value
No collection during type 5 block searches (SERUPRO)
Collection during type 5 block searches (SERUPRO)
Output during type 5 block searches (SERUPRO)
No output during type 5 block searches (SERUPRO)
10
Meaning
Output counter
The user can output the collected auxiliary functions to the PLC on a channel-by-channel basis
in the block search ASUB. For the purposes of serialized output via multiple channels, the
three output counters are changed across all the channels each time an auxiliary function is
output:
System variable
Meaning
$AC_AUXFU_TICK[<n>,<m>]
Output counter of the active auxiliary function
Index
Meaning
<n>
Group index (0 to 63)
<m>
Output counter (0 ... 2)
Val
ue
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Meaning
Output sequence counter (all outputs within an IPO
cycle)
Package counter within an output sequence in the
IPO cycle
Auxiliary function counter within a package
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8.13 Behavior during block search
Explanation
An auxiliary function package comprises a maximum of ten auxiliary functions.
Two packages can be processed per IPO cycle in each channel during SERUPRO because
synchronized actions are processed in this cycle.
An output sequence of up to a maximum of 20 packages (2 packages per channel * 10
channels) can be processed within an IPO cycle across all channels.
The encoding indicates how many auxiliary function packages and, within these, how many
auxiliary functions have been processed during the same IPO cycle:
Auxiliary functions which have been collected in one IPO cycle have the same sequence
counter.
Auxiliary functions which have been collected in one package (block or synchronized action)
all have the same package counter.
The total on the auxiliary function counter increases every time an auxiliary function is collected.
Global list of auxiliary functions
At the end of SERUPRO, the auxiliary functions collected on a group-specific basis in the
individual channels are entered in a cross-channel list with the channel number and group
index according to their counter state.
System variable 1)
Meaning
$AC_AUXFU_TICK[<n>,<m>]
Counter value
$AN_AUXFU_LIST_CHANNO[<n>] 2)
Channel number
$AN_AUXFU_LIST_GROUPINDEX[<n>] 2)
Group index
1) Value range index <n>: 0 ... MAXNUM_GROUPS * MAXNUM_CHANNELS - 1
2) The system variables can be read and written.
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8.13 Behavior during block search
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The global list is structured on the basis of the sequence in which the search target was found.
It is intended to be used as a system proposal for auxiliary functions to be output in the following
ASUB at the end of SERUPRO. If an auxiliary function is not to be output, the corresponding
group index is to be set to "0".
Behavior regarding spindle auxiliary functions
Following the start of the search, all the channels collect the auxiliary functions in the channel
variables on a group-specific basis. In order to perform a far-reaching restoration of the spindle
state in the SERUPRO target block using the collected auxiliary functions, the last active
auxiliary function in any group of spindle auxiliary functions must characterize the state of the
spindle in the target block. In the case of transitions in spindle states, obsolete auxiliary
functions are deleted or, if necessary, implicit auxiliary functions are entered.
All the spindle auxiliary functions from the global auxiliary function list must correspond to the
spindle states achieved in the target block to enable the auxiliary functions to be processed
when the list is output and to ensure that no alarms or unintended spindle states are requested
which could prevent the continuation of the part program.
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8.13 Behavior during block search
This affects the groups of auxiliary functions for any spindle configured in the system, whereby
the spindle number corresponds to an auxiliary function's address extension.
Group a:
Group b:
Group c:
M3, M4, M5, M19, M70
M40, M41, M42, M43, M44, M45
S
Deleting obsolete auxiliary functions
In the functions below, the auxiliary functions from group a are deleted for the spindle
concerned:
For the following spindle when a generic coupling, such as COUPON, TRAILON, EGON,
etc. is switched on
Generating implicit auxiliary functions from group a
In the functions below, the auxiliary functions from group a are generated implicitly for the
spindle concerned:
For the following spindle when the synchronous spindle coupling is switched off
COUPOF generates M3, M4 and S or M5 in the main run depending on the coupling
situation.
COUPOF(S<n>, S<m>, POS) and COUPOFS(S<n>, S<m>, POS, POS) generate M3,
M4 and S.
COUPOFS generates M5 in the main run.
COUPOFS(S<n>, S<m>, POS) generates M19 in the main run.
The implicit M19 ("SPOS[<address extension>] = IC(0)" in the ASUB) activates the
positioning mode without a traversing motion.
M70 is generated during a traversing motion as an axis or during the transition to axis mode
by selecting a transformation during which the spindle enters as an axis.
M5 is generated during SPCOF.
Note
Within the context of the "axis interchange" and "axis container rotation" functions, the auxiliary
functions for programming the spindle must always be specified in a way which ensures
compatibility with the actual (motor) state during interchange/rotation. A distinction is made
here between the axis interchange and axis container mechanisms.
Example of axis container rotation:
An axis container has four spindles, each assigned to a separate channel (1 - 4). M3 S1000
is always programmed in channel 1, and an axis container rotation is then executed. The other
channels do not perform any spindle programming. Following the third axis container rotation
and the fourth spindle programming, M3, all four spindles rotate clockwise at a speed of 1,000
rpm. If the end of the SERUPRO now lies within this range, every ASUB for a channel is
expected to contain an M3 S1000 for the local spindle.
During interchange however, the collected auxiliary functions may only be assigned to the
channel where the spindle is currently located.
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8.13 Behavior during block search
Cross-channel auxiliary function
An auxiliary function can also be collected on a cross-channel basis in the global auxiliary
function list in the case of type 5 block searches (SERUPRO). Only the last auxiliary function
collected from this group (highest counter state) is entered in the global list.
The appropriate configuring is performed with the following machine data:
MD22080 $MC_AUXFU_PREDEF_SPEC[<n>], Bit 11
(output behavior of predefined auxiliary functions)
where <n> = system function index
MD22035 $MC_AUXFU_ASSIGN_SPEC[<n>], Bit 11
(output behavior of user-defined auxiliary functions)
where <n> = auxiliary function index
MD11110 $MN_AUXFU_GROUP_SPEC[<n>], Bit 11
(output behavior of the auxiliary functions in a group)
where <n> = group index
Bit
Value
Meaning
11
Channel-specific collection
Cross-channel collection
The spindle auxiliary functions are filtered out beforehand at the end of the search depending
on the spindle state. The channel data is updated accordingly. The global auxiliary function
list can be processed sequentially in the ASUBs at the end of the SERUPRO, and the sorted
auxiliary functions can be output with channel synchronization.
Querying the last auxiliary function collected
The index of the last auxiliary function collected in the global list can be queried using the
system variable $AN_AUXFU_LIST_ENDINDEX.
8.13.7
ASUB at the end of the SERUPRO
Function
After completing the block search with the program test (SERUPRO), before starting the
subsequent processing, the auxiliary functions collected during the search must be output. For
this purpose, during the block search, the auxiliary functions are collected in a global list. The
SERUPRO end ASUBs generate the corresponding part program blocks channel-specific from
this list. This ensures that the collected auxiliary functions can be output both channel-specific
as well as cross-channel in the correct sequence. A fully functional SERUPRO end ASUB is
a component of the NCK software.
Users/machinery construction OEMs can change the SERUPRO end ASUB. The
subsequently described functions support processing the global list of auxiliary functions and
generating the part program blocks required for synchronized auxiliary function output.
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8.13 Behavior during block search
Function AUXFUSYNC(...)
Function:
The function AUXFUSYNC generates a complete part program block as string from the global
list of auxiliary functions at each call. The part program block either contains auxiliary functions
or commands to synchronize auxiliary function outputs (WAITM, G4, etc.).
The function triggers a preprocessing stop.
Syntax:
PROC AUXFUSYNC(VAR INT <NUM>, VAR INT <GROUPINDEX>[10], VAR
STRING[400] <ASSEMBLED>)
Parameters:
<NUM>:
<GROUP INDEX>:
<ASSEMBLED>:
Contains information about the part program block, supplied in param
eter <ASSEMBLED> or the auxiliary functions contained in it.
Value range: -1, 0, 1 ... 10
Value Meaning
1
Number of auxiliary functions contained in the part program block
0
Part program block without auxiliary functions, e.g. WAITM, G4
-1
End identifier. The global list of auxiliary functions has been com
pletely processed for the actual channel.
Contains the indices of the auxiliary function groups contained in the
part program block. With index = number of the auxiliary function group
-1
Contains the complete part program block for the channel-specific SER
UPRO end ASUB as string.
Further information:
If auxiliary functions were collected via a synchronized action, two NC blocks are generated.
One NC block to output the auxiliary functions. An executable NC block via which the NC block
is transported to the main run to output the auxiliary functions:
1. Output of the auxiliary functions via synchronized action, e.g.: WHEN TRUE DO M100 M102
2. Executable NC block, e.g.: G4 F0.001
Function AUXFUDEL(...)
Function:
The function AUXFUDEL deletes the specified auxiliary function from the global list of auxiliary
functions channel-specific for the calling channel. Deletion is realized by setting the
corresponding group index ...GROUPINDEX[n] to 0.
The function must be called before calling AUXFUSYNC.
The function triggers a preprocessing stop.
Syntax:
PROC AUXFUDEL(CHAR <TYPE>, INT <EXTENSION>, REAL <VALUE>, INT
<GROUP>)
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8.13 Behavior during block search
Parameters:
<TYPE>:
<EXTENSION>:
<VALUE>:
<GROUP>:
Type of auxiliary function to be deleted
Address extension of the auxiliary function to be deleted
Value of auxiliary function to be deleted
Number of the auxiliary function group
Function AUXFUDELG(...)
Function:
The function AUXFUDELG deletes all auxiliary functions of the specified auxiliary function
group from the global list of auxiliary functions channel-specific for the calling channel. Deletion
is realized by setting the corresponding group index ...GROUPINDEX[n] to 0.
The function must be called before calling AUXFUSYNC.
The function triggers a preprocessing stop.
Syntax:
PROC AUXFUDELG(INT <GROUP>)
Parameters:
<GROUP>:
Number of the auxiliary function group
Multi-channel block search
NOTICE
Multi-channel block search and AUXFUDEL / AUXFUDELG
If, for a multi-channel block search in the SERUPRO end ASUBs, auxiliary functions with
AUXFUDEL / AUXFUDELG are deleted from the global list of auxiliary functions, before
calling the AUXFUSYNC function, the channels involved must be synchronized. The
synchronization ensures that before calling the AUXFUSYNC, all delete requests are
processed and a consistent list is available.
Examples
Two examples for configuring a user-specific SERUPRO end ASUB.
Example 1: Deleting auxiliary functions and generating the auxiliary function output with
AUXFUSYNC(...)
Program code
Comment
N10 DEF STRING[400] ASSEMBLED=""
N20 DEF STRING[31] FILENAME="/_N_CST_DIR/_N_AUXFU_SPF"
N30 DEF INT GROUPINDEX[10]
N40 DEF INT NUM
N60 DEF INT ERROR
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8.13 Behavior during block search
Program code
Comment
N90
N140 AUXFUDEL("M",2,3,5)
; M2=3 (5th auxiliary function group) delete
N150
N170 AUXFUDELG(6)
; Delete the collected auxiliary function of the
; 6. group.
N180
N190 IF ISFILE(FILENAME)
N210
DELETE(ERROR,FILENAME)
; Delete the FILENAME file
N220
IF (ERROR<>0)
; Error evaluation
N230
N240
SETAL(61000+ERROR)
ENDIF
N250 ENDIF
; CAUTION!
; If, for a multi-channel block search, auxiliary functions with AUXFUDEL/AUXFUDELG
; are deleted from the global list of auxiliary functions, before the loop to
; generate the subprogram FILENAME with AUXFUSYNC, the channels must be synchronized.
The synchronization ensures that all delete requests were processed
; in all channels and a consistent list is available.
; Example: WAITM(99,1,2,3)
N270 LOOP
N300
AUXFUSYNC(NUM,GROUPINDEX,ASSEMBLED)
; General a part program block
IF (NUM==-1)
; All auxiliary functions of the channel
N310
N320
; have been executed.
N340
GOTOF LABEL1
N350
ENDIF
N380
WRITE(ERROR,FILENAME,ASSEMBLED)
; Write a part program block to file FILENAME.
N390
IF (ERROR<>0)
; Error evaluation
N400
N410
SETAL(61000+ERROR)
ENDIF
N430 ENDLOOP
N440
N450 LABEL1:
N460
N480 CALL FILENAME
; Process a generated subroutine.
N490
N510 DELETE(ERROR,FILENAME)
; Delete the file again after execution.
N520 IF (ERROR<>0)
N530
SETAL(61000+ERROR)
N540 ENDIF
N550
N560 M17
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8.13 Behavior during block search
Example 2: Deleting auxiliary functions and generating the auxiliary function output without
AUXFUSYNC(...)
Program code
Comment
N0610 DEF STRING[400] ASSEMBLED=""
N0620 DEF STRING[31] FILENAME="/_N_CST_DIR/_N_AUXFU_SPF"
N0630 DEF INT GROUPINDEX[10]
N0640 DEF INT NUM
N0650 DEF INT LAUF
N0660 DEF INT ERROR
N0670 DEF BOOL ISQUICK
N0680 DEF BOOL ISSYNACT
N0690 DEF BOOL ISIMPL
...
N0760 AUXFUDEL("M",2,3,5)
; M2=3 (5th auxiliary function group) delete
N0770
N0790 AUXFUDELG(6)
; Delete the collected auxiliary function of the
; 6. group.
N0800
N0810 IF ISFILE(FILENAME)
N0830
DELETE(ERROR,FILENAME)
; File already exists and must be
; deleted.
N0840
IF (ERROR<>0)
N0850
N0860
SETAL(61000+ERROR)
ENDIF
N0870 ENDIF
N0880
; CAUTION!
; If, for a multi-channel block search, auxiliary functions with AUXFUDEL/AUXFUDELG
; are deleted from the global list of auxiliary functions, before the loop to
; generate the subprogram FILENAME with AUXFUSYNC, the channels must be synchronized.
The synchronization ensures that all delete requests were processed
; in all channels and a consistent list is available.
; Example: WAITM(99,1,2,3)
N0890 LOOP
N0920
AUXFUSYNC(NUM,GROUPINDEX,ASSEMBLED)
; Procedure to generate
; auxiliary function blocks from the global
; auxiliary function list.
N0930
N0940
IF (NUM==-1)
; All auxiliary functions of the channel
; are processed.
N0960
N0970
GOTOF LABEL1
ENDIF
N0980
N1000
IF (NUM>0)
; If auxiliary functions are output,
; the block is generated.
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8.13 Behavior during block search
Program code
Comment
N1010
N1020
ASSEMBLED=""
N1030
N1050
FOR LAUF=0 TO NUM-1
; Collected auxiliary functions for a
; block.
N1060
N1080
IF GROUPINDEX[LAUF]<>0
; Auxiliary functions deleted from the
; global list have the group index 0.
N1090
N1100
ISQUICK=$AC_AUXFU_SPEC[GROUPINDEX[LAUF]] BAND'H2'
N1110
N1120
ISSYNACT=$AC_AUXFU_SPEC[GROUPINDEX[LAUF]] BAND'H1000'
N1130
N1140
ISIMPL=$AC_AUXFU_SPEC[GROUPINDEX[LAUF]] BAND'H2000'
N1150
N1180
IF ISSYNACT
; Assemble a block for the M auxiliary
; function output
N1190
N1200
ASSEMBLED= ASSEMBLED << "WHEN TRUE DO "
ENDIF
N1210 ; Implicitly generated M19 is mapped to SPOS[SPI(<spindle no.>)] = IC(0).
N1230
N1240
IF (ISIMPL AND ($AC_AUXFU_VALUE[GROUPINDEX[LAUF]==19))
ASSEMBLED= ASSEMBLED << "SPOS[SPI(" <<
$AC_AUXFU_EXT[GROUPINDEX[LAUF]] << ")=IC(0)"
N1260
N1270
ELSE
ASSEMBLED= ASSEMBLED << "M[" << $AC_AUXFU_EXT[GROUPINDEX[LAUF]] << "]="
N1280
N1290
IF ISQUICK
N1300
N1310
ASSEMBLED= ASSEMBLED << "QU("
ENDIF
N1320
N1330
ASSEMBLED= ASSEMBLED << $AC_AUXFU_VALUE[GROUPINDEX[LAUF]]
N1340
N1350
IF ISQUICK
N1360
N1370
N1380
N1400
N1420
ASSEMBLED= ASSEMBLED << ")"
ENDIF
ENDIF
ENDIF
ENDFOR
N1430
N1450
WRITE(ERROR,FILENAME,ASSEMBLED)
; Write an auxiliary function block to a file.
N1460
N1470
IF ISSYNACT
N1480
ASSEMBLED="G4 F0.001"
N1490
WRITE(ERROR,FILENAME,ASSEMBLED)
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8.14 Implicitly output auxiliary functions
Program code
N1500
Comment
ENDIF
N1510
N1520
ELSE
N1540
N1550
WRITE(ERROR,FILENAME,ASSEMBLED)
; Write an auxiliary function block to a file.
ENDIF
N1560
N1570 ENDLOOP
N1580
N1590 LABEL1:
N1600
N1620 CALL FILENAME
; Process a generated subroutine.
N1630
N1650 DELETE(ERROR,FILENAME)
; Delete the file again after execution.
N1660 IF (ERROR<>0)
N1670
SETAL(61000+ERROR)
N1680 ENDIF
N1690
N1700 M17
8.14
Implicitly output auxiliary functions
Function
Implicitly output auxiliary functions are auxiliary functions which have not been programmed
explicitly and which are also output by other system functions (e.g. transformation selection,
tool selection, etc.). These implicit auxiliary functions do not lead to any system function;
instead, the M codes are collected according to output behavior parameters assigned to them
and/or are output to the PLC.
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8.15 Information options
Parameterization
The M codes for auxiliary functions to be output implicitly are defined with the machine data:
MD22530 $MC_TOCARR_CHANGE_M_CODE (M code at toolholder change)
This machine data value indicates the number of the M code which is output when a
toolholder is activated at the NC/PLC interface.
If the value is positive, the unchanged M code is always output.
If the value is negative, the number of the toolholder is added to the machine data value,
and this number is output.
MD22532 $MC_GEOAX_CHANGE_M_CODE (M code when switching the geometry
axes)
Number of the M code which is output when the geometry axes on the NC/PLC interface
are switched.
MD22534 $MC_TRAFO_CHANGE_M_CODE (M code in the case of transformation
changes)
Number of the M code which is output during a transformation switch of the geometry axes
at the NC/PLC interface.
Note
No M code is output if the number of the M code being output or the MD22530/MD22532/
MD22534 value is between 0 and 6, or is either 17 or 30. Whether or not an M code which
is generated in this manner leads to conflicts with other functions is not monitored.
Output behavior
In the case of implicitly output auxiliary functions, bit 13 is set in machine data MD22080 or
MD22035 (output behavior of predefined or user-defined auxiliary functions).
This bit can be queried via the system variable $AC_AUXFU_SPEC[<n>].
Implicitly output auxiliary function M19
To achieve uniformity in terms of how M19 and SPOS or SPOSA behave at the NC/PLC
interface, auxiliary function M19 can be output to the NC/PLC interface in the event of SPOS
and SPOSA (see Section "General functionality (Page 1205)").
The implicitly output auxiliary function M19 is collected during the block search.
8.15
Information options
Information about auxiliary functions (e.g. about the output status) is possible via:
The group-specific modal M auxiliary function display on the user interface
Querying system variables in part programs and synchronized actions
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8.15 Information options
8.15.1
Group-specific modal M auxiliary function display
Function
The output status and acknowledgement status of M auxiliary functions can be displayed on
the user interface on a group-specific basis.
Requirements
To implement function-oriented acknowledgement and display of M auxiliary functions, the
auxiliary functions must be managed in the PLC and, thus, in the user program itself. Therefore,
it is up to the PLC programmer to program the acknowledgement of these auxiliary functions.
He has to know which auxiliary functions in which group have to be acknowledged.
Standard
M auxiliary functions that are not managed by means of the PLC are identified by the NC as
"transferred" and output to the PLC. There is no functional acknowledgement for these auxiliary
functions. All M-auxiliary functions collected after a block search are also displayed so that the
operator knows which auxiliary functions will be output after a start following a block search.
PLC activities
In the case of auxiliary function groups that are managed by the PLC itself, the PLC user
program must acknowledge all auxiliary functions of this groups when Apply and Function
End are activated. The PLC programmer must know all the auxiliary functions of these groups.
Miscellaneous
Only the group-specific M auxiliary functions are displayed. The block-by-block display is also
retained. Up to 15 groups can be displayed, whereby only the last M function of a group that
was either collected or output to the PLC is displayed for each group. The M functions are
presented in various display modes depending on their status:
Status
Display mode
Auxiliary function is collected
Inverted with yellow font
Auxiliary function is output from NCK to PLC
Inverted
Auxiliary function has been transferred from NCK to PLC
and transport acknowledgement has taken place
Black font on gray background
Auxiliary function is managed by the PLC and has been
directly applied by the PLC.
Black font on gray background
Auxiliary function is managed by the PLC, and the function
acknowledgement has taken place.
Black font on gray background
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8.15 Information options
Display update
The display is organized in such a way that the collected auxiliary functions are always
displayed first, before those that were managed by the PLC and before those that were
managed by the NC. A collected auxiliary function is marked as collected until it has been
output from the NCK to the PLC. PLC-managed auxiliary functions are retained until they are
displaced by another auxiliary function. In the case of a reset, only the collected auxiliary
functions and the NC-managed auxiliary functions are deleted.
8.15.2
Querying system variables
Function
Auxiliary functions can be queried on a group-specific basis via system variables in the part
program and via synchronized actions:
$AC_AUXFU_... [<n>] = <value>
system variables
Meaning
$AC_AUXFU_PREDEF_INDEX[<n>]
<value>:
Index of the last auxiliary function collected for
an auxiliary function group (search) or the last
predefined auxiliary function to be output
Type INT
:
If no auxiliary function has been output yet for the
specified group or if the auxiliary function is a
user-defined auxiliary function, the variable sup
plies the value "-1".
<n>:
Group index (0 to 63)
Note:
A predefined auxiliary function can be uniquely identified via
this variable.
$AC_AUXFU_TYPE[<n>]
<value>:
Type of the last auxiliary function collected for an
auxiliary function group (search) or the last aux
iliary function to be output
Type CHAR
:
$AC_AUXFU_EXT[<n>]
<n>:
Group index (0 to 63)
<value>:
Address extension of the last auxiliary function
collected for an auxiliary function group (search)
or the last auxiliary function to be output
or M function specific:
$AC_AUXFU_M_EXT[<n>]
Type INT
:
<n>:
440
Group index (0 to 63)
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8.15 Information options
system variables
Meaning
$AC_AUXFU_VALUE[<n>]
<value>:
or M function specific:
$AC_AUXFU_M_VALUE[<n>]
$AC_AUXFU_SPEC[<n>]
Value of the last auxiliary function collected for
an auxiliary function group (search) or the last
auxiliary function to be output
Type REAL
:
<n>:
Group index (0 to 63)
Value:
Bit-encoded output behavior according to
MD22080/MD22035 (or QU programming) of the
last auxiliary function collected for an auxiliary
function group (search) or the last auxiliary func
tion to be output
Type INT
:
<n>:
Group index (0 to 63)
Note:
This variable can be used to determine whether the auxiliary
function should be output with a fast acknowledgement.
$AC_AUXFU_STATE[<n>]
<value>:
or M function specific:
$AC_AUXFU_M_STATE[<n>]
<n>:
Output state of the last auxiliary function collec
ted for an auxiliary function group (search) or the
last auxiliary function to be output
Type:
INT
Value range:
0 ... 5
0:
No auxiliary function
1:
M-auxiliary function was collected via a
search
2:
M-auxiliary function has been output to the
PLC
3:
M-auxiliary function has been output to the
PLC and the transport acknowledgement
has taken place
4:
M-auxiliary function is managed by the PLC
and has been applied by the PLC
5:
M-auxiliary function is managed by the PLC,
and the function acknowledgement has tak
en place
Group index (0 to 63)
Example
All M-auxiliary functions of the 1st group will be stored in the order they are output
id=1 every $AC_AUXFU_M_STATE[0]==2 do $AC_FIFO[0,0]=
$AC_AUXFU_M_VALUE[0]
References
For more information on the system variables, refer to:
List Manual, system variables
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8.16 Supplementary conditions
8.16
Supplementary conditions
8.16.1
General constraints
Spindle replacement
Because the auxiliary functions are parameterized channel-specifically, if function: "spindle
replacement" is used, the spindle-specific auxiliary function must be parameterized
immediately in all channels that use the spindles.
Tool management
If tool management is active, the following constraints apply:
T and M<k> functions are not output to the PLC.
Note
k is the parameterized value of the auxiliary function for the tool change (default: 6):
MD22560 $MC_TOOL_CHANGE_M_CODE (auxiliary function for tool change)
If no address extension is programmed, the auxiliary function refers to the master spindle
or the master tool holder of the channel.
Definition of the master spindle:
MD20090 $MC_SPIND_DEF_MASTER_SPIND
Part program instruction: SETMS
Definition of the master tool holder
MD20124 $MC_TOOL_MANAGEMENT_TOOLHOLDER
Part program instruction: SETMTH
Maximum number of auxiliary functions per part program block
A maximum of 10 auxiliary functions may be programmed in one part program block.
DL (additive tool offset)
The following restrictions apply to the DL function:
Only one DL function can be programmed per part program block.
If DL functions are used in synchronous actions, parameter: "Value" is not output to the
PLC.
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8.16 Supplementary conditions
8.16.2
Output behavior
Thread cutting
During active thread cutting G33, G34 and G35, the following output behavior is always active
for the spindle-specific auxiliary functions:
M3 (spindle right)
M4 (spindle left)
Output duration of one OB40 cycle (quick acknowledgement)
Output during motion
The spindle-specific auxiliary function M5 (spindle stop) is always output at the end of the block.
The part program block that contains M5 is always ended with exact stop, i.e. even during
active continuous-path mode.
Synchronized actions
With output auxiliary functions from synchronized actions, the parameterized output behavior
is ignored except for the following parameters:
Bit0: Output duration of one OB1 cycle (normal acknowledgement)
Bit1: Output duration of one OB40 cycle (quick acknowledgement)
Auxiliary functions: M17 or M2/M30 (end of subprogram)
In its own part program block
If one of the auxiliary functions M17, M2 or M30 is programmed as the only auxiliary function
in a part program block and an axis is still in motion, the auxiliary function is not output to the
PLC until after the axis has stopped.
Overriding the parameterized output behavior
The parameterized output behavior of the auxiliary functions M17 or M2/M30 is overridden by
the output behavior that is determined in the following machine data:
MD20800 $MC_SPF_END_TO_VDI, bit 0 (subprogram end / stop to PLC)
Bit Value
Meaning
The auxiliary functions M17 or M2/M30 (subprogram end) are not output to the PLC. Con
tinuous-path mode is not interrupted at the end of the subprogram
The auxiliary functions M17 or M2/M30 (subprogram end) are output to the PLC.
Auxiliary function: M1 (conditional stop)
Overriding the parameterized output behavior
The parameterized output behavior of the auxiliary function M1 is overridden by the output
behavior defined in the following machine data:
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8.17 Examples
MD20800 $MC_SPF_END_TO_VDI, bit 1 (subprogram end / stop to PLC)
Bit Value
Meaning
The auxiliary function M01 (conditional stop) is always output to the PLC. A quick ac
knowledgement is ineffective, because M01 is permanently assigned to the first auxiliary
function group and is therefore always output at the end of the block.
The auxiliary function M01 (conditional stop) is only output to the PLC, if the function:
"Programmed stop" is activated via the HMI user interface.
In the case of a quick acknowledgement, the M1 is output to the PLC during the motion.
While the function is not active, this does not interrupt continuous-path mode.
Part program blocks without traversing motion
In a part program block without a traversing motion, all auxiliary functions are output in a block
immediately, irrespective of their parameterized output behavior.
Spindle-specific auxiliary function output only as information for the PLC user program
In certain controller situations, e.g. at the end of a block search, the collected spindle-specific
auxiliary functions (e.g. M3, M4, M5, M19, M40...M45, M70) is output to the NC/PLC interface
only for information purposes for the PLC user program. The controller generates a part
program block (action block) in which the collected auxiliary functions are entered with a
negative address extension. The corresponding system functions are then not executed.
Example: M(-2) = 41 request gear stage change for the 2nd spindle
8.17
Examples
8.17.1
Extension of predefined auxiliary functions
Task
Parameter assignment of auxiliary functions M3, M4, and M5 for the second spindle of the
channel
Parameter assignment: M3
Requirements:
Machine data index: 0 (first user-defined auxiliary function)
auxiliary function group: 5
Type and value: M3 (spindle right)
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8.17 Examples
Address extension: 2 as appropriate for the 2nd spindle of the channel
Output behavior:
Output duration one OB1 cycle (normal acknowledgment)
Output prior to motion
Parameter assignment:
MD22000 $MC_AUXFU_ASSIGN_GROUP[ 0 ]
MD22010 $MC_AUXFU_ASSIGN_TYPE [ 0 ]
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [ 0 ]
MD22030 $MC_AUXFU_ASSIGN_VALUE [ 0 ]
MD22035 $MC_AUXFU_ASSIGN_SPEC [ 0 ]
=5
= "M"
=2
=3
= 'H21'
Parameter assignment: M4
Requirements:
Machine data index: 1 (second user-defined auxiliary function)
auxiliary function group: 5
Type and value: M4 (spindle left)
Address extension: 2 as appropriate for the 2nd spindle of the channel
Output behavior:
Output duration one OB1 cycle (normal acknowledgment)
Spindle response following acknowledgment
Output during motion
Parameter assignment:
MD22000 $MC_AUXFU_ASSIGN_GROUP [ 1 ]
MD22010 $MC_AUXFU_ASSIGN_TYPE [ 1 ]
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [ 1 ]
MD22030 $MC_AUXFU_ASSIGN_VALUE [ 1 ]
MD22035 $MC_AUXFU_ASSIGN_SPEC [ 1 ]
=5
= "M"
=2
=4
= 'H51'
Parameter assignment: M5
Requirements:
Machine data index: 2 (third user-defined auxiliary function)
auxiliary function group: 5
Type and value: M5 (spindle stop)
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8.17 Examples
Address extension: 2 as appropriate for the 2nd spindle of the channel
Output behavior:
Output duration one OB1 cycle (normal acknowledgment)
Spindle response following acknowledgment
Output at block end
Parameter assignment:
MD22000 $MC_AUXFU_ASSIGN_GROUP [ 2 ]
MD22010 $MC_AUXFU_ASSIGN_TYPE [ 2 ]
MD22020 $MC_AUXFU_ASSIGN_EXTENSION [ 2 ]
MD22030 $MC_AUXFU_ASSIGN_VALUE [ 2 ]
MD22035 $MC_AUXFU_ASSIGN_SPEC [ 2 ]
8.17.2
=5
= "M"
=2
=5
= 'H91'
Defining auxiliary functions
Task
Parameter assignment of the auxiliary function-specific machine data for a machine with the
following configuration:
Spindles
Spindle 1: Master spindle
Spindle 2: Second spindle
Gear stages
Spindle 1: 5 gear stages
Spindle 2: No gear stages
Switching functions for cooling water on/off
Spindle 1
"ON" = M50
"OFF" = M51
Spindle 2
"ON" = M52
"OFF" = M53
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8.17 Examples
Requirements
Spindle 1 (master spindle)
Note
Default assignments
The auxiliary functions M3, M4, M5, M70 and M1=3, M1=4, M1=5, M1=70 of spindle 1
(master spindle) are assigned as standard to the second auxiliary function group.
All S and S1 values of spindle 1 (master spindle) are assigned to the third auxiliary function
group by default.
The gear stage last programmed is to be output after block search. The following auxiliary
functions are assigned to the ninth auxiliary function group for this reason:
M40, M41, M42, M43, M44, M45
M1=40, M1=41, M1=42, M1=43, M1=44, M1=45
The auxiliary functions M3, M4, M5, M70 and M1=3, M1=4, M1=5, M1=70 (second auxiliary
function group) and S and S1 values (third auxiliary function group) should possess the
following output behavior:
Output duration one OB40 cycle (quick acknowledgment)
Output prior to motion
The auxiliary functions for gear changeover M40 to M45 and M1=40 to M1=45
(ninth auxiliary function group) should have the following output behavior:
Output duration one OB1 cycle (normal acknowledgment)
Output prior to motion
Spindle 2
Only one M function for directional reversal may be programmed in one block. The direction
of rotation last programmed is to be output after block search. The following auxiliary
functions are assigned to the tenth auxiliary function group for this reason:
M2=3, M2=4, M2=5, M2=70
All S2 values are assigned to auxiliary function group 11.
The auxiliary functions M2=3, M2=4, M2=5, M2=70 (tenth auxiliary function group) and S2
values (auxiliary function group 11) should have the following output behavior:
Output duration one OB40 cycle (quick acknowledgment)
Output prior to motion
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8.17 Examples
Cooling water
It is not permissible to switch the cooling water on and off in one part program block. After
a block search, the cooling water will be switched on or off. For this purpose, the following
auxiliary functions are assigned, for example, to auxiliary function group 12 or 13:
Auxiliary function group 12: M50, M51
Auxiliary function group 13: M52, M53
The auxiliary functions M50, M51 (auxiliary function group 12) and M52, M53 (auxiliary
function group 13) should have the following output behavior:
Output duration one OB1 cycle (normal acknowledgment)
Output prior to motion
Parameterization of the machine data
The machine data are parameterized by appropriate programming within a parts program.
Program code
Comment
$MN_AUXFU_MAXNUM_GROUP_ASSIGN=21
; Number of user-defined auxiliary functions
per channel
$MN_AUXFU_GROUP_SPEC[1]='H22'
; Output behavior of auxiliary function group 2
$MN_AUXFU_GROUP_SPEC[2]='H22'
; Output behavior of auxiliary function group 3
$MN_AUXFU_GROUP_SPEC[8]='H21'
; Output behavior of auxiliary function group 9
$MC_AUXFU_ASSIGN_TYPE[0]="M"
; Description of auxiliary function 1: M40
$MC_AUXFU_ASSIGN_EXTENSION[0]=0
$MC_AUXFU_ASSIGN_VALUE[0]=40
$MC_AUXFU_ASSIGN_GROUP[0]=9
; ... (and analogously for aux. functions 2 to
5)
$MC_AUXFU_ASSIGN_TYPE[5]="M"
; Description of auxiliary function 6: M45
$MC_AUXFU_ASSIGN_EXTENSION[5]=0
$MC_AUXFU_ASSIGN_VALUE[5]=45
$MC_AUXFU_ASSIGN_GROUP[5]=9
$MC_AUXFU_ASSIGN_TYPE[6]="M"
; Description of auxiliary function 7: M1=40
$MC_AUXFU_ASSIGN_EXTENSION[6]=1
$MC_AUXFU_ASSIGN_VALUE[6]=40
$MC_AUXFU_ASSIGN_GROUP[6]=9
; . . . (and analogously for aux. functions 8 to
11)
$MC_AUXFU_ASSIGN_TYPE[11]="M"
; Description of auxiliary function 12: M1=45
$MC_AUXFU_ASSIGN_EXTENSION[11]=1
$MC_AUXFU_ASSIGN_VALUE[11]=45
$MC_AUXFU_ASSIGN_GROUP[11]=9
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8.17 Examples
Program code
Comment
$MN_AUXFU_GROUP_SPEC[9] = 'H22'
; Output behavior of auxiliary function group 10
$MC_AUXFU_ASSIGN_TYPE[12]="M"
; Description of auxiliary function 13: M2=3
$MC_AUXFU_ASSIGN_EXTENSION[12]=2
$MC_AUXFU_ASSIGN_VALUE[12]=3
$MC_AUXFU_ASSIGN_GROUP[12]=10
$MC_AUXFU_ASSIGN_TYPE[13]="M"
; Description of auxiliary function 14: M2=4
$MC_AUXFU_ASSIGN_EXTENSION[13]=2
$MC_AUXFU_ASSIGN_VALUE[13]=4
$MC_AUXFU_ASSIGN_GROUP[13]=10
$MC_AUXFU_ASSIGN_TYPE[14]="M"
; Description of auxiliary function 15: M2=5
$MC_AUXFU_ASSIGN_EXTENSION[14]=2
$MC_AUXFU_ASSIGN_VALUE[14]=5
$MC_AUXFU_ASSIGN_GROUP[14]=10
$MC_AUXFU_ASSIGN_TYPE[15]="M"
; Description of auxiliary function 16: M2=70
$MC_AUXFU_ASSIGN_EXTENSION[15]=2
$MC_AUXFU_ASSIGN_VALUE[15]=70
$MC_AUXFU_ASSIGN_GROUP[15]=10
$MN_AUXFU_GROUP_SPEC[10] = 'H22'
; Specification of auxiliary function group 11
$MC_AUXFU_ASSIGN_TYPE[16] = "S"
; Description of auxiliary function 17: S2=<all
values>
$MC_AUXFU_ASSIGN_EXTENSION[16]=2
$MC_AUXFU_ASSIGN_VALUE[16]=-1
$MC_AUXFU_ASSIGN_GROUP[16]=11
$MN_AUXFU_GROUP_SPEC[11]='H21'
; Specification of auxiliary function group 12
$MC_AUXFU_ASSIGN_TYPE[17]="M"
; Description of auxiliary function 18: M50
$MC_AUXFU_ASSIGN_EXTENSION[17]=0
$MC_AUXFU_ASSIGN_VALUE[17]=50
$MC_AUXFU_ASSIGN_GROUP[17]=12
$MC_AUXFU_ASSIGN_TYPE[18]="M"
; Description of auxiliary function 19: M51
$MC_AUXFU_ASSIGN_EXTENSION[18]=0
$MC_AUXFU_ASSIGN_VALUE[18]=51
$MC_AUXFU_ASSIGN_GROUP[18]=12
$MN_AUXFU_GROUP_SPEC[12]='H21'
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; Specification of auxiliary function group 13
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8.18 Data lists
Program code
Comment
$MC_AUXFU_ASSIGN_TYPE[19]="M"
; Description of auxiliary function 20: M52
$MC_AUXFU_ASSIGN_EXTENSION[19]=0
$MC_AUXFU_ASSIGN_VALUE[19]=52
$MC_AUXFU_ASSIGN_GROUP[19]=13
$MC_AUXFU_ASSIGN_TYPE[20]="M"
; Description of auxiliary function 21: M53
$MC_AUXFU_ASSIGN_EXTENSION[20]=0
$MC_AUXFU_ASSIGN_VALUE[20]=53
$MC_AUXFU_ASSIGN_GROUP[20]=13
8.18
Data lists
8.18.1
Machine data
8.18.1.1
NC-specific machine data
Number
Identifier: $MN_
Description
10713
M_NO_FCT_STOPRE
M function with preprocessing stop
10714
M_NO_FCT_EOP
M function for spindle active after NC RESET
10715
M_NO_FCT_CYCLE
M function to be replaced by subroutine
11100
AUXFU_MAXNUM_GROUP_ASSIGN
Maximum number of user-defined auxiliary functions
per channel
11110
AUXFU_GROUP_SPEC
Group-specific output behavior
11450
SEARCH_RUN_MODE
Behavior after a block search
8.18.1.2
Channelspecific machine data
Number
Identifier: $MC_
Description
20110
RESET_MODE_MASK
Definition of control initial setting after part program
start.
20112
START_MODE_MASK
Definition of control initial setting after powerup and on
RESET or at end of part program
20270
CUTTING_EDGE_DEFAULT
Basic setting of tool cutting edge without programming
20800
SPF_END_TO_VDI
Subroutine end / Stop at PLC
22000
AUXFU_ASSIGN_GROUP
Group assignment of user-defined auxiliary functions
22010
AUXFU_ASSIGN_TYPE
Type of user-defined auxiliary functions
22020
AUXFU_ASSIGN_EXTENSION
Address extension for user-defined auxiliary functions
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8.18 Data lists
Number
Identifier: $MC_
Description
22030
AUXFU_ASSIGN_VALUE
Value of user-defined auxiliary functions
22035
AUXFU_ASSIGN_SPEC
Output behavior of user-defined auxiliary functions
22040
AUXFU_PREDEF_GROUP
Group assignment of predefined auxiliary functions
22050
AUXFU_PREDEF_TYPE
Type of predefined auxiliary functions
22060
AUXFU_PREDEF_EXTENSION
Address extension for predefined auxiliary functions
22070
AUXFU_PREDEF_VALUE
Value of predefined auxiliary functions
22080
AUXFU_PREDEF_SPEC
Output behavior of predefined auxiliary functions
22100
AUXFU_QUICK_BLOCKCHANGE
Block change delay with quick auxiliary functions
22110
AUXFU_H_TYPE_INT
Type of H auxiliary functions
22200
AUXFU_M_SYNC_TYPE
M functions output time
22210
AUXFU_S_SYNC_TYPE
S functions output time
22220
AUXFU_T_SYNC_TYPE
T functions output time
22230
AUXFU_H_SYNC_TYPE
H functions output time
22240
AUXFU_F_SYNC_TYPE
F functions output time
22250
AUXFU_D_SYNC_TYPE
D functions output time
22252
AUXFU_DL_SYNC_TYPE
DL functions output time
22254
AUXFU_ASSOC_M0_VALUE
Additional M function for program stop
22256
AUXFU_ASSOC_M1_VALUE
Additional M function for conditional stop
22530
TOCARR_CHANGE_M_CODE
M code for change of tool holder
22532
GEOAX_CHANGE_M_CODE
M code for replacement of geometry axes
22534
TRAFO_CHANGE_M_CODE
M code for change of tool holder
22560
TOOL_CHANGE_M_CODE
Auxiliary function for tool change
8.18.2
Signals
8.18.2.1
Signals to channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Activate associated M01
DB21, ... .DBX30.5
DB320x.DBX14.5
SINUMERIK 840D sl
SINUMERIK 828D
M function 1 - 5 change
DB21, ... .DBX58.0-4
DB250x.DBX4.0-4
M function 1 - 5 not decoded
DB21, ... .DBX59.0-4
S function 1 - 3 change
DB21, ... .DBX60.0-2
DB250x.DBX6.0
S function 1 - 3 quick
DB21, ... .DBX60.4-6
T function 1 - 3 change
DB21, ... .DBX61.0-2
8.18.2.2
Signals from channel
Signal name
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8.18 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
T function 1 - 3 quick
DB21, ... .DBX61.4-6
D function 1 - 3 change
DB21, ... .DBX62.0-2
DB250x.DBX10.0
D function 1 - 3 quick
DB21, ... .DBX62.4-6
DL function change
DB21, ... .DBX63.0
DL function quick
DB21, ... .DBX63.4
H function 1 - 3 change
DB21, ... .DBX64.0-2
DB250x.DBX12.0-2
H function 1 - 3 quick
DB21, ... .DBX64.4-6
F function 1 - 6 change
DB21, ... .DBX65.0-5
M function 1 - 5 quick
DB21, ... .DBX66.0-4
F function 1 - 6 quick
DB21, ... .DBX67.0-5
Extended address M function 1 (16 bit int)
DB21, ... .DBB68-69
DB250x.DBB3004
M function 1 (DInt)
DB21, ... .DBB70-73
DB250x.DBD3000
Extended address M function 2 (16 bit int)
DB21, ... .DBB74-75
DB250x.DBB3012
M function 2 (DInt)
DB21, ... .DBB76-79
DB250x.DBD3008
Extended address M function 3 (16 bit int)
DB21, ... .DBB80-81
DB250x.DBB3020
M function 3 (DInt)
DB21, ... .DBB82-85
DB250x.DBD3016
Extended address M function 4 (16 bit int)
DB21, ... .DBB86-87
DB250x.DBB3028
M function 4 (DInt)
DB21, ... .DBB88-91
DB250x.DBD3024
Extended address M function 5 (16 bit int)
DB21, ... .DBB92-93
DB250x.DBB3036
M function 5 (DInt)
DB21, ... .DBB94-97
DB250x.DBD3032
Extended address S function 1 (16 bit int)
DB21, ... .DBB98-99
DB250x.DBB4004
S function 1 (real)
DB21, ... .DBB100-103
DB250x.DBD4000
Extended address S function 2 (16 bit int)
DB21, ... .DBB104-105
DB250x.DBB4012
S function 2 (real)
DB21, ... .DBB106-109
DB250x.DBD4008
Extended address S function 3 (16 bit int)
DB21, ... .DBB110-111
DB250x.DBB4020
S function 3 (real)
DB21, ... .DBB112-115
DB250x.DBD4016
Extended address T function 1 (16 bit int)
DB21, ... .DBB116-117
T function 1 (integer)
DB21, ... .DBB118-119
DB250x.DBD2000
Extended address T function 2 (16 bit int)
DB21, ... .DBB120-121
T function 2 (integer)
DB21, ... .DBB122-123
Extended address T function 3 (16 bit int)
DB21, ... .DBB124-125
T function 3 (integer)
DB21, ... .DBB126-127
Extended address D function 1 (8 bit int)
DB21, ... .DBB128
D function 1 (8 bit int)
DB21, ... .DBB129
DB250x.DBD5000
Extended address D function 2 (8 bit int)
DB21, ... .DBB130
D function 2 (8 bit int)
DB21, ... .DBB131
Extended address D function 3 (8 bit int)
DB21, ... .DBB132
D function 3 (8 bit int)
DB21, ... .DBB133
Extended address DL function (8 bit int)
DB21, ... .DBB134
DL function (real)
DB21, ... .DBB136
Extended address H function 1 (16 bit int)
DB21, ... .DBB140-141
DB250x.DBB6004
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8.18 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
H function 1 (real or DInt)
DB21, ... .DBB142-145
DB250x.DBD6000
Extended address H function 2 (16 bit int)
DB21, ... .DBB146-147
DB250x.DBB6012
H function 2 (REAL or DInt)
DB21, ... .DBB148-151
DB250x.DBD6008
Extended address H function 3 (16 bit int)
DB21, ... .DBB152-153
DB250x.DBB6020
H function 3 (real or DInt)
DB21, ... .DBB154-157
DB250x.DBD6016
Extended address F function 1 (16 bit int)
DB21, ... .DBB158-159
F function 1 (real)
DB21, ... .DBB160-163
Extended address F function 2 (16 bit int)
DB21, ... .DBB164-165
F function 2 (real)
DB21, ... .DBB166-169
Extended address F function 3 (16 bit int)
DB21, ... .DBB170-171
F function 3 (real)
DB21, ... .DBB172-175
Extended address F function 4 (16 bit int)
DB21, ... .DBB176-177
F function 4 (real)
DB21, ... .DBB178-181
Extended address F function 5 (16 bit int)
DB21, ... .DBB182-183
F function 5 (real)
DB21, ... .DBB184-187
Extended address F function 6 (16 bit int)
DB21, ... .DBB188-189
F function 6 (real)
DB21, ... .DBB190-193
Dynamic M function: M00 - M07
DB21, ... .DBB194
DB250x.DBB1000
Dynamic M function: M08 - M15
DB21, ... .DBB195
DB250x.DBB1001
Dynamic M function: M16 - M23
DB21, ... .DBB196
DB250x.DBB1002
Dynamic M function: M24 - M31
DB21, ... .DBB197
DB250x.DBB1003
Dynamic M function: M32 - M39
DB21, ... .DBB198
DB250x.DBB1004
Dynamic M function: M40 - M47
DB21, ... .DBB199
DB250x.DBB1005
Dynamic M function: M48 - M55
DB21, ... .DBB200
DB250x.DBB1006
Dynamic M function: M56 - M63
DB21, ... .DBB201
DB250x.DBB1007
Dynamic M function: M64 - M71
DB21, ... .DBB202
DB250x.DBB1008
Dynamic M function: M72 - M79
DB21, ... .DBB203
DB250x.DBB1009
Dynamic M function: M80 - M87
DB21, ... .DBB204
DB250x.DBB1010
Dynamic M function: M88 - M95
DB21, ... .DBB205
DB250x.DBB1011
Dynamic M function: M96 - M99
DB21, ... .DBX206.0-3
DB250x.DBB1012.0-3
Associated M00/M01 active
DB21, ... .DBX318.5
DB330x.DBX4002.5
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
F function for positioning axis (real)
DB31, ... .DBB78-81
8.18.2.3
Signals to axis/spindle
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8.18 Data lists
8.18.2.4
Signals from axis/spindle
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
M function for spindle (Int)
DB21, ... .DBB86-87
DB370x.DBD0000
S function for spindle (real)
DB21, ... .DBB88-91
DB370x.DBD0004
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K1: Mode group, channel, program operation, reset
response
9.1
Product brief
Channel
An NC channel represents the smallest unit for manual traversing of axes and automatic
processing of part programs. At any one time, a channel will always be in a particular mode,
e.g. AUTOMATIC, MDI, or JOG. A channel can be regarded as an independent NC.
Mode group
A channel always belongs to a mode group. A mode group can also consist of several channels.
A mode group can be identified by the fact that all channels of the mode group are always in
the same mode at a particular time, e.g. AUTOMATIC, MDI, or JOG. This is ensured through
the NC internal mode logic.
A mode group can be regarded as an independent multi-channel NC.
Channel gaps
When channels are configured, placeholder channels can be provided in order to create as
uniform a configuration as possible over machines in a series. Only the channels that are
actually used are then activated.
Program test
The following options are available for testing or moving in position a new part program.
Program execution without setpoint outputs
Program execution in singleblock mode
Program execution with dry run feedrate
Skip part program blocks
Block search with or without calculation.
Block search
The block search function enables the following program simulations for locating specific
program points:
Type 1 without calculation at contour
Type 2 with calculation at contour
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Type 4 with calculation at block end point
Type 5 automatic start of the selected program point with calculation of all required data
from history
Automatic start of an ASUB after a block search
Cascaded block search
Cross-channel block search in "Program test" mode
Program operation
The execution of part programs or part program blocks in AUTOMATIC or MDI modes is
referred to as program operation. During execution, the program sequence can be controlled
by PLC interface signals and commands.
For each channel, basic settings or channel-specific machine data can be specified. These
initial settings affect, for example, G groups and auxiliary function output.
A part program can be selected only if the relevant channel is in the Reset state.
Furthermore, all further program runs are handled by PLC interface signals and the
corresponding commands.
Start of part program or part program block
Part program calculation and program control
RESET command, program status, and channel status
Responses to operator and program actions
Eventdriven program calls
Asynchronous subroutines (ASUBs), interrupt routines
Interrupt inputs allow the NC to interrupt the the current part program execution so that it can
react to more urgent events in interrupt routines or ASUBs.
Single block
With the single-block function, the user can execute a part program block-by-block.
There are 3 types of setting for the single-block function:
SLB1: = IPO single block
SLB2: = Decode single block
SLB3: = Stop in cycle
Basic block display
A second basic block display can be used with the existing block display to display all blocks
that produce an action on the machine.
The actually approached end positions are shown as an absolute position. The position values
refer either to the workpiece coordinate system (WCS) or the settable zero system (SZS).
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9.2 Mode group
Program execution from external source
When complex workpieces are machined, the NC may not have enough memory for the
programs. Using the function "Execution from external source" or "EES (execution from
external storage) enables part programs to be called and executed from an external memory
(e.g. from the hard disk).
Behavior after POWER ON, Reset, ...
The control-system response after:
Power up (POWER ON)
Reset/part program end
Part program start
can be modified for functions, such as G codes, tool length compensation, transformation,
coupled axis groupings, tangential follow-up, programmable synchronous spindle for certain
system settings through machine data.
Subroutine call with M, T and D functions
For certain applications, it may be advantageous to replace M, T or D functions as well as a
few NC language commandsSPOS, SPOSA, by a subroutine call. This can be used, for example,
to call the tool change routine.
Relevant machine data can be used to define and control subroutines having M, T or D
functions. For example, for a gear stage change.
Program runtime/part counter
Information on the program runtime and the part count is provided to assist the machine tool
operator.
The functions defined for this purpose are not identical to the functions of tool management
and are intended primarily for systems without tool management.
9.2
Mode group
Mode group
In a mode group, multiple channels if an NC are grouped together to form one processing unit.
In principle, it is an independent "NC" within an NC.
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9.2 Mode group
A mode group is essentially characterized by the fact that all channels assigned to it are any
instant are always in the same mode (AUTOMATIC, JOG, MDI).
Note
This description continues on the assumption that there is one mode group and one channel.
Functions that need several channels, e.g. "Axis replacement" function, are described in:
References:
Function Manual Extension functions; Mode Groups, Channels, Axis replacement (K5)
Parameter assignment
A channel is assigned to a mode group in the machine data:
MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[<channel index>] = mode group
number
All channels with the same mode group number form one mode group.
Note
A NC always comprises one mode group with one channel by default. It is not possible to
parameterize an NC without a channel.
Mode-group-specific NC/PLC interface signals
The mode-group-specific NC/PLC interface signals are in data block DB11.
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9.2 Mode group
The mode-group-specific NC/PLC interface essentially comprises the following interface
signals:
Request signals PLC NC
Mode group reset
Mode group stop axes plus spindles
Mode group stop
Mode changeover inhibit
Mode: JOG, MDA, AUTOM.
Single block: Type A, Type B
Machine function REF, REPOS, TEACH IN, INC x
Status signals NC PLC
Mode strobe: JOG, MDA, AUTOMATIC
Machine function strobe: REF, REPOS, TEACH IN
All channels in the reset state
Mode group has been reset
Mode group Ready
Active mode: JOG, MDA, AUTOMATIC
Active machine function: REF, REPOS, TEACH, INC x
Activated and non-activated channels, channel gaps
Activated channel
A channel with a mode group number 0 is an active channel.
Non-activated channel
A channel with a mode group number 0 is a non-activated channel. It does not take up any
memory internally in the control.
Channel gaps
A channel with a mode group number 0 is not only a non-activated channel. It is also a socalled channel gap in the sequence of the channels.
The advantage of channel gaps is that the configuration data can be kept largely identical in
a series of similar machines. For the specific commissioning, only those channels are activated
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9.2 Mode group
that are required for the machine in question. The unoccupied memory can be freely used as
additional user memory.
Table 9-1
Example
Machine data
Meaning
MD10010 $MN_AS
SIGN_CHAN_TO_MODE_GROUP[0] = 1
Channel 1, mode group 1
MD10010 $MN_AS
SIGN_CHAN_TO_MODE_GROUP[1] = 2
Channel 2, mode group 2
MD10010 $MN_AS
SIGN_CHAN_TO_MODE_GROUP[2] = 0
Channel 3, not used
MD10010 $MN_AS
SIGN_CHAN_TO_MODE_GROUP[3] = 1
Channel 4, mode group 1
MD10010 $MN_AS
SIGN_CHAN_TO_MODE_GROUP[4] = 2
Channel 5, mode group 2
See also
K2: Axis Types, Coordinate Systems, Frames (Page 661)
S1: Spindles (Page 1199)
9.2.1
Mode group stop
Function
The following NC/PLC interface signals are used to stop the traversing motions of the axes or
of the axes and spindles in all mode group channels and to interrupt part program execution:
DB11 DBX0.5 (mode group stop)
DB11 DBX0.6 (mode group stop, axes plus spindles)
9.2.2
Mode group reset
Function
A mode group Reset is requested via a mode group-specific NC/PLC interface signal:
DB11 DBX0.7 = 1 (mode group reset)
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9.3 Mode types and mode type change
Effect
Effect on the channels of mode group:
Part program preparation (preprocessing) is stopped.
All axes and spindles are decelerated to zero speed according to their acceleration curves
without contour violation.
Any auxiliary functions not yet output to the PLC are no longer output.
The preprocessing pointers are set to the interruption point, and the block pointers are set
to the beginning of the appropriate part programs.
All initial settings (e.g. the G functions) are set to the parameterized values.
All alarms with "Channel reset" criterion are canceled.
If all the channels of the mode group are in reset state, then:
All alarms with "Mode group reset" cancel criterion are canceled.
The NC/PLC interface indicates completion of the mode group Reset and the mode group's
readiness to operate:
DB11 DBX6.7 (all channels in the reset state)
DB11 DBX6.3 = 1 (mode group ready)
9.3
Mode types and mode type change
Unique mode
All channels of a mode group are always in the same mode:
AUTOMATIC
JOG
MDI
If individual channels are assigned to different mode groups, a channel switchover activates
the corresponding mode group. This allows mode changes to be initiated via a channel
switchover.
Modes
The following modes are available:
AUTOMATIC
Automatic execution of part programs:
Part program test.
All channels of the mode group can be active at the same time.
JOG in Automatic
JOG in AUTOMATIC is an extension of AUTOMATIC mode intended to simplify use. JOG
can be executed without leaving AUTOMATIC mode if boundary conditions so permit.
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JOG
Manual traversing of axes via traversing keys of the machine control panel or via a
handwheel connected to the machine control panel:
Channel-specific signals and interlocks are taken into account for motions executed by
means of an ASUB or via static synchronized actions.
Couplings are taken into account.
Every channel in the mode group can be active.
MDI
Manual Data Automatic (the blocks are entered via the user interface)
Restricted execution of part programs and part program sections.
Part program test.
A maximum of one channel per mode group can be active (applies only to TEACH
IN).
Axes can only be traversed manually in subordinate machine functions such as JOG,
REPOS or TEACH IN.
Applies to all modes
Cross-mode synchronized actions
Modal synchronized actions can be executed by means of IDS in all modes for the following
functions parallel to the channel:
Command axis functions
Spindle functions
Technology cycles
Selection
The user can select the desired mode by means of softkeys on the user interface.
This selection (AUTOMATIC, MDI, or JOG) is forwarded to the PLC on the NC/PLC interface,
but is not activated:
DB11 DBX4.0, 0.1, 0.2 (strobe mode)
Activation and priorities
The mode of the mode group is activated via the NC/PLC interface:
DB11 DBX0.0, 0.1, 0.2 (mode)
If several modes are selected at the same time, the following priority applies:
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Priority
Mode
Mode-group signal (NCK PLC)
1st priority, high
JOG
DB11 DBX0.2
2nd priority, medium
MDI
DB11 DBX0.1
3rd priority, low
AUTOMATIC
DB11 DBX0.0
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9.3 Mode types and mode type change
Display
The current mode of the mode group is displayed via the NC/PLC interface:
DB11 DBX6.0, 0.1, 0.2 (active mode)
Mode-group signal (NCK PLC)
Active operating mode
DB11 DBX6.2
JOG
DB11 DBX6.1
MDI
DB11 DBX6.0
AUTOMATIC
Machine functions
Machine functions can be selected within a mode that also apply within the mode group:
Machine functions within the JOG mode
REF (reference point approach)
REPOS (repositioning)
JOG retract (retraction motion in the tool direction)
Machine functions within the MDI mode
REF (reference point approach)
REPOS (repositioning)
TEACHIN (teach-in of axis positions)
NC/PLC interface signals
DB11 DBX5.0, 0.1, 0.2 (machine function strobe): Requirement
DB11 DBX1.0, 0.1, 0.2 (machine function): Activation
DB11 DBX7.0-2 (active machine function): Feedback signal
Channel states
Channel reset
The machine is in its initial state. This is defined by the machine manufacturer's PLC
program, e.g. after POWER ON or at the end of the program.
Channel active
A program has been started, and the program is being executed or a reference point
approach is in progress.
Channel interrupted
The running program or reference point approach has been interrupted.
Functions within modes
Modes are supplemented through user-specific functions. The individual functions are
technology and machine-independent and can be started and/or executed from the three
channel states "Channel reset", "Channel active" or "Channel interrupted".
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9.3 Mode types and mode type change
Supplementary condition for submode TEACH IN
TEACH IN is not permissible for leading or following axes of an active axis grouping, e.g. for:
Gantry-axis grouping or a gantry axis pair
Coupled-axis grouping of master and slave axis
JOG in Automatic
JOG in AUTOMATIC mode is permitted if the mode group is in "RESET" state and the axis is
jog-capable. "RESET" state for the mode group means:
All channels are in the "RESET" state
All programs are canceled
DRF is not active in any channel
An axis is JOG-capable if it is not in any of the following states:
PLC axis as concurrent positioning axis (request of the axis from the PLC)
Command axis (the axis has been programmed by a synchronized action and the motion
has not been completed yet)
Rotating spindle (spindle rotating despite RESET)
An asynchronous reciprocating axis
Note: The jog-capable property is independent of the JOG in AUTOMATIC function.
Activation
The function "JOG in AUTOMATIC" can be activated with the machine data:
MD10735 $MN_JOG_MODE_MASK
Before POWER ON, the following machine data must be set:
MD10735 $MN_JOG_MODE_MASK, bit 0 = 1
The user switches to AUTO (PLC user interface DB11 DBX0.0 = 01 edge). JOG in
AUTOMATIC is then active if the NCK previously had channel state RESET and program
state Aborted in all mode group channels. The axis in question must also be jog-capable.
DRF must be deactivated (if not already deactivated).
RESET is initiated or the running program is finished with M30/M2 in all mode group
channels that do not have channel state Reset and program state Aborted.
The relevant axis is automatically made "JOG-capable" (e.g. axis interchanget: PLC NC).
Note: In most applications, the axes to be traversed are "JOG-capable" and with the switchover
to AUTOMATIC, "JOG in AUTOMATIC" is also active.
Characteristics
The +/ keys cause a JOG movement, and the mode group is switched internally to JOG.
(i.e. Internal JOG).
Moving the handwheels causes a JOG movement, and the mode group is switched
internally to JOG, unless DRF is active.
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An ongoing JOG movement is not complete until the end position of the increment has been
reached (if this has been set) or the movement has been aborted with Delete distance-togo.
In this way an increment can be stopped using Stop and then moved to the end using Start.
The NCK remains in Internal JOG during this time. A partial increment is possible, but it
must not be interrupted using Stop. There is a mode in which releasing the travel key causes
interruption within an increment.
Without any JOG movement, JOG in AUTOMATIC responds in the same way as
Automatic. In particular, the Start key starts the selected part program and the appropriate
HMI softkey initiates a block search.
If JOG movement is active, the NCK is internally in JOG mode, and, thus, a block search
request is refused and a Start cannot start the part program. Start starts any remaining
increment or has no effect.
While a mode group axis is being traversed in JOG mode, the mode group remains
internally in JOG mode.
Comment: This phase can begin with the JOG movement of an axis and end with the end
of the JOG movement of another axis.
Axis interchange is not possible for an axis with active JOG movement (the axis might
change mode group). The NCK blocks any axis interchange attempt.
The PLC user interface indicates "Automatic" mode:
DB11 DBX6.0, 6.1, 6.2 = 1
DB11 DBX7.0, 7.1, 7.2 = 0
In JOG in AUTOMATIC, the NC/PLC interface displays whether the mode group is in
Mode group RESET.
DB11 DBX6.4 (mode group has been reset, mode group 1)
DB11 DBX26.4 (mode group has been reset, mode group 2)
DB11 DBX46.4 (mode group has been reset, mode group 3)
In JOG in AUTOMATIC, the NC/PLC interface displays whether the NC has automatically
switched to Internal JOG.
DB11 DBX6.5 (NCK internal JOG active, mode group 1)
DB11 DBX26.5 (NCK internal JOG active, mode group 2)
DB11 DBX46.5 (NCK internal JOG active, mode group 3)
Supplementary conditions
JOG in AUTOMATIC can only switch internally to JOG if the mode group is in Mode group
RESET state, i.e. it is not possible to jog immediately in the middle of a stopped program. The
user can jog in this situation by pressing the JOG key or the Reset key in all channels of the
mode group.
Selecting AUTOMATIC disables the INC keys and the user can/must press the INC keys again
to select the desired increment. If the NCK switches to Internal JOG, the selected increment
is retained.
If the user attempts to jog the geometry or orientation axes, the NCK switches to Internal JOG
and the movement executed. Several axes can be physically moved in this way; they must all
be JOG-capable.
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9.3 Mode types and mode type change
Following the JOG movement, the NCK deactivates Internal JOG again and selects AUTO
mode again. The internal mode change is delayed until the movement is complete. This avoids
unnecessary multiple switching operations, e.g. when using the handwheel. The PLC can only
rely on the Internal JOG active PLC signal.
The NCK will then switch to Internal JOG if the axis is not enabled.
See also
R1: Referencing (Page 1149)
9.3.1
Monitoring functions and interlocks of the individual modes
Channel status determines monitoring functions
Monitoring functions in operating modes
Different monitoring functions are active in individual operating modes. These monitoring
functions are not related to any particular technology or machine.
In a particular mode only some of the monitoring functions are active depending on the
operating status. The channel status determines which monitoring functions are active in which
mode and and in which operating state.
Interlocking functions in operating modes
Different interlocks can be active in the different operating modes. These interlocking functions
are not related to any particular technology or machine.
Almost all the interlocks can be activated in every mode, depending on the operating status.
9.3.2
Mode change
Introduction
A mode change is requested and activated via the mode group interface (DB11, ...). A mode
group will either be in AUTOMATIC, JOG, or MDA mode, i.e. it is not possible for several
channels of a mode group to take on different modes at the same time.
What mode transitions are possible and how these are executed can be configured in the PLC
program on a machine-specific basis.
Note
The mode is not changed internally until the signal "Channel status active" is no longer pending.
For error-free mode change however, all channels must assume a permissible operating mode.
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9.4 Channel
Possible mode changes
The following table shows possible mode changes for one channel.
AUTOMATIC
JOG
MDA
AUTO
Reset
Interrupt
AUTOMATIC
Reset
X
JOG
MDA
MDA
Interrupt Interrupt
X
JOG without hand
wheel
Reset
Interrupt
Interrupt
X
X
active
AUTO
Possible mode changes are shown by an "X".
Special cases
Errors during mode change
If a mode change request is rejected by the system, the error message "Operating mode
cannot be changed until after NC Stop" is output. This error message can be cleared without
changing the channel status.
Mode change disable
A mode change can be prevented by means of interface signal:
DB11, DBX0.4 (Mode change disable).
This suppresses the mode change request.
The user must configure a message to the operator indicating that mode change is disabled.
No signal is set by the system.
Mode change from MDA to JOG
If all channels of the mode group are in Reset state after a mode change from MDA to JOG,
the NC switches from JOG to AUTO. In this state, part program commands START or
INIT can be executed.
If a channel of the mode group is no longer in Reset state after a mode change, the part
program command START is rejected and Alarm 16952 is issued.
9.4
Channel
In a channel of the NC, the part programs defined by the user are executed.
The following properties characterize a channel:
A channel is always assigned to a mode group (Page 457) (BAG).
A channel can only execute one part program at any point in time.
Machine, geometry, and special axes and spindles are assigned to a channel. Only these
can be traversed via the part program executed in the channel.
A channel consists of the internal units
Preprocessing (program decoding and block preparation)
Main run (path and axis interpolation).
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9.4 Channel
A channel has an interface with the PLC. Via this NC/PLC interface, the PLC user program
can read various channel-specific status data and write requests to the channel.
Channel-specific tool offsets (Page 1363) are active in a channel.
Channel-specific coordinate systems (Page 681) are active in a channel.
Each channel has a unique channel name by default. The defined channel name can be
changed in machine data:
MD20000 $MC_CHAN_NAME = "<channel name>"
Multiple channels can be combined to form a mode group. The channels of a mode group are
always in the same mode (AUTOMATIC, JOG, MDI).
Channel configuration
Channels can be filled with their own channel name via the following machine data:
MD20000 $MC_CHAN_NAME (channel name)
The various axes are then assigned to the available channels via machine data. There can be
only one setpoint-issuing channel at a time for an axis/spindle. The axis/spindle actual value
can be read by several channels at the same time. The axis/spindle must be registered with
the relevant channel.
The following channel-specific settings can also be made using machine data:
Position of deletions or the basic program settings of G groups via the machine data:
MD20150 $MC_GCODE_RESET_VALUES (initial setting of the G groups)
Auxiliary function groups regarding the combination and the output time.
Transformation conditions between machine axes and geometry axes.
Other settings for the execution of a part program.
Change in the channel assignment
An online change in the channel configuration cannot be programmed in a part program or
PLC user program. Changes in the configuration must be made via the machine data. The
changes become effective only after a new POWER ON.
Container axes and link axes
An axis container combines a group of axes in a container. These axes are referred to as
container axes. This involves assigning a pointer to a container slot (ring buffer location within
the relevant container) to a channel axis. One of the axes in the container is located temporarily
in this slot.
Each machine axis in the axis container must be assigned at all times to exactly one channel
axis.
Link axes can be assigned permanently to one channel or dynamically (by means of an axis
container switch) to several channels of the local NCU or the other NCU. A link axis is a nonlocal axis from the perspective of one of the channels belonging to the NCU to which the axis
is not physically connected.
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9.4 Channel
The assignment between the link axes and a channel is implemented as follows:
For permanent assignment using machine data:
Allow the direct logic machine axis image to show link axes.
For dynamic assignment:
Allow the axis container slot machine data to show link axes.
Further information on link axes and container axes can be found in:
References:
Function Manual, Extended Functions; Several Operator Panel Fronts and Multiple NCUs,
Distributed Systems (B3)
Interface signals
The signals of the 1st channel are located in the NC/PLC interface in DB21, the signals from
channel 2 are located in DB22. The channel or channels can be monitored and controlled from
the PLC or NCK.
Channel-specific technology specification
The technology used can be specified for each channel:
MD27800 $MC_TECHNOLOGY_MODE
In the delivery state, machine data is active for milling as standard.
Spindle functions using a PLC
In addition to function block FC18, spindle functions can also be started and stopped via the
axial NC/PLC interface signals in parallel to part programs that are running.
Requirements:
Channel status: "Interrupted" or "RESET"
Program status: "Interrupted" or "canceled"
The following functions can be controlled from the PLC via interface signals:
Stop (corresponds to M5)
Start with clockwise direction of rotation (corresponds to M3)
Start with counter-clockwise direction of rotation (corresponds to M4)
Select gear stage
Positioning (corresponds to M19)
For several channels, the spindle started by the PLC is active in the channel to which it is
assigned at the start.
For more information on the special spindle interface, see Section "S1: Spindles (Page 1199)."
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9.4 Channel
PLC-controlled single-axis operations
An axis can also be controlled from the PLC instead of from a channel. For this purpose, the
PLC requests the axis from the NC via the NC/PLC interface:
DB31, ... DBX28.7 = 1 (PLC controls axis)
The following functions can be controlled from the PLC:
Cancel axis/spindle sequence (equivalent to delete distance-to-go)
Stop or interrupt axis/spindle
Resume axis/spindle operation (continue the motion sequence)
Reset axis/spindle to the initial state
For more information on the channel-specific signal exchange (PLC NCK), see Section "P3:
Basic PLC program for SINUMERIK 840D sl (Page 821)."
The exact functionality of independent single-axis operations is described in:
References:
Function Manual, Extended Functions; Positioning Axes (P2)
9.4.1
Global start disable for channel
User/PLC
A global Start disable can be set for the selected channel via the HMI or from the PLC.
Function
When Start disable is set, no new program starts are accepted for the selected channel. Start
attempts are counted internally.
If a start is executed by the PLC before a global block disable is sent from the HMI to the NCK,
the program is not stopped by the Start disable and its status is transmitted to the HMI.
NC Start disable and global Start disable have the same effect on the internal counter for starts
that have been sent but not executed. (OPI variable startRejectCount).
Bypassing global Start disable
The interface signal:
DB21, ... DBX7.5 (PLC NCK)
allows the PLC to temporarily bypass a global Start disable.
0:
1:
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Global Start disable is effective
Global Start disable is temporarily canceled.
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9.5 Program test
Messages
If desired, a message can be issued when a Start attempt occurs while a global block disable
is active.
The control is exercised using machine data:
MD11411 $MN_ENABLE_ALARM_MASK Bit 6
1:
0:
9.5
Alarm 16956 appears: Channel %1, Program %2 cannot be started because of "Global
Start disable".
Start attempts when a global block disable is set are not signaled by an alarm.
Program test
Several control functions are available for testing a new part program. These functions are
provided to reduce danger at the machine and time required for the test phase. Several
program functions can be activated at the same time to achieve a better result.
Test options
The following test options are described below:
Program execution without setpoint outputs
Program execution in singleblock mode
Program execution with dry run feedrate
Skip part program blocks
Block search with or without calculation.
9.5.1
Program execution without setpoint outputs
Function
In the "Program test" status, a part program is executed without the output of axis or spindle
setpoints.
The user can use this to check the programmed axis positions and auxiliary function outputs
of a part program. This program simulation can also be used as an extended syntax check.
Selection
This function is selected via the operator interface in the "Program control" menu.
The selection sets the following interface signal:
DB21, ... DBX25.7 (program test selected)
This does not activate the function.
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9.5 Program test
Activation
The function is activated via interface signal:
DB21, ... DBX1.7 (activate program test)
Display
The corresponding field on the operator interface is reversed and the interface signal in the
PLC as a checkback of the active program test:
DB21, ... DBX33.7 (program test active)
Program start and program run
When the program test function is active, the part program can be started and executed (incl.
auxiliary function outputs, wait times, G function outputs etc.) via the interface signal:
DB21, ... DBX7.1 (NC-Start)
The safety functions such as software limit switch, working area limits continue to be valid.
The only difference compared to normal program operation is that an internal axis disable is
set for all axes (including spindles). The machine axes do not move, the actual values are
generated internally from the setpoints that are not output. The programmed velocities remain
unchanged. This means that the position and velocity information on the operator interface is
exactly the same as that output during normal part program execution. The position control is
not interrupted when this function is active, so the axes do not have to be referenced when
the function is switched off.
CAUTION
The signals for exact stop:
DB31, ... DBX60.6/60.7 (exact stop coarse/fine)
mirror the actual status on the machine.
They are only canceled during program testing if the axis is pushed out of its set position (the
set position remains constant during program testing).
With signal:
DB21, ... DBX33.7 (program test active)
both the PLC program and the part program can use variable $P_ISTEST to decide how to
react or branch in response to these signals during testing.
Note
Dry run feedrate
"Program execution without axis motion" can also be activated with the function "Dry run
feedrate". With this function, part program sections with a small programmed feedrate can be
processed in a shorter time.
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9.5 Program test
Note
Tool management
Because of the axis disable, the assignment of a tool magazine is not changed during program
testing. A PLC application must be used to ensure that the integrity of the data in the tool
management system and the magazine is not corrupted. The toolbox diskettes contain an
example of the basic PLC program.
9.5.2
Program execution in single-block mode
Function
In case of "Program execution in single-block mode" the part program execution stops after
every program block. If tool cutter radius compensation or a tool nose radius correction is
selected, processing stops after every intermediate block inserted by the controller.
The program status switches to "Program status stopped".
The channel status remains active.
The next part program block is processed on NC Start.
Application
The user can execute a part program block-by-block to check the individual machining steps.
Once the user decides that an executed part program block is functioning correctly, the next
block can be called.
Single-block types
The following single block types are differentiated:
Decoding single block
With this type of single block, all blocks of the part program (even the pure computation
blocks without traversing motions) are processed sequentially by "NC Start".
Action single block (initial setting)
With this type of single block, the blocks that initiate actions (traversing motions, auxiliary
function outputs, etc.) are processed individually.
Blocks that were generated additionally during decoding (e.g. for cutter radius
compensation at acute angles) are also processed individually in single-block mode.
Processing is however not stopped at calculation blocks as these do not trigger actions.
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9.5 Program test
The single-block types are determined via the user interface in the menu "Program controls".
CAUTION
Function feature for single-block type series
In a series of G33/G34/G35 blocks, a single block is only operative if "dry run feed" is selected.
Calculation blocks are not processed in single-step mode (only if single decoding block is
active).
SBL2 is also ineffective with G33/G34/G35.
Selection
It is possible to select the single-block mode:
Via the machine control panel (key "Single Block")
Via the user interface
For an exact procedure, see:
References:
Operating Manual of the installed HMI application
Activation
The function is activated through the PLC basic program via the interface signal:
DB21, ... DBX0.4 (activate single block)
Display
Active single-block mode is indicated by a reversal in the relevant field in the status line on the
user interface.
Because of the single-block mode, as soon as the part program processing has processed a
part program block, the following interface signal is set:
DB21, ... DBX35.3 (program status interrupted)
Processing without single-block stop
Despite the selected single-block mode, a processing without the single-block stop can be set
for specific program runs, e.g. for:
Internal ASUBs
User ASUBs
Intermediate blocks
Block search group blocks (action blocks)
Init blocks
Subprograms with DISPLOF
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9.5 Program test
Non-reorganizable blocks
Non-repositionable blocks
Reposition block without travel information
Tool approach block.
The setting is made via the following machine data:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop)
References:
List Manual, Detailed Description of the Machine Data
9.5.3
Program execution with dry run feedrate
Function
During "Program execution with dry run feedrate" the traversing speeds which have been
programmed together with G01, G02, G03, G33, G34 and G35, are replaced by a
parameterized feedrate value:
SD42100 $SC_DRY_RUN_FEED (dry run feedrate)
The dry run feedrate also replaces the programmed revolutional feedrate in program blocks
with G95.
The exact way of working of the parameterized dry run feedrate (SD42100) depends on the
setting of another setting data:
SD42101 $SC_DRY_RUN_FEED_MODE (mode for test run speed)
Value
Meaning
Dry run feedrate is the maximum of the programmed feedrate and setting data SD42100.
(Default setting!)
SD42100 becomes effective only when the stored value is greater than the programmed
feedrate.
Dry run feedrate is the minimum of the programmed feedrate and SD42100.
SD42100 becomes effective only when the stored value is less than the programmed fee
drate.
The value in SD42100 acts as the dry run feedrate, regardless of the programmed feedrate.
10
As in the case of "0", except thread cutting (G33, G34, G35) and thread boring (G331, G332,
G63). These functions are executed as programmed.
11
As in the case of "1", except thread cutting (G33, G34, G35) and thread boring (G331, G332,
G63). These functions are executed as programmed.
12
As in the case of "2", except thread cutting (G33, G34, G35) and thread boring (G331, G332,
G63). These functions are executed as programmed.
A dry run feedrate can be selected in the automatic modes and activated on interruption of an
automatic mode or end of a block.
For further information on influencing the feedrate, see Section "V1: Feedrates (Page 1307)".
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9.5 Program test
Application
DANGER
High cutting speeds
Workpieces may not be machined when "dry run feedrate" is active because the altered
feedrates might cause the permissible tool cutting rates to be exceeded and the workpiece
or machine tool could be damaged.
Selection
This function is selected via the user interface in the "Program control" menu.
The selection sets the following interface signal:
DB21, ... DBX24.6 (dry run feedrate selected)
This does not activate the function.
Activation
The function is activated via interface signal:
DB21, ... DBX0.6 (activate dry run feed)
Display
Active dry run feedrate mode is indicated by a reversal in the relevant field in the status line
on the user interface.
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9.5 Program test
9.5.4
Skip part-program blocks
Function
When testing or breaking in new programs, it is useful to be able to disable or skip certain part
program blocks during program execution. For this, the respective records must be marked
with a slash.
Main program/subroutine
%100
N10 ...
N20 ...
Block being
processed
N30 ...
/N40 ...
/N50 ...
Skip blocks
N40 and N50 during
processing
N60 ...
N70 ...
N80 ...
N90 ...
N100 ...
N110 ...
N120 M30
Figure 9-1
Skipping part program blocks
Selection
This function is selected via the operator interface in the "Program control" menu.
The selection sets the following interface signal:
DB21, ... DBX26.0 (skip block selected)
This does not activate the function.
Activation
The function is activated via the interface signal:
DB21, ... DBX2.0 (activate skip block)
Note
The "Skip part programs" function remains active during block searches.
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9.6 Workpiece simulation
Display
Activated "Skip block" function is indicated by a reversal of the relevant field on the operator
interface.
9.6
Workpiece simulation
Function
The actual part program is completely calculated in the tool simulation and the result is
graphically displayed in the user interface. The result of programming is verified without
traversing the machine axes. Incorrectly programmed machining steps are detected at an early
stage and incorrect machining on the workpiece prevented.
Simulation NCK
The simulation uses its own NCK instance (simulation NCK). Therefore, before a simulation
is started, the real NCK must be aligned to the simulation NCK. With this alignment, all active
machine data are read out of the NCK and read into the simulation NCK. The NCK and cycle
machine data are included in the active machine data.
Compile cycles in simulation (only 840D sl)
Up to SW 4.4, no compile cycles are supported, from SW 4.4 and higher only selected compile
cycles (CC) are supported for the workpiece simulation. The machine data of the supported
compile cycles are aligned once after the control has powered-up. An alignment with
"simulation start" does not take place!
Note
In part programs, CC-specific language commands and machine data of unsupported CCs
cannot be used (see also paragraph "CC-commands in the part program").
Special motion of supported CCs (OEM transformations) are - under certain circumstances incorrectly displayed.
CC-commands in the part program
Language commands in the part program of compile cycles that are not supported
(OMA1 ... OMA5, OEMIPO1/2, G810 ... G829, own procedures and functions) therefore result
in an alarm message and cancellation of the simulation without any individual handling.
Solution:Individually handle the missing CC-specific language elements in the part program
($P_SIM query). Example:
Program code
Comment
N1 G01 X200 F500
IF (1==$P_SIM)
N5 X300
478
; CC not active for simulation.
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9.7 Block search, types 1, 2, and 4:
Program code
Comment
ELSE
N5 X300 OMA1=10
ENDIF
9.7
Block search, types 1, 2, and 4:
Function
Block search offers the possibility of starting part program execution from almost any part
program block.
This involves the NC rapidly performing an internal run through the part program (without
traversing motions) to the selected target block during block search. Here, every effort is made
to achieve the exact same control status as would result at the target block during normal part
program execution (e.g. with respect to axis positions, spindle speeds, loaded tools, NC/PLC
interface signals, variable values) in order to be able to resume automatic part program
execution from the target block with minimum manual intervention.
Block search types
Type 1: Block search without calculation
Block search without calculation is used to find a part program block in the quickest possible
way. No calculation of any type is performed. The control status at the target block remains
unchanged compared to the status before the start of the block search.
Type 2: Block search with calculation at contour
Block search with calculation at contour is used to enable the programmed contour to be
approached in any situation. On NC Start, the start position of the target block or the end
position of the block before the target block is approached. This is traversed up to the end
position. Processing is true to contour.
Type 4: Block search with calculation at block end point
Block search with calculation at block end point is used to enable a target position (e.g. tool
change position) to be approached in any situation. The end position of the target block or
the next programmed position is approached using the type of interpolation valid in the
target block. This is not true to contour.
Only the axes programmed in the target block are moved. If necessary, a collision-free
initial situation must be created manually on the machine in "JOG REPOS" mode before
the start of further automatic part program execution.
Type 5: Block search with calculation in "Program test" (SERUPRO) mode
SERUPRO (search run by programtest) is a cross-channel block search with calculation.
Here, the NC starts the selected part program in "Program test" mode. On reaching the
target block, the program test is automatically deselected. This type of block search also
enables interactions between the channel in which the block search is being performed and
synchronized actions as well as with other NC channels.
See Section "Block search Type 5 (SERUPRO) (Page 493)."
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9.7 Block search, types 1, 2, and 4:
Note
For further explanations regarding the block search, see Section "Behavior during block
search (Page 418)."
Subsequent actions
After completion of a block search, the following subsequent actions may occur:
Type 1 - Type 5: Automatic Start of an ASUB
When the last action block is activated, a user program can be started as an ASUB.
Type 1 - Type 4: Cascaded block search
A further block search with a different target specification can be started from "Search target
found".
9.7.1
Description of the function
Basic sequence for type 2 or type 4
1. User: Activation of the block search type 2 or type 4 (block search with calculation to ...)
via the operator interface
2. Search for the target block with collection of auxiliary functions
3. Stop after "Search target found display of alarm 10208 "Continue program with NC start"
4. User: NC start to execute the action block s DB21, ... DBX7.1 = 1 (NC start)
5. Execution of the action blocks
6. Last action block is activated Automatic start of /_N_CMA_DIR/_N_PROG_EVENT_SPF
(default) as an ASUB.
7. Last ASUP block (REPOSA) is activated DB21, ... DBX32.6 = 1 (last action block active)
8. Optional: Execution of user-specific requirements via PLC user program
9. Display of the alarm 10208 "Continue program with NC start"?
10.User: Continue program with NC start DB21, ... DBX7.1 = 1 (NC start)
Search target not found
If the search target is not found, alarm 15370 "Search target not found during block search" is
displayed and the block search is canceled.
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9.7 Block search, types 1, 2, and 4:
Time sequence
Block search
starting
Search target 1
found
Block search
starting
Search target 2 NC Start
found
action blocks
being output
Last
action block
Block search
active (DB21, ...
DBX33.4)
Action block
active (DB21, ...
DBX32.3)
Last action block
active (DB21, ...
DBX32.6)
Channel status
Reset (DB21, ...
DBX35.7)
Channel status
interrupted
(DB21, ... DBX35.6)
Action blocks
During a block search type 2 or type 4 (block search with calculation to ...), actions such as
tool (T, D), spindle (S), feedrate programming or M function outputs are collected. With NC
start to execute the action blocks, the collected actions are output to the PLC.
Note
With NC start for the action blocks, the spindle programming collected during block search
type 2 or type 4 (block search with calculation to ...) (S value, M3 / M4 / M5 / M19, SPOS) becomes
active.
The user has to ensure in the PLC user program that the tool can be operated or the spindle
programming is reset or not output:
DB31, ... DBX2.2 = 1 (spindle reset) .
Supplementary conditions
Continuation mode after block search type 4
If initial programming of an axis is performed incrementally to a block search type 4 (block
search with calculation to block end point), the programmed incremental value can be added
to the position value collected up to the search target or to the current actual value of the axis.
The setting is made via:
SD42444 $SC_TARGET_BLOCK_INCR_PROG
The setting data is evaluated with NC start for outputting the action blocks.
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9.7 Block search, types 1, 2, and 4:
Single block
If you do not wish to stop after each action block after the search target during block search
type 2 or type 4 (block search with calculation to ...) is found and while function "Single block"
(DB21, ... DBX0.4 == 1 (activate single block)) is active, this behavior can be deactivated in
machine data:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK, Bit 3 = 1 (ignore signal block for action
blocks)
Interface signal "start block active"
The interface signal is only set during block search type 2 (block search with calculation to
contour):
DB21, ... DBX32.4 = 1 (approach block active)
For block search type 4 (block search with calculation to block end point), the interface signal
is not set because no approach block is generated here (approach block equal to target block).
Type of interpolation of the target block
For a block search type 4 (block search with calculation to block end point), the start movement
is performed in the interpolation type valid in the target block. For interpolation types other than
linear interpolation (G0 or G1), the start movement can be canceled with an alarm (e.g. circle
end point error in circular interpolation G2 or G3).
9.7.2
Block search in connection with other NCK functions
9.7.2.1
ASUB after and during block search
Block search type 2 and type 4: Synchronization of the channel axes
If an ASUP is started after a block search type 2 or type 4 (block search with calculation to ...)",
the actual positions of all channel axes are synchronized.
Effect
If the following system variables are read in the ASUP, they contain the following values:
$P_EP: Current actual position of the channel axis in the WCS
$AC_RETPOINT: Collected block search position of the channel axis in the WCS
Block search type 2: ASUP completion
For block search type 2 (block search with calculation to contour), the following command
REPOSA (reapproach to the contour; linear; all channel axes) must be programmed by
completion of the ASUP.
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9.7 Block search, types 1, 2, and 4:
Effect
All channel axes are moved to their search position that was collected during the block
search.
$P_EP == "accumulated search position of the channel axis (WCS)"
Block search type 4: REPOS behavior
After block search type 4 (block search with calculation to block end point), no automatic
repositioning is triggered during the period described by the beginning and end by the REPOS
command:
Begin: NC/PLC interface signal DB21, DBX32.6 = 1 (last action block active)
End: Continuing program execution with NC start.
The start point of the approach movement are the current positions of the channel axes at the
time of the NC start command. The end point results from the other transversing movements
programmed in the part program.
For block search type 4, no approach movement is generated by the NC.
Effect:
After exiting the ASUP, the system variable $P_EP (programmed end position) contains
the actual position, at which the channel axes were positioned by the ASUP or manually
(mode: JOG).
$P_EP == "current actual position of the channel axis in the WCS
9.7.2.2
PLC actions after block search
If all action blocks have been executed by the NC and actions by the PLC, e.g. starting an
ASUP to perform a tool change, or of the operator, e.g. restore, are possible, the following
channel-specific NC/PLC interface signal is set:
DB21, ... DB32.6 = 1 (last action block active)
Parameterizing the time of alarm output
To inform the operator that NC start is required in the channel to continue program execution,
alarm 10208 "Continue program with NC start" is displayed.
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9.7 Block search, types 1, 2, and 4:
When the alarm is displayed can be set via machine data:
MD11450 $MN_SEARCH_RUN_MODE, Bit 0 = <value>
<value> Meaning
0
With the change of the last action block after a block search, the following takes place:
Execution of the part program is stopped
DB21, ... DBB32.6 = 1 (last action block active)
Display alarm 10208
With the change of the last action block after a block search, the following takes place:
Execution of the part program is stopped
DB21, ... DBB32.6 = 1 (last action block active)
Only display alarm 10208 if DB21, ... DBX1.6 == 1 (PLC action ended)
In combination with the alarm, the following interface signals are set:
DB21, ... DBX36.7 = 1 (NC alarm with machining standstill is pending)
DB21, ... DBX36.6 = 1 (NC alarm channel-specific is pending)
9.7.2.3
Spindle functions after block search
Control system response and output
Whether the spindle-specific auxiliary functions collected during block search are automatically
output to the PLC in the action block or user-specifically at a later time can be set in
MD11450 $MN_SEARCH_RUN_MODE, Bit 2 = <value>
<value> Meaning
0
Output of spindle-specific auxiliary functions collected during block search (M3, M4, M5, M19,
M70) in action blocks.
The spindle-specific auxiliary functions collected during block search are not output in the
action block.
They can be output at a later time, for example, in an ASUP. The spindle-specific auxiliary
functions collected are stored in system variables:
System variables
The spindle-specific auxiliary functions collected during block search are stored in the following
system variables:
484
System variable
Description
$P_SEARCH_S [ <n> ]
The spindle speed or cutting speed last programmed
$P_SEARCH_SDIR [ <n> ]
Spindle direction last programmed
$P_SEARCH_SGEAR [ <n> ]
Gear stages last programmed M function
$P_SEARCH_SMODE [ <n> ]
Spindle mode last programmed
$P_SEARCH_SPOS [ <n> ]
Spindle position or traverse path last programmed by means of
M19, SPOS or SPOSA
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9.7 Block search, types 1, 2, and 4:
System variable
Description
$P_SEARCH_SPOSMODE [ <n> ]
Position approach mode last programmed by means of M19,
SPOS, or SPOSA
<n>: Spindle number
For later output of the spindle-specific auxiliary functions, the system variables can be read,
for example, in an ASUB, and output after output of the action blocks:
DB21, ... DBX32.6 == 1 (last action block active)
Note
The contents of the system variables $P_S, $P_DIR and $P_SGEAR may be lost after block
search due to synchronization operations.
For more detailed information on ASUB, block search and action blocks, see Sections "Output
suppression of spindle-specific auxiliary functions (Page 423)" and "Program test (Page 471)."
9.7.2.4
Reading system variables for a block search
In part programs, values can be read from the areas processing, main run, or servo/drive via
system variables:
$P_...
Preprocessing-related system variables contain programmed values
$A_...
Main-run-related system variables contain current values
$V_...
Servo/drive-related system variables contain current values
Because no blocks enter the main run during a block search of type 2 and type 4 (block search
with calculation to ...), main run and servo/drive-related system variables are not changed
during the block search. Where necessary, for these system variables, the block search must
specially handled in the NC program by querying whether a block search is active $P_SEARCH
(block search active).
Preprocessing-related system variables provide correct values in all search types.
9.7.3
Automatic start of an ASUB after a block search
Parameter assignment
Making the function effective
The automatic ASUB start after a block search is activated by the following MD setting:
MD11450 $MN_SEARCH_RUN_MODE, bit 1 = 1
Program to be activated
In the default setting, the program _N_PROG_EVENT_SPF is activated from the directory
_N_CMA_DIR as ASUB after the block search by changing the last action block. If another
program is to be activated, then the name of this user program must be entered in the following
machine data:
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9.7 Block search, types 1, 2, and 4:
MD11620 $MN_PROG_EVENT_NAME
Behavior when the single-block processing is set
The following channel-specific machine data are used to set whether the activated ASUP will
be processed without interruption although single-block processing is set or whether singleblock processing will be activated:
MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK, bit 4 = <value>
<value> Meaning
0
Single-block processing is active.
Single-block processing is suppressed.
Behavior when the read-in disable is set
The channel-specific machine data is used to set whether the ASUP will be processed without
interruption although read-in disable (DB21, ... DBX6.1 = 1) is set, or whether the read-in
disable will be effective:
MD20107 $MC_PROG_EVENT_IGN_INHIBIT, Bit 4 = <value>
<value> Meaning
0
Read-in disable is active.
Read-in disable is suppressed.
Note
For more information on parameterizing MD11620, MD20108, and MD20107, see Section
"Parameterization (Page 549)."
Programming
The event by which the ASUP has been started is stored in the system variable
$P_PROG_EVENT. On automatic activation after a block search, $P_PROG_EVENT returns
the value "5."
Sequence
Sequence of automatic start of an ASUB after a block search
1. User: Activation of the block search type 2 or type 4 (block search with calculation to ...)
via the operator interface
2. Search for the target block with collection of auxiliary functions
3. Stop after "Search target found display of alarm 10208 "Continue program with NC start"
4. User: NC start to execute the action block s DB21, ... DBX7.1 = 1 (NC start)
5. Execution of the action blocks
6. Last action block is activated Automatic start of /_N_CMA_DIR/_N_PROG_EVENT_SPF
(default) as an ASUB.
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9.7 Block search, types 1, 2, and 4:
7. Last ASUP block (REPOSA) is activated DB21, ... DBX32.6 = 1 (last action block active)
8. Optional: Execution of user-specific requirements via PLC user program
9. Display of the alarm 10208 "Continue program with NC start"?
Note
With MD11450 $MN_SEARCH_RUN_MODE, Bit 0 == 1, alarm 10208 will only be output
after enabling by the PLC user program (DB21, ... DBX1.6 = 1 (PLC action ended)).
10.User: Continue program with NC start DB21, ... DBX7.1 = 1 (NC start)
9.7.4
Cascaded block search
Functionality
The "Cascaded block search" function can be used to start another block search from the
status "Search target found". The cascading can be continued after each located search target
as often as you want and is applicable to the following block search functions:
Type 1 block search without calculation
Type 2 block search with calculation at contour
Type 3 block search with calculation at block end point
Note
Another "cascaded block search" can be started from the stopped program execution only
if the search target has been found.
Activation
The "cascaded block search" is configured in the existing machine data:
MD11450 $MN_SEARCH_RUN_MODE
Cascaded block search is enabled (i.e., several search targets can be specified)
with Bit 3 = 0 (FALSE).
For compatibility reasons, the cascaded block search can be disabled with Bit 3 = 1 (TRUE).
By default, the cascaded block search is set with Bit 3 = 0.
Execution behavior
Search target found, restart search
When the search target is reached, the program execution stops and the search target is
displayed as a current block. After each located search target, a new block search can be
repeated as often as you want.
Change search target specifications
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9.7 Block search, types 1, 2, and 4:
You can change the search target specifications and block search function prior to each block
search start.
Example: Sequence with cascaded block search
RESET
Block search up to search target 1
Block search up to search target 2 "Cascaded block search"
NC Start for output of the action blocks Alarm 10208
NC Start Continue program execution
Block search
starting
Search target 1 Block search
starting
found
Search target 2 NC Start
found
action blocks
being output
Last
action block
Block search
active (DB21, ...
DBX33.4)
Action block
active (DB21, ...
DBX32.3)
Last action block
active (DB21, ...
DBX32.6)
Channel status
Reset (DB21, ...
DBX35.7)
Channel status
interrupted
(DB21, ... DBX35.6)
Figure 9-2
9.7.5
Chronological order of interface signals
Examples for block search with calculation
Selection
From the following examples, select the type of block search that corresponds to your task.
488
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9.7 Block search, types 1, 2, and 4:
Type 4 block search with calculation at block end point
Example with automatic tool change after block search with active tool management:
1. Set machine data:
MD11450 $MN_ SEARCH_RUN_MODE to 1
MD11602 $MN_ASUB_START_MASK Bit 0 = 1 (ASUB Start from stopped state)
2. Select ASUB "BLOCK_SEARCH_END" from PLC via FB4 (see also Section "P3: Basic
PLC program for SINUMERIK 840D sl (Page 821)").
3. Load and select part program "WORKPIECE_1".
4. Search to block end point, block number N220.
5. HMI signals "Search target found".
6. NC Start for output of action blocks.
7. With PLC signal:
DB21... DB32.6 (last action block active)
the PLC starts ASUB "BLOCK_SEARCH_END" via FC9 (see also Section "P3: Basic PLC
program for SINUMERIK 840D sl (Page 821)").
8. After the end of the ASUB (can be evaluated, e.g. via M function M90 to be defined, see
example for block N1110), the PLC sets signal
DB21, ... DBX1.6 (PLC action complete).
Alternatively, NC/PLC interface signal:
DB21-DB30 DBB318 bit 0 (ASUB is stopped)
can be scanned.
As a result, Alarm 10208 is displayed, i.e. other actions can now be performed by the
operator.
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9.7 Block search, types 1, 2, and 4:
9. Manual operator actions (JOG, JOG-REPOS, overstoring)
10.Continue part program with NC Start.
Y
Tool
change point
(450,300)
300
200
Approach movement
Target block N220
100
Approach point
(170,30)
X
0
100
Figure 9-3
200
300
400
Approach motion for search to block end point (target block N220)
Note
"Search to contour" with target block N220 would generate an approach motion to the tool
change point (start point of the target block).
Type 2 block search with calculation at contour
Example with automatic tool change after block search with active tool management:
1. to 3.
4.
5. to 10.
490
Same as example for Type 4 block search
Search to contour, block number N260
Same as example for Type 4 block search
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9.7 Block search, types 1, 2, and 4:
Tool
change point
(450,300)
300
Approach movement
200
N260
Approach point
100
0
100
Figure 9-4
200
300
400
Approach motion for search to contour (target block N260)
Note
"Search to block end point" with target block N260 would result in Alarm 14040 (circle end
point error).
Part programs for Type 4 and Type 2
PROC WORKPIECE_1
Program code
Comment
; Main program
...
;Machine contour section 1 with "CUTTER_1"tool
...
N100 G0 G40 X200 Y200
; Deselect radius compensation
N110 Z100 D0
; Deselect length correction
;End of contour section 1
;
;Machine contour section 2 with "CUTTER_2"tool
N200 T="CUTTER_2"
; Preselect tool
N210 WZW
; Call tool change routine
N220 G0 X170 Y30 Z10 S3000 M3 D1
; Approach block for contour section 2
N230 Z-5
; Infeed
N240 G1 G64 G42 F500 X150 Y50
; Start point of contour
N250 Y150
N260 G2 J50 X100 Y200
N270 G1 X50
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9.7 Block search, types 1, 2, and 4:
Program code
Comment
N280 Y50
N290 X150
N300 G0 G40 G60 X170 Y30
; Deselect radius compensation
N310 Z100 D0
; Deselect length correction
End of contour section 2
...
M30
PROC WZW
;Tool change routine
N500 DEF INT TNR_AKTIV
; Variable for active T number
N510 DEF INT TNR_VORWAHL
; Variable for preselected T number
N520 TNR_AKTIV = $TC_MPP6[9998,1]
; Read T number of active tool
N530 GETSELT(TNR_VORWAHL)
; Read T number of preselected tool
;
;Execute tool change only if tool is not yet active
N540 IF TNR_AKTIV == TNR_VORWAHL GOTOF ENDE
N550 G0 G40 G60 G90 SUPA X450 Y300 Z300 D0
; Approach tool change position
N560 M6
; Execute tool change
;
END: M17
PROC SUCHLAUF_ENDE SAVE
;ASUB for calling the tool change routine after block search
N1000 DEF INT TNR_AKTIV
; Variable for active T number
N1010 DEF INT TNR_VORWAHL
; Variable for preselected T number
N1020 DEF INT TNR_SUCHLAUF
; Variable for T number determined in
search
N1030 TNR_AKTIV = $TC_MPP6[9998,1]
; Read T number of active tool
N1040 TNR_SUCHLAUF = $P_TOOLNO
; Read T number determined by search
N1050 GETSELT(TNR_VORWAHL)
; Read T number of preselected tool
N1060 IF TNR_AKTIV ==TNR_SUCHLAUF GOTOF ASUP_ENDE
N1070 T = $TC_TP2[TNR_SUCHLAUF]
; T selection by tool name
N1080 WZW
; Call tool change routine
N1090 IF TNR_VORWAHL == TNR_SUCHLAUF GOTOF ASUP_ENDE
N1100 T = $TC_TP2[TNR_VORWAHL]
; Restore T preselection by tool name
ASUP_ENDE:
492
N1110 M90
; Feedback to PLC
N1120 REPOSA
; ASUB end
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9.8 Block search Type 5 (SERUPRO)
9.7.6
Supplementary conditions
9.7.6.1
Compressor functions (COMPON, COMPCURV, COMPCAD)
If the target block for block search type 2 or type 4 (block search with calculation to ...) is
in a program section in which a compressor function (COMPON, COMPCURV, COMPCAD) is
active, positions are approached on the path calculated by the compressor on repositioning.
These positions must precisely match the positions on the path programmed in the part
program.
If programmed blocks are eliminated from the part program during compression, these
blocks will not be found at the target block in the block search Alarm 15370 "Search target
not found."
9.8
Block search Type 5 (SERUPRO)
9.8.1
Description of the function
Block search type 5, block search with calculation in the "Program test" mode (SERUPRO,
"Search-Run by Program test") enables a cross-channel block search with calculation at a
selectable interruption point. Taking into account existing program coordination commands,
all the status data required to continue the program in the interrupted channels is determined
during SERUPRO and then the NC and PLC set to a state permitting the program continuation.
Before repositioning with subsequent continuation of the program execution, all the output
states that may still be required can be automatically generated via a user-specific ASUB.
Channels
In combination with the HMI, SERUPRO is provided for the following channels:
For the current SERUPRO channel only (1)
For all channels with the same workpiece name as the SERUPRO channel (2)
For all channels with the same mode group as the SERUPRO channel (3)
For all channels of the NCU (4)
The scope of channels for SERUPRO is selected by means of configuration file maschine.ini,
in Section [BlockSearch]:
Section [BlockSearch]
Enable search function for HMI and select search configuration
SeruproEnabled=1
;SERUPRO softkey available for HMI. Default value is (1)
SeruproConfig=1
;Number (1) to (4) of above indicated channel grouping. Default value is (1)
All other channels started with SERUPRO are operated in "Self-Acting SERUPRO" mode.
Only the channel in which a target block has been selected can be started with a block search
in SERUPRO mode.
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9.8 Block search Type 5 (SERUPRO)
Activation
SERUPRO is activated via the HMI. SERUPRO is operated using the "Prog.Test Contour"
softkey.
SERUPRO uses REPOS to approach the target block.
Chronological sequence of SERUPRO
1. Via HMI, softkey "Pog. test contour" and the search target are operated.
2. The NC now automatically starts the selected program in "Program test" mode.
In this mode, axes are not traversed.
Auxiliary functions $A_OUT and the direct PLC IO are output.
The auxiliary functions of the target block are not output.
3. The NC stops at the beginning of the target block, deselects the program test internally,
and displays the Stop condition "Wait: Search target found".
4. If the user-specific ASUB "PROG_EVENT.SPF" is available, it is started automatically.
5. Repositioning is performed with the next NC start (REPOS).
The REPOS operation is performed via a system ASUB and can be extended using the
"Editable ASUB" function.
Boundary conditions for block search SERUPRO
The SERUPRO function may only be activated in "AUTOMATIC" mode and may only be
aborted in program state (channel state RESET).
If in normal mode only the PLC starts commonly several channels, then this can be simulated
by SERUPRO in each channel.
With machine data setting:
MD10708 $MN_SERUPRO_MASK, bit 1 = 0,
alarm 16942: "Channel %1 Start program command action %2<ALNX> not possible"
aborts the simulation if part program command START is used.
Machine data:
MD10707 $MN_PROG_TEST_MASK
allows shutdown in the stopped state and has no effect on the SERUPRO operation. The
default setting allows program testing to be deactivated only in the RESET state.
Note
After program testing has been deactivated, a REPOS operation is initiated that is subject to
the same restrictions as a SERUPRO approach operation. Any adverse effects can be inhibited
using an ASUB.
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9.8 Block search Type 5 (SERUPRO)
Controlling SERUPRO behavior
For the functions listed below as an example, the SERUPRO behavior can be set specifically
for the NC:
Programmed stop (M0)
Program coordination command START
Group SERUPRO
Cross-channel exiting of SERUPRO
Override
MD10708 $MN_SERUPRO_MASK = <behavior with SERUPRO>
Channel-specific initial settings for SERUPRO
The channel-specific basic settings are normally specified with the following machine data
after a part program start:
MD20112 $MC_START_MODE_MASK= <initial settings>
You can specify your own initial settings for SERUPRO which replace the initial settings from
MD20112:
MD22620 $MN_START_MODE_MASK_PRT = <SERUPRO initial settings>
The SERUPRO initial settings must be explicitly released via:
MD22621 $MC_ENABLE_START_MODE_MASK_PRT = 1
NC/PLC interface signal "Block search via program test is active"
The block search via program test is displayed using the NC/PLC interface signal:
DB21, ... DBX318.1 == 1
The interface signal is set from the start of the block search until the target block is inserted
into the main run.
For user-defined ASUB after the SERUPRO operation
Note
If the machine manufacturer decides to start an ASUB after the SERUPRO operation as
described in point 7, the following must be observed:
Stopped status acc. to point 6:
Machine data:
MD11602 $MN_ASUP_START_MASK
and
MD11604 $MN_ASUP_START_PRIO_LEVEL
allow the NCK to start the ASUB from stopped status automatically via the FC9 block.
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9.8 Block search Type 5 (SERUPRO)
Acknowledgement of FC9 only after completion of REPOS block:
The ASUB can only be signaled as complete from the FC9 block with "ASUB Done" if the
REPOS block has also been completed.
Deselection of assigned REPOS operation after point 8:
The start of the ASUB deselects the assigned REPOS operation!
Therefore, the ASUB should be ended with REPOSA in order to retain the REPOS operation.
Deleting an unwanted REPOS operation:
The unwanted REPOS operation is deleted by completing the ASUB with M17 or RET.
Special handling of ASUB:
As a basic rule, an ASUB that ends with REPOS and is started from stopped state receives
special treatment.
The ASUB stops automatically before the REPOS block and indicates this via:
DB21, ... DBX318.0 (ASUB is stopped)
Automatic ASUB start
The ASUB in path:
/_N_CMA_DIR/_N_PROG_EVENT_SPF
is started automatically in SERUPRO approach with machine data:
MD11450 $MN_SEARCH_RUN_MODE, bit 1 = 1
according to the following sequence:
1. The SERUPRO operation has been performed completely.
2. The user presses "NC start".
3. The ASUB is started.
4. The NC stops automatically before the REPOS part program command and the
message "Press NC start to continue the program" appears.
5. The user presses "NC start" again.
6. The NC executes the repositioning motion and continues the part program at the target
block.
Note
The automatic ASUB start with MD11450 requires Starts to continue the program.
The procedure is in this respect similar to other search types.
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9.8 Block search Type 5 (SERUPRO)
9.8.2
Repositioning to the contour (REPOS)
The "Reposition to the contour" (REPOS) function can be used to continue an interrupted
machining at the interrupted location. Unlike REPOS, SERUPRO permits the "refetching" or
"repetition" of a program section. For this purpose, once SERUPRO has found the target block,
the contour is positioned at the location selected as REPOS mode and the machining
continued.
SERUPRO: Set REPOS response
The REPOS behavior, i.e. the behavior in the repositioning block, is set with the following
machine data :
MD11470 $MN_REPOS_MODE_MASK = <REPOS mode>
MD11470 $MN_REPOS_MODE_MASK
Bit
Value
Meaning
An interrupted delay time is repeated
An interrupted delay time is continued
Reserved
DB31, ... DBX10.0 (REPOSDELAY) not considered in the repositioning block.
DB31, ... DBX10.0 (REPOSDELAY) considered in the repositioning block.
SERUPRO: Only path axes traverse in the repositioning block
SERUPRO: Path and positioning axes traverse concurrently in the repositioning block
REPOS : Only path axes traverse in the repositioning block
REPOS : Path and positioning axes traverse concurrently in the repositioning block
During the interruption, changed feedrates and spindle speeds act only after the first part program block
following the interruption location
During the interruption, changed feedrates and spindle speeds act following the interruption location
SERUPRO: In the repositioning block, neutral axes and positioning spindles traverse as path axes.
3
4
5
6
7
SERUPRO: In the repositioning block, neutral axes and positioning spindles traverse as command axes.
@@@
@@@
The level of interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
is read if REPOSA is interpreted.
Axes, which are neither geometry nor orientation axes, are then excluded by REPOS and are not moved.
CAUTION
Risk of collision
MD11470 $MN_REPOS_MODE_MASK, Bit 3 or Bit 4 = 1
The user alone is responsible for ensuring that the concurrent traversal of the axes in the
repositioning block does not cause any collision on the machine.
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9.8 Block search Type 5 (SERUPRO)
Repositioning with controlled REPOS
The REPOS mode can be specified for the path axes via the NC/PLC interface:
DB21, ... DBX31.0 - .2 (REPOS mode A, B, C)
This mode is programmed in the part program and defines the approach behavior (see Section
"Repositioning with controlled REPOS (Page 505)").
The REPOS behavior of individual axes can also be controlled via NC/PLC interface signals
and is enabled with machine data:
MD11470 $MN_REPOS_MODE_MASK BIT 2==1.
Path axes cannot be influenced individually. For all other axes that are not geometry axes,
REPOS of individual axes can be prevented temporarily and also delayed. NC/PLC interface
signals can be used to subsequently re-enable or to continue blocking individual channel axes
that REPOS would like to traverse.
DANGER
Risk of collision
Signal:
DB31, ... DBX2.2 (delete distance-to-go, axis-specific)
produces the following dangerous behavior with Prevent repositioning of individual axes" via:
MD11470 $MN_REPOS_MODE_MASK (Bit 2==1).
As long as an axis is programmed incrementally after the interruption, the NC approaches
different positions than those approached with no interruption (see example below).
Example: Axis is programmed incrementally
Axis A is positioned at 11 before the REPOS operation; the programmed operation in the
interruption block (target block for SERUPRO) specifies 27.
Any number of blocks later, this axis is programmed to move incrementally through 5 with:
N1010 POS[A]=IC(5) FA[A]=1000.
With interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
the axis does not traverse in the REPOS operation and is moved to 32 with N1010.
(The user may have to deliberately acknowledge the travel from 11 to 27.)
Caution:
The axis is programmed incrementally after the interruption.
In the example, the NC moves to 16 (instead of 32).
Starting axes individually
The REPOS behavior for SERUPRO approach with several axes is selected with:
MD11470 $MN_REPOS_MODE_MASK BIT 3 == 1
The NC commences SERUPRO approach with a block that moves all positioning axes to the
programmed end and the path axis to the target block.
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9.8 Block search Type 5 (SERUPRO)
The user starts the individual axes by selecting the appropriate feedrate enables. The target
block motion is then executed.
Repositioning positioning axes in the repositioning block
Positioning axes are not repositioned in the residual block but rather in the repositioning block,
and their effect is not limited to the block search via program test on SERUPRO approach.
MD11470 $MN_REPOS_MODE_MASK
Bit 3=1
for block search via program test (SERUPRO)
Bit 4=1
for each REPOS
Note
If neither bit 3 nor bit 4 is set, "non-path axes" are repositioned in the residual block in this
phase.
Prefer or ignore REPOS
Further REPOS adaptations can be made by setting the bits in:
MD11470 $MN_REPOS_MODE_MASK
Bit 5 = 1
Bit 6 = 1
Bit 7 = 1
Modified feedrates and spindle speeds are valid immediately in the residual
block and are given priority. This behavior relates to every REPOS operation.
Neutral axes and positioning spindles are repositioned after SERUPRO.
Neutral axes that are not allowed to be further repositioned must receive inter
face signal:
DB31, ... DBX10.0 (REPOSDELAY)
This cancels the REPOS motion.
The level of interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
is read if REPOSA is interpreted.
Axes, which are neither geometry nor orientation axes, are then excluded by
REPOS and are not moved.
Remark: REPOSDELAY is changed from edge to level evaluation.
Delayed approach of axis with REPOS offset
With the axial level-triggered NC/PLC interface signal axis/spindle (PLCNCK):
DB31, ... DBX10.0 (REPOSDELAY)
the REPOS offset for this axis is traversed only
after the next time it is programmed with the edge of IS:
DB21, ... DBX31.4 (REPOSMODEEDGE).
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9.8 Block search Type 5 (SERUPRO)
Whether this axis is currently subject to a REPOS offset can be scanned via synchronized
actions with $AA_REPOS_DELAY.
CAUTION
Risk of collision
Interface signal:
DB31, ... DBX10.0 (REPOSDELAY)
has no effect on machine axes that form a path.
Whether an axis is a path axis can be determined with:
DB31, ... DBX76.4 (path axis).
Acceptance timing of REPOS NC/PLC interface signals
With the 0/1 edge of the channel-specific NC/PLC interface signal (PLCNCK):
DB21, ... DBX31.4 (REPOSMODEEDGE)
the level signals of:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2)
and
DB31, ... DBX10.0 (REPOSDELAY)
are transferred to the NC.
The levels relate to the current block in the main run. There are two different cases:
1. One repositioning block of a currently active REPOS operation is contained in the main run.
The active REPOS operation is aborted, restarted and the REPOS offsets controlled via
the signals:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2)
and
DB31, ... DBX10.0 (REPOSDELAY).
2. No repositioning block of a currently active REPOS operation is contained in the main run.
Each future REPOS operation wishing to reapproach the current main program block is
controlled by the level of interface signal:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2)
and
DB31, ... DBX10.0 (REPOSDELAY).
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9.8 Block search Type 5 (SERUPRO)
Note
In the current ASUB, DB21, ... DBX31.4 (REPOSMODEEDGE) does not affect the final
REPOS unless this signal applies to the REPOS blocks.
In case 1, the signal is allowed only in the stopped state.
Response to RESET:
NCK has acknowledged the PLC signal
DB21, ... DBX31.4 (REPOSMODEEDGE) == 1 AND
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) == 1
If a RESET occurs in this situation, DB21, ... DBX319.1 - .3 (Repos Path Mode Ackn) is
deleted.
NCK has not yet acknowledged the PLC signal:
DB21, ... DBX31. (REPOSMODEEDGE 4) == 1 AND
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) == 0
If a RESET occurs in this situation, then:
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) = 0
DB21, ... DBX319.1319.3 (Repos Path Mode Ackn) = 0
Controlling SERUPRO approach with NC/PLC interface signals
The SERUPRO approach can be used with:
DB21, ... DBX31.4 (REPOSMODEEDGE)
and the associated signals in the following phases:
Between "Search target found" and "Start SERUPRO ASUB"
From "SERUPO-ASUB stops automatically before REPOS" to "Target block is executed"
While the SERUPRO ASUB is being executed, e.g. in the program section before the REPOS
operation, the interface signal does not affect the SERUPRO positioning
REPOS operations with NC/PLC interface signals
Control REPOS with NC/PLC interface signals
REPOS offsets can be positively influenced with the following channel-specific NC/PLC
interface signals from the PLC:
DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2) channel-specific *
DB21, ... DBX31.4 (REPOSMODEEDGE) channel-specific
DB31, ... DBX10.0 (REPOSDELAY) *axis/spindle
(This axial interface does not affect machine axes that form a path.)
DB31, ... DBX72.0 (REPOSDELAY) axis/spindle
* These signals are available in the respective DB of the HMI or PLC.
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9.8 Block search Type 5 (SERUPRO)
REPOS acknowledgement signals
The following NC/PLC interface signals can be used to acknowledge from the NC, functions
that control the REPOS response via PLC:
DB21, ... DBX319.0 (REPOSMODEEDGEACKN) channel-specific
DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn0 to 2) channel-specific
DB21, ... DBX319.5 (Repos DEFERRAL Chan) channel-specific
DB31, ... DBX70.0 (Repos offset) axis/spindle
DB31, ... DBX70.1 (Repos offset valid) axis/spindle
DB31, ... DBX70.2 (Repos Delay Ackn) axis/spindle
DB31, ... DBX76.4 (path axis) axis/spindle
For further information, see "REPOS offset in the interface"
REPOS acknowledgement operations
With the channel-specific NC/PLC interface signal:
DB21, ... DBX319.0 (REPOSMODEEDGEACKN)
a "handshake" is established by the interface signal:
DB21, ... DBX31.4 (REPOSMODEEDGE)
which is recognized by the NC and acknowledged with DB21, ... DBX319.0 to the PLC.
Note
If the NC has not yet acknowledged interface signal:
DB21, ... DBX31.4 (REPOSMODEEDGE)
with interface signal:
DB21, ... DBX319.0 (REPOSMODEEDGE)
a RESET in this situation causes the program to abort, and the REPOS that is to be used to
control the REPOSPATHMODE is not executed.
A REPOSMODE issued from the PLC is acknowledged by the NC using the following interface
signals:
DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn)
DB31, ... DBX10.0 (Repos Delay)
DB31, ... DBX70.2 (Repos Delay Ackn)
Example
A part program is stopped at N20 ( time (2) in figure). The NCK stops according to the braking
ramp. After the PLC has specified the REPOSPATHMODE, the NCK accepts the
REPOSPATHMODE with the 0/1 edge of REPOSMODEEDGE at Time (3). Repos Path
Mode Ackn remains set until the ASUB is initiated ( Time (4)). The REPOS command is
started in the ASUB ( Time (5)). The ASUB RESET block is activated again ( Time (6)):
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9.8 Block search Type 5 (SERUPRO)
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Figure 9-5
REPOS sequence in part program with timed acknowledgement signals from NCK
NC sets acknowledgement again
Phase with REPOSPATHMODE still active (residual block of the program stopped at Time
(2) is not yet completely executed).
As soon as the REPOS repositioning motion of the ASUB is executed, the NCK sets the "Repos
Path Mode Ackn" again ( Time (5)). If no REPOSPATHMODE has been preselected via an
NC/PLC interface signal, the programmed REPOS mode is displayed.
"Repos Path Mode Ackn" is canceled when the residual block is activated ( Time (6)).
The part program block N30 following the block at Time (2) is resumed.
Interface signal:
DB31, ... DBX70.2 (Repos Delay Ackn) is defined in the same way.
DB31, ... DBX70.1 (Repos offset valid) = 1, if:
DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn0 to 2) = 4 (RMNBL).
Valid REPOS offset
At the end of the SERUPRO operation, the user can read out the REPOS offset via the axis/
spindle NC/PLC interface signal (NCKPLC):
DB31, ... DBX70.0 (REPOS offset).
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The effects of this signal on the relevant axis are as follows:
Value 0:
Value 1:
No REPOS offset is applied.
REPOS offset is applied.
Range of validity
Interface signal:
DB31, ... DBX70.0 (REPOS offset)
is supplied at the end of the SERUPRO operation.
The REPOS offset is invalidated at the start of a SERUPRO ASUB or the automatic ASUB
start.
Updating the REPOS offset within the scope
Between the SERUPRO end and SERUPRO start, the axis can be moved in JOG mode with
a mode change.
In JOG mode, the user manually moves the axis over the REPOS offset path in order to set
interface signal:
DB31, ... DBX70.0 (REPOS offset) to the value 0.
Within the range of validity, the axis can also be traversed using FC18, whereby the IS
DB31, ... DBX70.0 (REPOS offset) is continuously updated.
Displaying the range of validity
The range of validity of the REPOS offset is indicated with interface signal:
DB31, ... DBX70.1 (REPOS offset valid)
It is indicated whether the REPOS offset calculation was valid or invalid:
Value 0:
Value 1:
The REPOS offset of this axis is calculated correctly.
The REPOS offset of this axis cannot be calculated, as the REPOS has not yet
occurred, e.g. it is at the end of the ASUB, or no REPOS is active.
REPOS offset after an axis interchange
The group signal:
DB21, ... DBX319.5 (Repos DEFERRAL Chan)
can be used to determine whether a valid REPOS offset has taken place:
Value 0:
Value 1:
504
All axes currently controlled by this channel have either no REPOS offset or their
REPOS offsets are invalid.
Miscellaneous.
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REPOS offset with synchronized synchronous spindle coupling
When repositioning with SERUPRO, processing continues at the point of interruption. If a
synchronous spindle coupling was already synchronized, there is no REPOS offset of the
following spindle and no synchronization path is present. The synchronization signals remain
set.
Search target found on block change
The axial NC/PLC interface signal:
DB31, ... DBX76.4 (path axis)
is 1 if the axis is part of the path grouping.
This signal shows the status of the current block to be executed during block change.
Subsequent status changes are ignored.
If the SERUPRO operation is ended with "Search target found",
DB31, ... DBX76.4 (path axis) refers to the target block.
9.8.2.1
Repositioning with controlled REPOS
Once SERUPRO has been used to find the target block, prior to continuing the interrupted
program, a REPOS operation for repositioning the contour is performed. The REPOS mode
"Reposition at the block start point of the target block" (RMBBL) is active by default. The
REPOS mode can be defined user-specific via the NC/PLC interface:
DB21, ... DBX31.0 - .2 (REPOS mode A, B, C) (Page 1609)
REPOS mode RMNBL repositioning to the next point on the path
in the RMNBL REPOS mode, positioning is made for the REPOS start position from the next
nearest contour point.
Example
The program is interrupted at any point in the block N110. The axes were then traversed to
position (A), e.g. manually. Once SERUPRO has found target block N110, the REPOS
operation with REPOS mode RMNBL is performed. With regard to the REPOS start position
(A), point (B) is the next nearest point of the contour. The REPOS operation is completed when
point (B) is reached. The programmed contour of the interrupted program is traversed again
starting at point (B).
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Specifying the REPOS mode via the NC/PLC interface
The REPOS mode can be specified via the following NC/PLC interface signal:
DB21, ... DBX31.0 - .2 (REPOS mode A, B, C)
Note
RMNBL is a general REPOS extension and it is not restricted to SERUPRO.
RMIBL and RMBBL behavior identically for SERUPRO.
DB21, ... DBX31.0 - .2 (REPOS mode) affects only the traversing motion of the path axes.
The behavior of the other axis can be changed individually using interface signal DB31, ...
DBX10.0 (REPOSDELAY). The REPOS offset is not applied immediately, but only when it is
next programmed.
For further information on the programming of the repositioning point, see:
References:
Programming Manual, Job Planning; Path Behavior, Section: Repositioning on contour
9.8.3
Accelerate block search
Machine data settings
The speed of execution of the SERUPRO operation can be influenced via the following
machine data.
MD22600 $MC_SERUPRO_SPEED_MODE = <value>
<value>
0
Meaning
Program test with block search/dry run feedrate:
Axes: MD22601 $MC_SERUPRO_SPEED_FACTOR * dry run feedrate
Spindles: MD22601 $MC_SERUPRO_SPEED_FACTOR * programmed speed
Dynamic limitations of axes / spindles are not considered.
Program test with programmed velocity:
Axes: Dry run feedrate
Spindles: Programmed speed
Dynamic limitations of axes / spindles are considered.
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<value>
2
Meaning
Program test with dry run feedrate
Under program test, traversing is performed with the programmed velocity / speed.
Dynamic limitations of axes / spindles are considered.
Program test with block search velocity
Under program test, traversing is performed with the following velocity:
Axes: MD22601 $MC_SERUPRO_SPEED_FACTOR * programmed feedrate
Spindles: MD22601 $MC_SERUPRO_SPEED_FACTOR * programmed speed.
Dynamic limitations of axes / spindles are not considered.
Note
When revolutional feedrate is active (e.g. G95), the programmed feedrate is not multiplied
by MD22601 $MC_SERUPRO_SPEED_FACTOR but only the programmed spindle speed.
This results, here too, in an increase in the effective path velocity by MD22601 $MC_SER
UPRO_SPEED_FACTOR.
Supplementary conditions
Main axes
MD22600 $MC_SERUPRO_SPEED_MODE acts on the following main run axes with
SERUPRO:
PLC axes
Command axes
Positioning axes
Reciprocating axes
Synchronized actions
NOTICE
Actions of synchronized action may not be executed with SERUPRO
Because during SERUPRO other actual values (e.g. axis positions) are generated internally
that are different from those in normal program execution, with SERUPRO, conditions of
synchronized actions that check the actual values (e.g. axis positions) are no longer
recognized as true (TRUE) and that the action part of the synchronized action is therefore
not executed.
Revolutional feedrate
Effects of MD22601 $MC_SERUPRO_SPEED_FACTOR during DryRun:
Switchover of G95/G96/G961/G97/G971 to G94
Tapping and thread cutting: Normal dry run velocity.
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Rigid tapping
With "rigid tapping" (G331/G332), the spindle is interpolated under position control in a path
grouping. The drilling depth (linear axis), the thread pitch, and speed (spindle) are defined.
During dry run, the velocity of the linear axis is specified, the speed remains constant, and
the pitch is adjusted.
After SERUPRO, a position for the spindle results that is deviates from normal mode
because the spindle has revolved fewer times in SERUPRO.
9.8.4
SERUPRO ASUB
SERUPRO ASUB special points
Special points should be noted for SERUPRO ASUB with regard to:
Reference point approach: Referencing via part program G74
Tool management: Tool change and magazine data
Spindle ramp-up: On starting a SERUPRO ASUB
G74 reference point approach
If command G74 (reference point approach) is programmed between the program start and
the search target, this will be ignored by the NC.
SERUPRO approach does not take this G74 command into account!
Tool management
If tool management is active, the following setting is recommended:
MD20310 $MC_TOOL_MANAGEMENT_MASK Bit 20 = 0
The tool management command generated during the SERUPRO operation is thus not output
to the PLC!
The tool management command has the following effect:
The NC acknowledges the commands automatically.
No magazine data is changed.
Tool data is not changed.
Exception:
The tool enabled during the test mode can assume 'active' state. In this way, the wrong tool
may be on the spindle after the SERUPRO operation.
Remedy:
The user starts a SERUPRO ASUB that is actually traversed. Prior to the start, the user
can start an ASUB that loads the correct tool.
SERUPRO operation: Functionality: In sequence steps 2. to 6.
SERUPRO ASUB: Functionality: The sequence of step 7.
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In addition, machine data setting MD20310 $MC_TOOL_MANAGEMENT_MASK Bit 11 = 1 is
required because the ASUB may have to repeat a T selection.
Systems with tool management and auxiliary spindle are not supported by SERUPRO!
Example
Tool change subprogram
Program code
Comment
PROC L6
; Tool change routine
N500 DEF INT TNR_AKTUELL
; Variable for active T number
N510 DEF INT TNR_VORWAHL
; Variable for preselected T number
; Determine current tool
N520 STOPRE
; In program testing
N530 IF $P_ISTEST
; From the program context
N540 TNR_AKTUELL = $P_TOOLNO
; The "current" tool is read
N550 ELSE
; Otherwise, the tool of the spindle is read out.
N560 TNR_AKTUELL = $TC_MPP6[9998,1]
; Read tool T number on the spindle
N570 ENDIF
N580 GETSELT(TNR_VORWAHL)
; Read T number of the preselected tool of the master spindle
; Execute tool change only if tool is not yet current
N590 IF TNR_AKTUELL <> TNR_VORWAHL
; Approach tool change point
N600 G0 G40 G60 G90 SUPA X450 Y300
Z300 D0
N610 M206
; Execute tool change
N620 ENDIF
N630 M17
ASUB for calling the tool change routine after type 5 block search
Program code
Comment
PROC ASUPWZV2
N1000 DEF INT TNR_SPINDEL
; Variable for active T number
N1010 DEF INT TNR_VORWAHL
; Variable for preselected T number
N1020 DEF INT TNR_SUCHLAUF
; Variable for T number determined in block search
N1030 TNR_SPINDEL = $TC_MPP6[9998,1]
; Read tool T number on the spindle
N1040 TNR_SUCHLAUF = $P_TOOLNO
; Read T number determined by search,
i.e. this tool determines the
current tool offset
N1050 GETSELT(TNR_VORWAHL)
; Read T number of preselected tool
N1060 IF TNR_SPINDEL ==TNR_SUCHLAUF GOTOF ASUP_ENDE1
N1070 T = $TC_TP2[TNR_SUCHLAUF]
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Program code
Comment
N1080 L6
; Call tool change routine
N1085 ASUP_ENDE1:
N1090 IF TNR_VORWAHL == TNR_SUCHLAUF GOTOF ASUP_ENDE
N1100 T = $TC_TP2[TNR_VORWAHL]
; Restore T preselection by tool name
N1110 ASUP_ENDE:
N1110 M90
; Feedback to PLC
N1120 REPOSA
;ASUB end
In both of the programs PROC L6 and PROC ASUPWZV2, the tool change is programmed
with M206 instead of M6.
ASUB "ASUPWZV2" uses different system variables to detect the progress of the program
($P_TOOLNO) and represent the current status of the machine ($TC_MPP6[9998,1] ).
Spindle ramp-up
When the SERUPRO ASUB is started, the spindle is not accelerated to the speed specified
in the program because the SERUPRO ASUB is intended to move the new tool into the correct
position at the workpiece after the tool change.
A spindle ramp-up is performed with SERUPRO ASUB as follows:
SERUPRO operation has finished completely.
The user starts the SERUPRO ASUB via function block FC 9
in order to ramp up the spindle.
The start after M0 in the ASUB does not change the spindle status.
SERUPRO ASUB automatically stops before the REPOS part program block.
The user presses START.
The spindle accelerates to the target block state if the spindle was not programmed
differently in the ASUB.
Note
Modifications for REPOS of spindles:
The transitions of speed control mode and positioning mode must be taken into
consideration in the event of modifications in SERUPRO approach and spindle functionality.
For further information on the operating mode switchover of spindles, see Section "Modes
(Page 1200)".
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9.8.5
Selfacting SERUPRO
Selfacting SERUPRO
The channel-specific function "Self-acting SERUPRO" allows a SERUPRO sequence without
having to previously define a search target in a program of the associated SERUPRO channels.
In addition, a special channel, the "serurpoMasterChan", can be defined for each "Self-acting
SERUPRO". A search target can be defined in this channel.
The "Selfacting SERUPRO" function supports the SERUPRO cross-channel block search.
Function
The "SelfActing SERUPRO" operation cannot be used to find a search target. If the search
target is not reached, no channel is stopped. In certain situations, however, the channel is
nevertheless stopped temporarily. In this case, the channel will wait for another channel.
Examples are: Wait marks, couplings, or axis replacement.
Wait phase occurs:
During this wait phase, the NC checks whether the channel "seruproMasterChan" has reached
a search target. If no search target is reached, the Wait phase is left.
If the search target is reached,
the SERUPRO operation is also ended in the channel. The "seruproMasterChan" channel
must have been started in normal SERUPRO mode.
No wait phase occurs:
"Self-Acting SERUPRO" is ended by M30 of the part program.
The channel is now in Reset state again.
A SERUPRO approach does not not take place.
Starting a group of channels
If a group of channels is only started with "SelfActing SERUPRO", then all channels are ended
with "RESET".
Exceptions:
A channel waits for a partner channel that has not been started at all.
A cross-channel block search can be carried out as follows:
Via the HMI, the user selects the channels that must work together (channel group).
The user chooses an especially important channel from the channel group for which he
wants to select a search target explicitly (target channel).
The HMI will then start SERUPRO on the target channel and "SelfActing SERUPRO" in the
remaining channels of the channel group.
The operation is complete if each channel concerned has deleted "seruproActive".
"Selfacting SERUPRO" accepts no master channel on another NCU.
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Activation
"Self-acting SERUPRO" is activated via the HMI as a block search start for the Type 5 block
search for target channel "seruproMasterChan".
No search target is specified for dependent channels started from the target channel.
9.8.6
Locking a program section for "Continue machining at the contour"
Programmed interrupt pointer
If because of manufacturing and/or process-related reasons, "Continue machining at the
contour" may not be possible within a certain program section at a program abort, this program
section can be locked for the target block of a block search.
If after a program abort there is a block search for the interruption point within the locked
program section for "Continue machining at the contour", the last executable block (main run
block) before the start of the locked section is used by the control as target block (hold block).
Programming
Syntax
IPTRLOCK()
Functionality
Marks the beginning of the program section as of which "Continue machining at the contour"
is locked. The next executable block (main run block) in which IPTRLOCK becomes active is
now used as target block for a block search with "Continue machining at the interruption point",
until the release with IPTRUNLOCK. This block is referred to as the hold block in the following.
Effectiveness: Modal
Syntax
IPTRUNLOCK()
Marks the end of the program section locked for "Continue machining at the contour". As of
the next executable block (main run block) in which IPTRLOCK becomes active, the current
block is used again as target block for a block search with "Continue machining at the
interruption point". This block is referred to as the release block in the following.
Effectiveness: Modal
Example
Program code
Comment
...
N010 IPTRLOCK()
; Locked area: Start
N020 R1=R1+1
512
N030 G4 F1
; Hold block
...
; Locked area
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Program code
Comment
N200 IPTRUNLOCK()
; Locked area: End
N220 R1=R1+1
N230 G4 F1
; Release block
...
Boundary conditions
IPTRLOCK acts within a program (*.MPF, *.SPF) at the most up to the end of the program
(M30, M17, RET). IPTRUNLOCK implicitly becomes active at the end of the program.
Multiple programming of IPTRLOCK within a program does not have a cumulative effect.
With the first programming of IPTRUNLOCK within the program or when the end of the
program is reached, all previous IPTRLOCK calls are terminated.
If there is a subprogram call within a locked area, "Continue machining at the contour" is
also locked for this and all following subprogram levels. The lock also cannot be cancelled
within the called subprogram through explicit programming of IPTRUNLOCK.
Example: Nesting of locked program sections in two program levels
With the activation of the "Continue machining at the contour" lock in PROG_1, "Continue
machining at the contour" is also locked for PROG_2 and all following program levels.
Program code
Comment
PROC PROG_1
; Program 1
...
N010 IPTRLOCK()
N020 R1=R1+1
N030 G4 F1
; Hold block
...
; Locked area: Start
N040 PROG_2
; Locked area
...
; Locked area: End
N050 IPTRUNLOCK()
N060 R2=R2+2
N070 G4 F1
; Release block
...
Program code
Comment
PROC PROG_2
; Program 2
N210 IPTRLOCK()
; Ineffective due to program 1
...
N250 IPTRUNLOCK()
; Ineffective due to program 1
...
N280 RET
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Example 3: Multiple programming of IPTRLOCK
Program code
Comment
PROC PROG_1
; Program 1
...
N010 IPTRLOCK()
N020 R1=R1+1
N030 G4 F1
; Hold block
...
; Locked area: Start
N150 IPTRLOCK()
; Locked area
...
; Locked area
N250 IPTRLOCK()
; Locked area
...
; Locked area: End
N360 IPTRUNLOCK()
N370 R2=R2+2
N380 G4 F1
; Release block
...
System variable
The status of the current block can be determined via the system variable $P_IPTRLOCK:
$P_IPTRLOCK
Meaning
FALSE
The current block is not within a program section locked for "Continue machining
at the contour"
TRUE
The current block is within a program section locked for "Continue machining at
the contour"
Automatic function-specific "Continue machining at the contour" lock
For various couplings, the activation/deactivation of the "Continue machining at the contour"
lock can be performed automatically channel-specifically with the activation/deactivation of the
coupling:
MD22680 $MC_AUTO_IPTR_LOCK, bit x
Bit
0
Val
ue
Meaning
Electronic gear ( EGON / EGOF)
1
Automatic "Continue machining at the contour" lock is active
Automatic "Continue machining at the contour" lock is not active
Axial master value coupling (LEADON / LEADOF)
1
Automatic "Continue machining at the contour" lock is active
Automatic "Continue machining at the contour" lock is not active
This program section begins with the last executable block before the activation and ends with
the deactivation.
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The automatic interrupt pointer is not active for couplings that were activated or deactivated
via synchronized actions.
Example: Automatically declaring axial master value coupling as search-suppressed:
Program code
Comment
N100 G0 X100
N200 EGON(Y,"NOC",X,1,1)
; Search-suppressed program section starts.
N300 LEADON(A,B,1)
...
N400 EGOFS(Y)
...
N500 LEADOF(A,B)
; Search-suppressed program section ends.
N600 G0 X200
A program abort within search-suppressed program section (N200 - N500) always provides
the interrupt pointer with N100.
NOTICE
Unwanted state caused by function overlappings
If there is an overlap of the "Programmable interrupt pointer" and "Automatic interrupt pointer"
functions via machine data, the NC selects the largest possible search-suppressed area.
A program may need a coupling for almost all of the runtime. In this case, the automatic
interrupt pointer would always point to the start of the program and the SERUPRO function
would in fact be useless.
9.8.7
Behavior during POWER ON, mode change and RESET
SERUPRO is inactive during POWER ON. The mode change is permitted during SERUPRO.
RESET will cancel SERUPRO and deselects the internally selected program test. SERUPRO
cannot be combined with other block search types.
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9.8.8
Supplementary conditions
9.8.8.1
STOPRE in the target block
STOPRE block
The STOPRE block receives all modal settings from the preceding block and can, therefore,
apply conditions in advance in relation to the following actions:
Synchronize program line currently processing with the main run.
Derive modal settings for SERUPRO in order, for example, to influence this REPOS motion
on approach of SERUPRO.
Example 1:
Position a Z axis by specifying an X axis setpoint.
When block "G1 F100 Z=$AA_IM[X]" is interpreted, the preceding STOPRE block ensures
synchronization with the main run. The correct setpoint of the X axis is thus read via $AA_IM
to move the Z axis to the same position.
Example 2:
Read and correctly calculate external zero offset.
Program code
Comment
N10 G1 X1000 F100
N20 G1 X1000 F500
N30 G1 X1000 F1000
N40 G1 X1000 F5000
N50 SUPA G1 F100 X200
; move external zero offset after 200
N60 G0 X1000
N70 ...
Via an implicit STOPRE before N50, the NCK can read and correctly calculate the current zero
offset.
For a SERUPRO operation on the N50 search target, repositioning is on the implicit STOPRE
in the SERUPRO approach and the velocity is determined from N40 with F5000.
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Implicit preprocessing stop
Situations in which Interpreter issues an implicit preprocessing stop:
1. In all blocks in which one of the following variable access operations occurs: -Programming
of a system variable beginning with $A...
-Redefined variable with attribute SYNR/SYNRW
2. For the following part program commands:
-Part program command MEACALC, MEASURE
-Programming of SUPA (suppress frames and online offsets)
-Programming of CTABDEF (start of curve table definition)
-Part program command WRITE/DELETE (write/delete file)
-Before the first WRITE/DELETE command in a sequence of such commands
-Part program command EXTCALL
-Part program command GETSELT, GETEXET
-Tool change and active fine tool offset FTOCON
3. For the following command execution:
-Finishing of Type 1 search ("Search without calculation") and
Type 2 search with calculation ("Search at contour end point")
Note: Type 2 search "Block search at contour start point" has the same behavior.
9.8.8.2
SPOS in target block
SPOS
If a spindle is programmed with M3/M4 and the target block contains an SPOS command, the
spindle is switched over to SPOS on completion of the SERUPRO process (search target
located). This is indicated on the VDI interface.
9.8.8.3
Travel to fixed stop (FXS)
During repositioning (REPOS), the "Travel to fixed stop" function (FXS) is repeated
automatically. Every axis is taken into account. The torque programmed last before the search
target is used as torque.
System variable
The system variables for "Travel to fixed stop" have the following meaning with SERUPRO:
$AA_FXS: Progress of the program simulation
$VA_FXS: Real machine state
The system variables always have the same values outside of the SERUPRO function.
ASUB
A user-specific ASUB can be activated for SERUPRO.
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References
For detailed information on the SERUPRO block search, see Section "Detailed description
(Page 294)".
9.8.8.4
Travel with limited torque/force (FOC)
During repositioning (REPOS), the "Travel with limited torque/force" function (FOC) is repeated
automatically. Every axis is taken into account. The torque programmed last before the search
target is used as torque.
System variable
The system variables for "Travel with limited torque/force" have the following meaning with
SERUPRO:
$AA_FOC: Progress of the program simulation
$VA_FOC: Real machine state
Supplementary condition
A changing torque characteristic cannot be implemented during repositioning.
Example
A program traverses axis X from 0 to 100 and switches "Travel with limited torque/force"
(FOC) on every 20 increments for 10 increments. This torque characteristic is usually generated
with non-modal FOC and cannot be performed during repositioning (REPOS). Instead, axis X
is traversed from 0 to 100 with or without limited torque/force in accordance with the last
programming.
References
For detailed information on the SERUPRO block search, see Section "Detailed description
(Page 294)".
9.8.8.5
Synchronous spindle
The synchronous spindle can be simulated.
The synchronous spindle operation with main spindle and any number of following spindles
can be simulated in all existing channels with SERUPRO.
For further information about synchronous spindles, see:
References:
Function Manual, Extended Functions; Synchronous Spindle (S3)
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9.8 Block search Type 5 (SERUPRO)
9.8.8.6
Couplings and master-slave
Setpoint and actual value couplings
The SERUPRO operation is a program simulation in Program Test mode with which setpoint
and actual value couplings can be simulated.
Specifications for EG simulation
For simulation of EG, the following definitions apply:
1. Simulation always takes place with setpoint coupling.
2. If not all leading axes are under SERUPRO, the simulation is aborted with Alarm 16952
"Reset Clear/No Start". This can occur with cross-channel couplings.
3. Axes that have only one encoder from the NCK point of view and are moved externally,
cannot be simulated correctly. These axes must not be integrated in couplings.
CAUTION
Incorrect simulation
In order to be able to simulate couplings correctly, they must have been switched off
previously.
This can be performed with machine data MD10708 $MA_SERUPRO_MASK.
Specifications for coupled axes
The SERUPRO operation simulates coupled axes always assuming that they are setpoint
couplings. In this way, the end points are calculated for all axes that are used as target points
for SERUPRO approach. The coupling is also active with "Search target found". The path from
the current point to the end point is carried out for SERUPRO approach with the active coupling.
LEADON
The following specifications apply for the simulation of axial master value couplings:
1. Simulation always takes place with setpoint coupling.
2. SERUPRO approach takes place with active coupling and an overlaid motion of the
following axis in order to reach the simulated target point.
The following axis that is moved solely by the coupling cannot always reach the target point.
In SERUPRO approach, an overlaid linear motion is calculated for the following axis to
approach the simulated point!
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9.8 Block search Type 5 (SERUPRO)
Reaching simulated target point for LEAD with JOG
At the time of "Search target found", the coupling is already active, especially for the JOG
motions. If the target point is not reached, SERUPRO approach can be used to traverse the
following axis with active coupling and an overlaid motion to the target point.
Note
For further information on the repositioning of axis couplings, see Section "Repositioning to
the contour (REPOS) (Page 497)".
Master-slave
A system ASUB can be started automatically after the block search is finished. In this
subprogram, the user can control the coupling state and the associated axis positions
subsequently. The required information is provided via the following system variables:
System variable
Description
$P_SEARCH_MASLD[<slave axis>]
Position offset between slave and master axis when the
link is closed.
$AA_MASL_STAT[<slave axis>]
Current state of a master/slave coupling
$P_SEARCH_MASLC[<slave axis>]
Status: The state of the coupling was changed during
the block search
The system variables are deleted when the coupling is switched on with MASLON.
Note
The coupled axes must be in the same channel when the block search is executed.
References
Further information on the master-slave coupling can be found in:
Function Manual, Special Functions; Section "TE3: Speed/torque coupling, master-slave"
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9.8 Block search Type 5 (SERUPRO)
Example
System ASUB
Path and name: /_N_CMA_DIR/PROGEVENT.SPF
Master axis: X
Slave axis: Y
Program code
PROG PROGEVENT
N10 IF(($S_SEARCH_MASLC[Y]< >0) AND ($AA_MASL_STAT[Y]< >0))
N20
MASLOF(Y)
N30
SUPA Y = $AA_IM[X] - $P_SEARCH_MASLD[Y]
N40
MASLON(Y)
N50 ENDIF
N60 REPOSA
...
RET
Machine data
To ensure that the ASUB starts automatically, the following machine data must be set:
NC-specific machine data:
- MD11604 $MN_ASUP_START_PRIO_LEVEL = 100
- MD11450 $MN_SEARCH_RUN_MODE = 'H02'
Channel-specifically for the channel in which the ASUB is started or generally for all
channels:
- MD20105 $MC_PROG_EVENT_IGN_REFP_LOCK, bit<n> = TRUE
n: For all required event-driven program calls (prog events)
- MD20115 $MC_IGNORE_REFP_LOCK_ASUP, bit<n> = TRUE
n: For all required user interrupts
NOTICE
System interrupts
Interrupts 9 and 10 used by the system are released with MD20115
$MC_IGNORE_REFP_LOCK_ASUP, bit 8 and bit 9. Interrupt 9 starts an ASUB which
contains traversing motions.
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9.8 Block search Type 5 (SERUPRO)
Axis couplings
Acceleration of the processing speed and leading axis and following axes in different
channels
For a leading axis whose following axes are assigned to a different channel than that of the
leading axis, the setting for acceleration of the processing speed has no effect (MD22601
$MC_SERUPRO_SPEED_FACTOR):
Coupled motion
The coupled motion function (TRAILON) is supported by SERUPRO.
For further information on coupled motion with TRAILON and TRAILOF, see:
References:
Function Manual, Special Functions; Axis Couplings (M3)
Programming Manual, Job Planning; Section "Axis couplings"
Gantry axes
The gantry axis function is supported by SERUPRO.
For further information on the functionality of gantry axes, see:
References:
Function Manual, Special Functions; Section "G1: Gantry axes"
Tangential control
The tangential follow-up of individual axes function is supported by SERUPRO.
Additional information about the tangential control can be found in:
References:
Function Manual, Special Functions; Section "T3: Tangential control"
9.8.8.7
Axis functions
SERUPRO conditions
The special conditions for SERUPRO must be observed with axis enable, autonomous axis
operations, and axis replacement.
Axis enable
The axial interface DB31, ... DBX3.7 ("Program test axis/spindle enable") controls the axis
enables if no closed-loop controller enable is to (or can) be issued at the machine and is active
only during the program test or when SERUPRO is active.
It is possible to issue this enable via interface signal PLCNCK
DB31, ... DBX3.7 (program test axis/spindle enable). If the real servo enable is missing during
program test or SERUPRO, the effect on the axes/spindles is as follows:
As soon as the simulated program run intends to move an axis/spindle, the message
"Waiting for axis enable" or "Waiting for spindle enable" is displayed and the simulation is
stopped.
If during a simulated motion, NC/PLC interface signal DB31, ... DBX3.7 (program test axis/
spindle enable) is then canceled, alarm 21612: "Channel %1 axis %2 NC/PLC interface
signal controller enable reset during motion is activated.
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9.8 Block search Type 5 (SERUPRO)
Autonomous axis operations
Autonomous single-axis operations are axes controlled by the PLC that can also be simulated
on SERUPRO. During SERUPRO operation, as in normal operation, the PLC can take over
or give up control of an axis. If required, this axis can also be traversed using FC18. The PLC
takes over control of the axis before the approach block and is responsible for positioning this
axis. This is valid for all block search types.
For further information about autonomous single-axis operations, see:
References:
Function Manual, Extended Functions; Positioning Axes (P2)
Axis replacement
Problem: A program moves an axis and gives up control before the target block with WAITP(X).
X is thus not subject to REPOS and the axis is not taken into account in SERUPRO approach.
Via the machine data MD11470 $MN_REPOS_MODE_MASK, the following behavior can be
achieved for SERUPRO-REPOS:
The neutral axes are moved as "command axes" in the SERUPRO-REPOS. The axis
interpolates without a path context even if it was last programmed as a path axis. In this
scenario, the velocity results from MD32060 $MA_POS_AX_VELO. After SERUPRO
approach, this axis is again neutral.
Neutral axes that are however not allowed to be repositioned must receive the axial NC/PLC
interface signal REPOSDELAY. This deletes the REPOS movement.
Example:
After SERUPRO, one axis is deliberately moved in the synchronized action via technology
cycles. The command axes are always moved in the approach block, never in the target block.
The target block can only be changed if all command axes have been moved to the end.
CAUTION
The PLC-controlled axis is not repositioned
Axes enabled by RELEASE(X) before the target block are not repositioned.
9.8.8.8
Gear stage change
Operational sequences
The gear stage change (GSC) requires physical motions from the NCK in order to be able to
engage a new gear.
In the SERUPRO operation, no gear stage change is required and is carried out as follows:
Some gears can only be changed when controlled by the NC, since either the axis must
oscillate or a certain position must be approached beforehand.
The gear stage change can be suppressed selectively for DryRun, program test, and
SERUPRO using bits 0 to 2 in MD35035 $MA_SPIND_FUNCTION_MASK.
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9.8 Block search Type 5 (SERUPRO)
The gear stage change must then be performed in REPOS; this will work even if the axis
involved is to be in "speed control mode" at the target block. In other cases, the automatic gear
stage change is denied with an alarm if, for example, the axis was involved in a transformation
or coupling between the gear stage change and the target block.
Note
For further information on gear stage changes in DryRun, Program test and SERUPRO, see
Section "S1: Spindles (Page 1199)".
9.8.8.9
Superimposed motion
Only SERUPRO
If "overlaid movements" are used, only the block search via program test (SERUPRO) can be
used, since the overlaid movements are interpolated accordingly in the main run. This applies
in particular to $AA_OFF.
Velocity profile instead of maximum axis velocity
During Program test, a velocity profile must be used, which allows "superimposed movements"
to be interpolated during the main run. It is thus not possible to interpolate at the maximum
axis velocity.
The axis velocity is set in "Dry run feedrate" mode using
SD42100 $SC_DRY_RUN_FEED.
The velocity of the SERUPRO operation is selected using
MD22600 $MC_SERUPRO_SPEED_MODE.
9.8.8.10
NC/PLC interface signals
REPOS offset available
If a REPOS offset has resulted for an axis during SERUPRO, this is displayed via the axial NC/
PLC interface at the end of the SERUPRO operation:
DB31, ...DBX70.0 == 1 (REPOS offset available)
Validity of the REPOS offset
The REPOS offset becomes invalid at the start of a SERUPRO ASUB or NC start to resume
the machining:
DB31, ... DBX70.1 == 1 (REPOS offset invalid)
The axis can be traversed manually in JOG mode or via the PLC user program using FC 18
between the end of the SERUPRO operation and NC start to resume the machining. If the
REPOS offset is traversed completely, the interface signal is reset.
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9.8 Block search Type 5 (SERUPRO)
9.8.8.11
Making the initial settings more flexible
Initial setting/initial SERUPRO setting
Machine data MD20112 $MC_START_MODE_MASK defines the initial setting of the control
for part program start with respect to the G codes (especially the current plane and settable
zero offset), tool length compensation, transformation, and axis couplings. The special option
exists for the SERUPRO operation of using
MD22620 $MC_ENABLE_START_MODE_MASK_PRT
to select an initial setting that differs from the normal part program start. The new setting must
therefore been stored in:
MD22620 $MC_START_MODE_MASK_PRT
The meaning of the bits of MD22620 is identical to those of:
MD20112 $MC_START_MODE_MASK.
Example:
The synchronous spindle coupling at the beginning of the SERUPRO operation is retained for
the part program start.
9.8.8.12
synchronous spindle coupling not
configured
$MC_START_MODE_MASK = 'H400'
is switched off
$MC_START_MODE_MASK_PRT = 'H00'
remains active
$MC_ENABLE_START_MODE_MASK_PRT = 'H01'
$MC_START_MODE_MASK_PRT is evaluated
in SERUPRO instead of
$MC_START_MODE_MASK
Compressor functions (COMPON, COMPCURV, COMPCAD)
If the target block for block search type 2 or type 4 (block search with calculation to ...) is
in a program section in which a compressor function (COMPON, COMPCURV, COMPCAD) is
active, positions are approached on the path calculated by the compressor on repositioning.
These positions must precisely match the positions on the path programmed in the part
program.
If programmed blocks are eliminated from the part program during compression, these
blocks will not be found at the target block in the block search Alarm 15370 "Search target
not found."
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9.9 Program operation
9.8.9
System variable
Overview of the system variables relevant for SERUPRO:
System variable
Meaning
$AC_ASUP, bit 20
ASUB activation reason:
$AC_ASUP, Bit 20 == 1 system ASUB active, reason: SERUPRO search goal
reached
$AC_SERUPRO
SERUPRO status:
$AC_SERUPRO == 1 SERUPRO is active
$P_ISTEST
Program test status:
SERUPRO active $P_ISTEST == 1
$P_SEARCHL
Most recently active block-search type:
$P_SEARCHL == 5 from the start of SERUPRO to reset or end of program
$AC_REPOS_PATH_MODE
9.9
REPOS mode for repositioning the contour after a SERUPRO
Program operation
PLC, MD, operation
The execution of part programs can be controlled via the HMI in many ways using PLC inputs,
machine data settings and operator inputs.
Definition
The execution of part programs or part program blocks in AUTOMATIC or MDA modes is
referred to as program operation.
Channel control
Every channel can be manipulated by means of interface signals from the PLC. The control is
exercised via mode groupspecific or channelspecific interface signals. An overview of these
signals is given under data lists in this Description of Functions.
Status messages
Each channel reports its current program operation status to the PLC with interface signals.
These signals are, in turn, divided up into mode groupspecific and channelspecific signals.
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9.9 Program operation
9.9.1
Initial settings
Machine data
Defined conditions can be set via machine data for the program operation or certain
implementations of the NC language scope.
Initial settings
Initial settings can be programmed in channel-specific machine data for each channel. These
initial settings affect, for example, G groups and auxiliary function output.
Auxiliary function output
The timing for output of auxiliary functions can be predefined via machine data
AUXFU_x_SYNC_TYPE (MD22200, 22210, 22220, 22230, 22240, 22250, 22260), (output
timing for M, S, T, H, F, D, E functions). For more detailed explanations, see Section "H2:
Auxiliary function outputs to PLC (Page 377)".
G groups
An initial programming setting can be specified for each of the available G groups using
MD20150 $MC_GCODE_RESET_VALUES (reset state of G groups). This initial setting is
automatically active during program start or in Reset until it is deselected by a G command
from the same G group.
Via the MD22510 $MC_GCODE_GROUPS_TO_PLC (G codes, which are output to interface
NCK-PLC after block change / RESET), the output of the G codes to the PLC interface can
be activated.
A list of G groups with the associated G functions is available in:
References:
Programming Manual, Fundamentals
Basic configurations of the NC language scope for SINUMERIK solution line
For SINUMERIK 840D sl, certain basic configurations of the NC language scope can be
generated (configurable) via machine data. The options and functions of the NC language
scope is specially tailored (configured) to the needs of the user.
NC language scope
The way that non-active options and functions should be moved with NC language commands
can be set via the machine data MD10711 $MN_NC_LANGUAGE_CONFIGURATION:
0: All available language commands can be programmed. Whether or not the needed function
is activated can only be recognized upon execution.
If only certain options are enabled and not all operations are available:
1: All the language commands are known. Language commands for non-enabled options are
already recognized at the beginning of the program interpretation and lead to the alarm 12553
"option/function is not active."
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9.9 Program operation
2: Only those language commands are known which correspond to the current scope of
enabled options of the NCK software. All commands for non-enabled options are not
recognized and trigger the alarm 12550 "Name not defined or option/function not available".
Note
Option-free functions also have the status "enable option"
If only certain functions are activated:
3: All the language commands are known. Non-activated functions are already recognized at
the beginning of the program interpretation and result in the alarm 12553 "Option/function is
not active". For example, if the option date is set for the cylinder surface transformation, but
the transformation is not activated in machine data MD24100 $MC_TRAOF_TYPE_1, then the
programming of TRACYL triggers the alarm 12553.
4: Only those NC language commands are known which correspond to the current scope of
active functions of the NCK software. All commands for non-active functions are not recognized
and trigger the alarm 12550 "Name not defined or option/function not available". Whether the
command in question is generally unavailable in the Siemens NC language or whether this is
true only on the corresponding system cannot be distinguished in this scenario.
Whether the current NC language scope of enabled options and active functions is also truly
programmable can be checked using the STRINGIS program command, see example.
Check sample application for NC language scope on cylinder surface transformation TRACYL
The cylinder surface transformation is optional and must be enabled beforehand. In order to
check this, the following initial conditions are assumed:
The cylinder surface transformation option is not enabled and the machine data
$MN_NC_LANGUAGE_CONFIGURATION = 2; NC language command TRACYL is unknown
The following program is started
Program code
Comment
N1 R1=STRINGIS("TRACYL")
; R1 is 0 (TRACYL is an unknown name)
N2 IF STRINGIS("TRACYL")==204
N3 TRACYL(1, 2, 3)
; Block is not interpreted
N4 ELSE
N5 G00
N6 ENDIF
N7 M30
Example of whether STRINGIS result is programmable or not
The result of STRINGIS = number-coded return value (three-digit)
Number coding of the basic information (1st digit from the left):
000 Name is unknown, programming is denied with Alarm 12550
100: Name is known, but cannot be programmed, triggers alarm 12533
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9.9 Program operation
200: Name/symbol is known, but interpretation is not possible
2xx: Name/symbol is known, the command can be programmed, if xx > 0
Definition for name/symbol:
Name: Any STRING that is checked to see
whether it is a component of the NC language in the existing NCK version or configuration.
Symbol: Contains the description or significance of an NC language command that is needed
for the NC program and cycle interpretation.
Dependent on machine data MD10711
$MN_NC_LANGUAGE_CONFIGURATION = (set value) results in the following interpretations of
the option and function relative to their programmability 2xx:
Table 9-2
Setting options
MD10711 =
Option
Function
Return value as the basic information (1st digit from the left)
Definition for option/function:
0 corresponds to option not activated or function deactivated
1 corresponds to option activated or function activated
For more detailed information on the value ranges of 2xx programmable functions, see:
References:
Programming Manual, Job Planning, Additional Functions,
Section: Check scope of NC language present (STRINGIS)
9.9.2
Selection and start of part program or part program block
Reset status
Channel status
A part program can be selected only if the relevant channel is in the Reset state.
Start command, channel status
There are two possible START commands for initiating processing of a part program or part
program block:
The channel-specific interface DB21, ... DBX7.1 (NC Start), which is usually controlled from
the machine control panel key NC Start, starts program execution in the same channel.
With the NC instruction START, program execution in the first channel can be started from
the second channel, for example.
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9.9 Program operation
The START command can only be executed in AUTOMATIC and MDA modes. For this, the
channel concerned must be in the following state:
DB21, ... DBX35.7(channel status reset) or
DB21, ... DBX35.6 (channel status interrupted).
Signals, Alarms
Required signal states
The part program can now be enabled for execution in the channel with the START command
on the condition that certain signal states exist on the machine.
The following enable signals are relevant on the NC/PLC interface:
DB11 DBX4.4 (mode group ready) must be present
DB11 DBX0.7 (mode group reset) must not be present
DB21, ... DBX1.7 (activate program test) must not be present
DB21, ... DBX7.0 (NC start disable) must not be present
DB21, ... DBX7.2 (NC stop at the block limit) must not be present
DB21, ... DBX7.3 (NC stop) must not be present
DB21, ... DBX7.4 (NC stop axes plus spindle) must not be present
DB21, ... DBX7. 7 (reset) must not be present
DB10 DBX56.1 (emergency stop) may not be present
No axis or NCK alarm must be active
For a further explanation of the individual signals see Section 5.
Execution of command
The part program or the part program block is automatically executed and the the following
interface signals are set:
DB21, ... DBX35.5 (channel status reset)
DB21, ... DBX35.0 (program status running)
The program is processed until the end of the program has been reached or the channel is
interrupted or aborted by a STOP or RESET command.
Alarms
Under certain conditions the START command will have no effect and one of the following
alarms will be triggered:
10200 "No NC Start permitted with active alarm"
10202 "No NC Start permitted with active command"
10203 "No NC Start permitted for non-referenced axes"
References:
Diagnostics Manual, Alarms
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9.9 Program operation
9.9.3
Part program interruption
Channel status
A part program interruption is only executed when the channel and program are active:
DB21, ... D35.5 == 1 ("Channel active")
DB21, ... D35.0 == 1 ("Program running")
STOP commands
The part program processing can be interrupted via the following STOP commands:
DB21, ... DBX7.2 ("NC stop at the block limit)
DB21, ... DBX7.3 ("NC stop")
DB21, ... DBX7.4 ("NC stop, axes plus spindles")
DB21, ... DBX2.0 ("Single block")
Program command M00 or M01
The channel and program are then in the state "interrupted":
DB21, ... D35.6 == 1 ("Channel interrupted")
DB21, ... D35.3 == 1 ("Program interrupted")
References
A detailed description of the interface signals can be found in:
Function Manual Basic Functions; NC/PLC Interface Signals (Z1)
Sequence
The following actions are performed after a STOP command:
Interruption of the part program execution at the next block limit (with "NC stop at the block
limit", M00, M01 or single block), or immediately for all other STOP commands.
The traversing axes of the channel are stopped via braking ramp. The braking of the axes
down to standstill can be extended over several blocks.
The block indicator shows the current block at the point of interruption.
The auxiliary functions that have not been output before the point of interruption are no
longer output.
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9.9 Program operation
Possible actions in the interrupt state
Various functions can be performed in the channel during a part program interruption, for
example:
Overstore
References
Operating Manual, HMI Advanced, Section "Machine operating area" > Automatic mode"
> "Overstore"
Block search
References
Function Manual, Basic Functions; Section "Mode group, channel, program operation, reset
response (K1)" > "Block search" or "Block search type 5 SERUPRO"
Repositioning (REPOS)
References Function Manual, Basic Functions; Section "Mode group, channel, program
operation, reset response (K1)" > "Block search type 5 SERUPRO" > "REPOS" >
"Repositioning with controlled REPOS"
Oriented tool retraction
References
Programming Manual, Job Planning; Section "Tool offsets"
Description of Functions, Basic Functions; Section "Tool offsets (W1)" > "Orientable
toolholders" > ""
Interrupt routine (see Section "Asynchronous subprograms (ASUBs), interrupt routines
(Page 558)")
DRF function, offset of the workpiece zero
References
Function Manual, Extended Functions; Manual and Handwheel Travel (H1)
Starting the interrupted program via:
START command from another channel
References
Programming Manual, Job Planning; Section "Flexible NC programming" > "Program
coordination (INIT, START, WAITM, WAITMC, WAITE, SETM, CLEARM)"
NC/PLC interface:
DB21, ... DBX7.1 (NC start)
9.9.4
RESET command
Command priority
Channel status
The RESET command can be executed in every channel state. This command is aborted by
another command.
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9.9 Program operation
Commands
RESET-Command
The following Reset commands are available:
DB11, ... DBX0.7 ("mode group reset")
DB21, ... DBX7.7 ("Reset")
For a further explanation of the individual interface signals, please see
References: /FB1/ Function Manual Basic Functions; NC/PLC interface signals (Z1)
A RESET command can be used to interrupt an active part program or a part program block
(in MDA).
After execution of the Reset command, the interface signal DB21, ... DBX35.7 ("Channel status
Reset") is set.
The part program cannot be continued at the point of interruption. All the axes of the channel
go into exact stop unless they are in followup mode. The same applies to the spindles
configured in the channel.
The following actions are executed when the RESET command is triggered:
Part program preparation is stopped immediately.
Axes and, if they exist, spindles in the channel are decelerated along a braking ramp.
Any auxiliary functions of the current block not yet output, are no longer output.
The block indicator is reset to the beginning of the part program.
All Reset alarms (channelspecific, axisspecific, spindlespecific) are cleared from the display.
9.9.5
Program status
The status of the selected program is displayed in the interface for each channel.
The PLC can then trigger certain responses and interlocks configured by the manufacturer
depending on the status at the interface.
The program status is only displayed in AUTOMATIC and MDA mode. In all other modes the
program status is aborted or interrupted.
Program states
The following program states are displayed at the NC/PLC interface (DB21, ... ):
DB21, ... DBX35.4 ("aborted")
DB21, ... DBX35.3 ("interrupted")
DB21, ... DBX35.2 ("stopped")
DB21, ... DBX35.1 ("waiting")
DB21, ... DBX35.0 ("running")
A detailed description of the interface signals can be found in Section "Signals from channel
(DB21, ...) (Page 1613)".
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9.9 Program operation
Effects of commands and NC/PLC interface signals
The program state of an active program is influenced by various commands and NC/PLC
interface signals. The following table shows the respective resulting state.
Initial state: "Running"
Command or NC/PLC interface signal
(IS)
Resulting state
Aborted
IS "Reset"
Interrupted
Stopped
Waiting
IS "NC stop"
IS "NC stop at block limit"
IS "NC stop axes and spindles"
IS "Read-in disable"
IS "Feed stop, channelsp."
IS "Feed stop, axissp."
Feed override = 0%
IS "Spindle stop"
M02/M30 in a block
x
x
M00/M01 in a block
IS "Single block"
IS "Delete distance-to-go"
Auxiliary functions output to PLC but not
yet acknowledged
Wait instruction in program
9.9.6
Running
x
x
x
Channel status
The current channel status is displayed in all operating modes at the NC/PLC interface
(DB21, ... ) for each channel.
Channel states
The following channel states are displayed at the NC/PLC interface (DB21, ... ):
DB21, ... DBX35.7 ("reset")
DB21, ... DBX35.6 ("interrupted")
DB21, ... DBX35.5 ("active")
A detailed description of the interface signals can be found in Section "Signals from channel
(DB21, ...) (Page 1613)".
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9.9 Program operation
Effects of commands and NC/PLC interface signals
The channel state of an active program is influenced by various commands and NC/PLC
interface signals. The following table shows the respective resulting state.
Initial state: "Active"
Command or NC/PLC interface signal
(IS)
Resulting state
Reset
IS "Reset"
Interrupted
Active
IS "NC stop"
IS "NC stop at block limit"
IS "NC stop axes and spindles"
IS "Read-in disable"
IS "Feed stop, channelsp."
IS "Feed stop, axissp."
Feed override = 0%
IS "Spindle stop"
M02/M30 in a block
x
x
M00/M01 in a block
IS "Single block"
IS "Delete distance-to-go"
Auxiliary functions output to PLC but not
yet acknowledged
Wait instruction in program
The "Channel state active" signal is obtained when a part program or part program block is
being executed or when axes are traversed in JOG mode.
9.9.7
Responses to operator or program actions
Status transitions
The following table shows the channel and program states that result after certain operator
and program actions.
The left-hand side of the table shows the channel and program states and the mode groups
from which the initial situation can be selected. Various operator/program actions are listed on
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9.9 Program operation
the righthand side of the table, the number of the situation after the action has been carried
out is shown in brackets after each action.
Table 9-3
Situation
Responses to operator or program actions
Channel sta
tus
Program status
Active mode
W
A
x
x
x
J
RESET (4)
RESET (5)
x
NC Start (14); Mode change (4 or 6)
x
10
11
12
x
x
13
14
15
16
17
18
NC Start (16); Mode change (9 or 11)
x
x
x
NC Stop (12)
NC Stop (7); at block end (5)
x
Channel status
R --> aborted
U --> interrupted
A --> running
NC Stop (8); at JOG end (6)
NC Stop (10); at block end (10)
x
x
Direction key (17); Mode change (9 or 10)
NC Start (13); Mode change (10 or 11)
NC Start (15)
NC Start (13); Mode change (10 or 11)
Direction key (15); Mode change (4 or 5)
NC Start (14)
RESET (6)
NC Start (13); Mode change (5 or 6)
536
Operator or program action (situation after the action)
NC Stop (11); at JOG end (11)
Reset (4); wait for other channel (18)
Program status
N --> aborted
U --> interrupted
S --> stopped
W --> waiting
A --> running
Modes
A --> aborted
M --> aborted
J --> aborted
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9.9 Program operation
9.9.8
Part-Program Start
Start handling
Table 9-4
Sequence
Typical program sequence
Command
Conditions
Comments
(must be satisfied before the com
mand)
Load program (via the operator in
terface or part program)
Select AUTOMATIC mode
Program preselection
Channel preselected
Preselected channel in
RESET state
User ID sufficient for
program preselection
NC start for preselected channel
NC start disable not
available
Reference point approached in all
axes
5
6
Program execution
M02/M30/RESET
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End of program
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9.9 Program operation
9.9.9
Example of a timing diagram for a program run
NC START (from PLC, HMI, COM, X user language)
NC STOP (from PLC, HMI, COM, X user language)
IS "NC START DISABLE"
(DB21, ... DBX7.0)
IS "Read-in disable"
(DB21, ... DBX6.0)
IS "Axis controller enable"
(DB31, ... DBX2.1)
IS "Feed stop"
(DB31, ... DBX4.3)
IS "Spindle enable"
(DB31, ... DBX2.1)
IS "Spindle stop"
(DB31, ... DBX4.3)
1
IS "Program state running"
(DB21, ... DBX35.0)
IS "Program state interrupted"
(DB21, ... DBX35.3)
IS "Program state stopped" (from NCK)
(DB21, ... DBX35.2)
IS "Program state aborted" (from NCK)
(DB21, ... DBX35.4)
IS "Travel command X axis" (from NCK)
(DB31, ... DBB68)
IS "Exact stop fine" (from NCK)
(DB31, ... DBX60.7)
IS "Spindle stationary" (from NCK)
(DB31, ... DBX61.4)
IS "Spindle in the setpoint range" (from NCK)
(DB31, ... DBX83.5)
Logic operation through PLC user program
AuxF M170 from PLC user program completed,
i.e. block N10 complete (AuxF output during travel)
Program stopped with read-in disable
Program aborted with RESET
Figure 9-6
Spindle
run-up
Axis running
Program:
N10 G01 G90 X100
M3 S1000 F1000
M170 If N20 M0 If
.....
Examples of signals during the program run
9.9.10
Program jumps
9.9.10.1
Jump back to start of program
Function
With the function "Jump back to start of the program" the control jumps back from a part
program to the beginning of the program. The program is then processed again.
As compared to the function "Program jumps to jump marks", with which a repeated processing
of the program can also be implemented, the function "Jump back to the start of the program"
offers the following advantages:
The programming of a jump mark at the start of the program is not necessary.
The program restart can be controlled through the NC/PLC interface signal:
DB21, ... DBX384.0 (control program branching)
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9.9 Program operation
The timer for the program runtime can be reset to "0" at the restart of the program.
The timer for workpiece counting can be incremented by "1" at program restart.
Application
The function is used, if the processing of subsequent workpieces is to be done through an
automatic program restart e.g. in case of turning machine with bar loader/-changer.
Activation
The jump back takes place only when the following NC/PLC interface signal is set:
DB21, ... DBX384.0 (control program branching) = 1
If the signal is at "0", then no jump back is exected and the program processing is continued
with the next part program block after the function call.
Parameter assignment
Program runtime
The runtime of the selected NC program is stored in the system variable $AC_CYCLE_TIME.
When starting a new program, the system variable is automatically reset to "0"(see Chapter
" Program runtime (Page 641) ")
Via the following machine data it can be set that the system variable $AC_CYCLE_TIME is
reset to "0" even in case of a program restart through the function "jump back to start of
program":
MD27860 $MC_PROCESSTIMER_MODE (Activation of the program runtime measurement)
Bit
Value
Description
$AC_CYCLE_TIME is not reset to "0" by the function "jump back to start of program".
$AC_CYCLE_TIME is reset to "0" by the function "jump back to start of program".
Note
In order that the setting of bit 8 can become effective, the measurement of the current program
runtime must be active (MD27860 bit 1 = 1).
Workpiece count
After the part program end (M02 / M30) has been attained, the activated workpiece counters
($AC_TOTAL_PARTS / $AC_ACTUAL_PARTS / $AC_SPECIAL_PARTS) are incremented by
"1" (see Chapter " Workpiece Counter (Page 647) ").
Via the following machine data it can be set that the activated workpiece counter is incremented
even in case of a program restart through the function "jump back to start of program":
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9.9 Program operation
MD27880 $MC_PART_COUNTER (activation of workpiece counters)
Bit
Val
ue
Description
In case of a program restart through the function "jump back to start of program", the
workpiece counter:
7
11
15
$AC_TOTAL_PARTS is not incremented.
$AC_TOTAL_PARTS is incremented.
$AC_ACTUAL_PARTS is not incremented.
$AC_ACTUAL_PARTS is incremented.
$AC_SPECIAL_PARTS is not incremented.
$AC_SPECIAL_PARTS is incremented.
Programming
The function is called in the main or the part program via the command GOTOS.
Syntax:
GOTOS
Parameters:
none
Application in synchronized actions: not possible
Note
GOTOS internally initiates a STOPRE (pre-processing stop).
Example
Programming
Comment
N10 ...
; Beginning of the program
...
N90 GOTOS
; Jump to beginning of the program
...
9.9.11
Program section repetitions
9.9.11.1
Overview
Function
The program section repetition allows the repetition of any labeled section of a part program.
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9.9 Program operation
For more information on labels, please see:
References:
Programming Manual Fundamentals; Program Jumps and Program Repetitions
Definition options of part program sections
The program repetition offers various options for defining a part program section that is
supposed to be repeated:
A single part program block
A part program section after a start label
A part program section between a start label and end label
A part program section between a start label and the key word: ENDLABEL
References:
Programming Manual, Job Planning; Section "Program coordination"
9.9.11.2
Individual part program block
Functionality
Via REPEATB (B=Block) in part program block N150, the part program processing branches
to the part program block N120 that is labeled START_1. This is repeated x number of times.
If P is not specified, the program section is repeated exactly once. After the last repetition, the
part program is continued with the part program block N160 following the REPEATBinstruction.
:
N100 ...
N120 START_1: ...
; Label: START_1
N130 ...
N140 ...
N150 REPEATB START_1 P=n
Repetition after: START_1
N160 ...
:
Note
Label search direction
The part program block identified by the label can appear before or after the REPEATB
statement. The search initially commences toward the start of the program. If the label is not
found, a search is made in the direction of the program end.
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9.9 Program operation
Programming
Syntax:
9.9.11.3
REPEATB <Label> [P=n]
Label Start label to which the instruction: REPEAT branches
Type: String
P
Number of repetitions
-{}-n Number of repetitions
Type: Integer
A part program section after a start label
Functionality
Via REPEAT in part program block N150, the part program processing branches to the part
program block N120 that is labeled START_1. This part program block and all of the following
part program blocks (N130 and N140) are repeated x number of times up to the part program
block that contains the REPEATinstruction (N150). If P is not specified, the part program section
(N120 - N140) is repeated exactly once. After the last repetition, the part program is continued
with the part program block N160 following the REPEATinstruction.
:
N100 ...
N120 START_1: ...
; Start label: START_1
N130 ...
N140 ...
N150 REPEAT START_1 P=n
Repetition after: START_1
N160 ...
:
Note
Label search direction
The part program block marked with the Start label must come before the REPEATinstruction.
Programming
Syntax:
542
REPEAT <Label> [P=n]
Label Start label to which the instruction: REPEAT branches
Type: String
P
Number of repetitions
-{}-n Number of repetitions
Type: Integer
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9.9 Program operation
9.9.11.4
A part program section between a start label and end label
Functionality
Via REPEAT in part program block N160, the part program processing branches to the part
program block N120 that is labeled START_1 with a start label. This part program block and
all the part program blocks up to and including the part program block marked with the end
label END_1 (N140) are repeated x number of times. If P is not specified, the part program
section (N120 - N140) is repeated exactly once. After the last repetition, the part program is
continued with the part program block N170 following the REPEATinstruction.
:
N100 ...
N120 START_1: ...
; Start label: START__1
N130 ...
N140 END_1 ...
; End label: END_1
N150 ...
N160 REPEAT START_1 END_1 P=n
; Repetition: START_1 until END_1
N170 ...
:
Note
Label search direction
The program section marked with the Start and End labels can come before or after the
REPEATinstruction. The search initially commences toward the start of the program. If the Start
label is not found, a search is made in the direction of the program end.
If the REPEAT instruction is between the Start and End label, only the part program section
from the Start label to the REPEAT instruction is repeated.
REPEAT instruction repeated.
Programming
Syntax:
REPEAT <Start_Label> <End_Label> [P=n]
Start_Label Start label to which the instruction: REPEAT branches.
Beginning of the part program section that is repeated.
Type: String
End_Label
End of the part program section that is repeated.
Type: String
P
Number of repetitions
n
Number of repetitions
Type: Integer
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9.9 Program operation
9.9.11.5
A part program section between a Start label and the key word: ENDLABEL
Functionality
Via REPEAT in part program block N150, the part program processing branches to the part
program block N120 that is labeled START_1 with a start label. This part program block and
all the part program blocks up to and including the part program block marked with the key
word ENDLABEL (N140) are repeated x number of times. If P is not specified, the part program
section (N120 - N140) is repeated exactly once. After the last repetition, the part program is
continued with the part program block N170 following the REPEATinstruction.
:
N100 ...
N120 START_1: ...
; Start label: START__1
N130 ...
N140 ENDLABEL: ...
; End label: Keyword ENDLABEL
N150 ...
N160 REPEAT START_1 END_1 P=n
; Repetition: START_1 until END_1
N170 ...
:
Note
Label search direction
The program section marked with the Start and End labels can come before or after the
REPEATinstruction. The search initially commences toward the start of the program. If the Start
label is not found, a search is made in the direction of the program end.
If no keyword ENDLABEL is located between the Start label and the REPEAT instruction, the
part program section from the Start label to the REPEAT instruction is repeated.
Programming
Syntax:
544
REPEAT <Label> [P=n]
Label
Start label to which the instruction: REPEAT branches.
Beginning of the part program section that is repeated.
Type: String
P
Number of repetitions
n
Number of repetitions
Type: Integer
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9.9 Program operation
9.9.12
Event-driven program call (PROG_EVENT)
9.9.12.1
Function
Function
The "Event-driven program calls" function provides the option that when a certain event occurs
in the NC, an NC program with user-defined content can be executed. For example, to initiate
the basic setting of functions or initialize system and user variables.
Events
Triggering events can be:
Program start
End of program
Channel reset
Powering-up of the NC
The triggering events are selected with the machine data MD20108
$MC_PROG_EVENT_MASK (see Section "Parameterization (Page 549)").
User program
In the default setting the program _N_PROG_EVENT_SPF is activated after the triggering
event occurs. Using machine data MD11620 $MN_PROG_EVENT_NAME, another program
can be parameterized (see Chapter "Parameterization (Page 549)").
The activated user program is executed in the channel in which the event had occurred.
The application program is executed with the lowest priority and so can be interrupted by the
user ASUB.
Processing sequence
Sequence when activated by an event: Program start
Initial state:
Channel:
Mode:
Reset status
AUTOMATIC (optional: Overstore (active)
MDI
TEACH IN
1. A program starts in the channel
2. Initialization sequence with evaluation of:
MD20112 $MC_START_MODE_MASK
3. Implicit call of _N_PROG_EVENT_SPF as part program
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9.9 Program operation
4. Processing of the data part of the main program
5. Processing of the program part of the main program
Sequence when activated by an event: End of program
Initial state
Channel:
Mode:
Active
AUTOMATIC (optional: Overstore (active)
MDI
TEACH IN
1. In the channel, the end of program block is exchanged in the the executed program.
2. End of program is executed, evaluation of the following machine data:
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
3. Implicit call of the parameterized user program as ASUB
4. A reset is executed in the channel, evaluation of the following machine data:
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
Sequence when activated by an event: Channel reset
Initial state:
Channel:
Mode:
Any
Any
1. Control activates reset-sequence with evaluation of machine data:
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
2. Implicit call of the parameterized user program as ASUB
3. Control activates reset-sequence with evaluation of machine data:
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
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9.9 Program operation
Sequence when activated by an event: Powering-up of the NC
1. Control activates after power-up reset-sequence with evaluation of machine data:
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
2. Implicit call of the parameterized user program as ASUB
3. Control activates reset-sequence with evaluation of machine data:
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
NC/PLC interface signals Program and channel state
The following diagrams show that the signal sequence for the interface signals "Program state"
and "Channel state" during the event-driven program call:
3DUW
SURJUDP
6WDUW
B1B352*B
(9(17B63)
(QG
3DUW
SURJUDP
(QG
B1B352*B
(9(17B63)
$FWLYH
B1B352*B
(9(17B63)
(QG
'%'%;
3URJUDPVWDWXVUXQQLQJ
'%'%;
3URJUDPVWDWXVVWRSSHG
'%'%;
3URJUDPVWDWXVDERUWHG
'%'%;
FKDQQHOVWDWXVDFWLYH
'%'%;
FKDQQHOVWDWXVLQWHUUXSWHG
'%'%;
&KDQQHOVWDWXVUHVHW
Figure 9-7
Signal sequence when activated by program start and program end
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9.9 Program operation
2SHUDWRU
SDQHO
UHVHW
B1B352*B
(9(17B63)
$FWLYH
B1B352*B
(9(17B63)
(QG
'%'%;
3URJUDPVWDWXVUXQQLQJ
'%'%;
3URJUDPVWDWXVVWRSSHG
'%'%;
3URJUDPVWDWXVDERUWHG
'%'%;
FKDQQHOVWDWXVDFWLYH
'%'%;
FKDQQHOVWDWXVLQWHUUXSWHG
'%'%;
&KDQQHOVWDWXVUHVHW
Figure 9-8
Signal sequence when activated by a channel reset
Interface signals DB21, ... DBX35.4 (program state interrupted) and DB21, ... DBX35.7
(channel state reset)
The interface signals are only set if the activated, event-driven user program has already
been exited.
The interface signals are not set between:
end of program and the start of the event-driven user program
Channel reset and the start of the event-driven user program
NC/PLC interface signals Initiating event
The initiating event is displayed using interface signals DB21, ... DBX376.0 ... 4:
Bit
Value
Event
Program start from channel state "Reset"
End of program
Channel reset
Powering-up of the NC
1. Program start after block search (see "Automatic Start of an ASUB after block
search (Page 485)")
If the event-driven user program is exited, or canceled with a reset, then the interface signals
are again deleted.
The interface signals are available as a minimum for the duration of a complete PLC cycle.
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9.9 Program operation
9.9.12.2
Parameterization
Events
The events that activate the user program are selected on a channel-specific basis using
machine data:
MD20108 $MC_PROG_EVENT_MASK, bit x
Note
MD20108 $MC_PROG_EVENT_MASK is not evaluated in the simulation.
Program
The program (default setting: _N_PROG_EVENT_SPF) must be loaded and cleared.
Default setting
As default setting, when an event occurs, user program _N_CMA_DIR/
_N_PROG_EVENT_SPF is executed.
User-specific setting
If, for an event, another user program is to be executed, the program name must be entered
into the following machine data:
MD11620 $MN_PROG_EVENT_NAME
The program must be in a cycle directory.
The following search path is run through when an event occurs.
1. /_N_CUS_DIR/ (user cycles)
2. /_N_CMA_DIR/ (manufacturer cycles)
3. /_N_CST_DIR/ (standard cycles)
The first program found with the specified name is executed.
Note
The specified name is checked syntactically as in case of a subprogram name, i.e. the first
two characters must be letters or underscores (no numbers). Prefix (_N_) and suffix (_SPF)
of the program names are added automatically, if not specified.
The same protection mechanisms that can be activated for cycles (protection levels for
writing, reading, etc.) are activated.
Behavior when starting a user ASUB
The behavior of the function "event-driven program call" upon start of a user ASUB from the
reset channel state can be set channel-specific with the machine data:
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9.9 Program operation
MD20109 $MC_PROG_EVENT_MASK_PROPERTIES
Bit
Value
Meaning
The occurrence of an event set with MD20108 (part program start, part program end
and/or operator panel reset) leads to the activation of the event-driven user program.
The occurrence of an event set with MD20108 does not lead to the activation of the
event-driven user program.
Behavior when the single-block processing is set
The behavior of the function "event-driven program call" in case of set single-block processing
can be set channel-specific with the machine data:
MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK
Bit
Value
Meaning
In the event-driven user program:
After an activation through part program start:
0
The single-block processing is active
The single-block processing is suppressed
After an activation by part program end:
0
The single-block processing is active
The single-block processing is suppressed
After an activation by an operator panel reset:
0
The single-block processing is active
The single-block processing is suppressed
After an activation by powering up:
0
The single-block processing is active
The single-block processing is suppressed
If the single-block processing is suppressed, then the event-driven user program is processed
without interruption.
Note
MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK affects all single-block processing
types.
The single-block processing in the event-driven user program can be switched-off through
the following configuration:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop) bit 0 = 1
The differentiated settings in MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK are
then ineffective.
Behavior when the read-in disable is set
The behavior of the function "event-driven program call" in case of set read-in disable
(DB21, ... DBX6.1 = 1) can be set channel-specific with the machine data:
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9.9 Program operation
MD20107 $MC_PROG_EVENT_IGN_INHIBIT
Bit
Value
Meaning
In the event-driven user program:
After an activation through part program start:
0
The read-in disable is effective
If the user program is exited with the RET part program command, then an executable
block is not created
The read-in disable is suppressed
If the user program is exited with the RET part program command, then an executable
block analog to M17) is created.
After an activation by part program end:
0
The read-in disable is effective
The read-in disable is suppressed
After an activation by an operator panel reset:
0
The read-in disable is effective
The read-in disable is suppressed
After an activation by powering up:
0
The read-in disable is effective
The read-in disable is suppressed
Suppress updating of the display of the program and channel states.
In order to avoid a flickering of the display of the program and the channel states in the operator
panel, the updating of the display can be suppressed for the execution of the normally very
brief event-driven user program. In the display, the program and channel states remain visible
before activation of the event-driven user program (e.g. "program state canceled" and "channel
state reset").
The parameterization of this function is performed with the channel-specific machine data:
MD20192 $MC_PROG_EVENT_IGN_PROG_STATE
Bit
Value
Meaning
During execution of an event-driven user program, the updating of the display of the
program and channel states is:
After an activation through part program end:
0
Not suppressed
Suppressed
After an activation through operator panel reset:
0
Not suppressed
Suppressed
After an activation through run-up:
0
Not suppressed
Suppressed
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9.9 Program operation
Note
The system variables $AC_STAT and $AC_PROG are not affected by this function, i.e. in the
running event-driven user program, $AC_STAT is set to "active" and $AC_PROG to "running".
NC/PLC interface signals DB21, ... DBX35.0-7 ("Program state ..." and "Channel state ...")
also remain unaffected.
Behavior for NC Stop
The behavior of the function "event-driven program call" for NC Stop (i.e. NC/PLC interface
signal DB21, ... DBX7.2, 7.3 or 7.4 is set) can be set channel-specific for the triggering event
part program end, operator panel reset and run-up with the machine data:
MD20193 $MC_PROG_EVENT_IGN_STOP
Bit
Value
Meaning
The event-driven user program is:
After an activation through part program end:
0
Stopped/prevented at NC stop
Despite NC Stop been completely processed
After an activation through operator panel reset:
0
Stopped/prevented at NC stop
Despite NC Stop been completely processed
After an activation through run-up:
0
Stopped/prevented at NC stop
Despite NC Stop been completely processed
In this way, an edge change of the interface signal DB21, ... DBX7.3 (NC Stop) initiated by the
user by activating the NC Stop key in case of reset or power-up is ignored during the execution
of the event-driven user program and an undesired stop behavior at the machine is prevented.
Note
A programming of DELAYFSTON/ DELAYFSTOF in the event-driven user program cannot be
provided with the behavior set with MD20193, because the NC Stop can cause an interruption
before the execution of the first command DELAYFSTON.
9.9.12.3
Programming
User program
End of program
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9.9 Program operation
The following must be kept in mind, if the user program is to be activated through the part
program start.
The user program must be ended with M17 or RET.
A jump back by means of REPOS command is not permitted and leads to an alarm.
Block display
The display can be suppressed in the current block display using the DISPLOF attribute in the
PROC statement.
Processing status
Via the user M function the PLC can be informed about the processing status of the eventdriven user program.
Scan for triggering event
The event, which causes the activation of the user program, can be queried in the user program
with the following system variable:
$P_PROG_EVENT (event-driven program call active)
Value
Description
Activation through part program start
Activation through part program end
Activation through Operator panel reset
Activation through Power up
Activation after output of the last action block after Block search (see "Automatic Start of an
ASUB after block search (Page 485)")
Query of the current channel
The application program is basically processed in the channel, in which the corresponding
event has occurred. The current channel is queried in the user program with the following
system variables:
$P_CHANNO (query of the current channel number)
Note
Power up is an event that takes place in all channels.
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9.9 Program operation
9.9.12.4
Boundary conditions
Emergency stop / error message
If an error is present when the operator panel is reset or after powerup EMERGENCY STOP
or Mode group/NCKContinue, then the event-driven user program will only be processed after
EMERGENCY STOP or the error has been acknowledged in all channels.
Note
The power up event occurs in all channels at the same time.
9.9.12.5
Examples
Example 1: Call of all events set with MD20108
Parameter assignment:
MD20108 $MC_PROG_EVENT_MASK = 'H0F'
Call of _N_PROG_EVENT_SPF for:
Part program start
Part program end
Operator panel reset
Ramp-Up
Programming:
Program code
Comment
PROC PROG_EVENT DISPLOF
IF ($P_PROG_EVENT==1)
MY_GUD_VAR=0
; Processing for part program start.
; Initialize GUD variable
RET
ENDIF
IF ($P_PROG_EVENT==2) OR ($P_PROG_EVENT==3)
DRFOF
; Processing for part program end and operator panel reset.
; Deactivate DRF offsets
IF $MC_CHAN_NAME=="CHAN1"
CANCEL(2)
; Delete modal synchronized action 2
ENDIF
RET
ENDIF
IF ($P_PROG_EVENT==4)
554
; Sequence for power-up
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9.9 Program operation
Program code
Comment
IF $MC_CHAN_NAME=="CHAN1"
IDS=1 EVERY $A_INA[1]>5.0 DO $A_OUT[1]=1
ENDIF
RET
ENDIF
RET
Example 2: Call through Operator panel reset
Parameter assignment:
MD20108 $MC_PROG_EVENT_MASK = 'H04'
Call of _N_PROG_EVENT_SPF for:
Operator panel reset
Programming:
Program code
Comment
PROC PROG_EVENT DISPLOF
N10 DRFOF
; Deactivate DRF offsets
N20 M17
Example 3: Initialization of the function
Section of the startup file (_N_INITIAL_INI):
Program code
Comment
...
CHANDATA(3)
; Initialization for channel 3
$MC_PROG_EVENT_IGN_INHIBIT='H04F'
$MC_PROG_EVENT_MASK='H04'
...
Meaning:
The part program _N_PROG_EVENT_SPF from the directory _N_CMA_DIR should be started
automatically with the RESET key and processed till the end, regardless of whether the readin disable is activated or deactivated.
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9.9 Program operation
9.9.13
Influencing the Stop events through Stop delay area
Stop delay area
The reaction to a stop event can be influenced by the conditioned interruptible area in the
current part program. Such a program area is called stop delay area.
Within the stop delay areas there should be no stop and the feed should not be changed. Stops
do not take effect until the program section has been completed (Example: Making of a thread).
A stop delay area is defined with the part program commands:
DELAYFSTON
DELAYFSTOF
Start of a stop delay area
End of a stop delay area
References:
Programming Manual, Job Planning
Stop events
Overview of the NCK events that cause a stop:
NCK events
Reaction
Stop criteria
Reset and mode group RESET
Immediate
IS: DB21, ... DBX7.7 and DB11 DBX20.7
PROG_END
Alarm 16954
NC prog.: M30
Interrupt
Delayed
IS: "FC-9" and ASUB DB10 DBB1
DELDISTOGO_SYNC
Immediate
IS: "Delete distance-to-go" DB21, ... DBX6.2 and axial
PROGRESETREPEAT
Delayed
IS: "Clear number of subprogram passes" DB21, ...
DBX6.3
PROGCANCELSUB
Delayed
IS: "Program level abort" DB21, ... DBX6.4
SINGLEBLOCKSTOP
Delayed
In the stop delay area: NC stops at the end of the 1st block
outside the stop delay area.
Single block is active before the stop delay area:
IS: "NC Stop at block limit" DB21, ... DBX7.2
SINGLEBLOCK_IPO
Delayed
SINGLEBLOCK_DECODIER
Delayed
IS: "Activate single-block type 2" DB11 DBX21.6
STOPALL
Immediate
IS: DB21, ... DBX7.4 and DB11 DBX20.6
STOPPROG
Delayed
IS: DB21, ... DBX7.3 and DB11 DBX20.5
OVERSTORE_BUFFER_END_REACHED
Alarm 16954
NC prog.: Stop because of empty overstore buffer
PREP_STOP
Alarm 16954
NC prog.: STOPRE and all implicit Stopres
PROG_STOP
Alarm 16954
NC prog.: M0 and M1
STOPPROGATBLOCKEND
Delayed
IS: "NC Stop at block limit" DB21, ... DBX7.2
STOPPROGATSUPEND
System fault
Subprogram end should always deselect the stop delay
area.
WAITM
Alarm 16954
NC prog.: WAITM
WAITE
Alarm 16954
NC prog.: WAITE
INIT_SYNC
Alarm 16954
NC prog.: INIT with parameter "S"
MMCCMD
Alarm 16954
NC prog.: MMC( STRING, CHAR )
556
IS: "Activate single-block type 1" DB11 DBX21.7
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9.9 Program operation
NCK events
Reaction
Stop criteria
PROGMODESLASHON
Delayed
IS: DB21, ... DBB26 Activate / switch over skip block
PROGMODESLASHOFF
Delayed
IS: DB21, ... DBB26 Deactivate skip block
PROGMODEDRYRUNON
Delayed
IS: DB21, ... DBX0.6 Activate DryRun
PROGMODEDRYRUNOFF
Delayed
IS: DB21, ... DBX0.6 Deactivate DryRun
BLOCKREADINHIBIT_ON
Delayed
IS: DB21, ... DBX6.1 Activate read-in disable
STOPATEND_ALARM
Immediate
Alarm: Alarm configuration STOPATENDBYALARM
STOP_ALARM
Immediate
Alarm: Alarm configuration STOPBYALARM
STOPATIPOBUFFER_ISEMPTY_ALARM
Immediate
Internal: Stop after alarm on empty IPO buffer
STOPATIPOBUF_EMPTY_ALARM_REORG
Immediate
Internal: Stop after alarm on empty IPO buffer
RETREAT_MOVE_THREAD
Alarm 16954
NC prog.: Alarm 16954 at LFON (Stop & fast lift in G33 not
possible
WAITMC
Alarm 16954
NC prog.: WAITMC
NEWCONF_PREP_STOP
Alarm 16954
NC prog.: NEWCONF
BLOCKSEARCHRUN_NEWCONF
Alarm 16954
NC prog.: NEWCONF
SET_USER_DATA
Delayed
OPI: PI "_N_SETUDT"
ESR
Delayed
Extended stop and retract
EXT_ZERO_POINT
Delayed
External zero offset
STOPRUN
Alarm 16955
OPI: PI "_N_FINDST" STOPRUN
Reaction
The reaction to a stop event can be:
Immediate
Stops immediately even in the stop delay area. Is known as a "hard stop event".
Delayed
Does not stop (even short-term) until after the stop delay area. Is known as a "soft stop
event".
Alarm 16954
Program is aborted because illegal program commands have been used in the stop delay
area.
Alarm 16955
Program is continued, an illegal action has taken place in the stop delay area.
Alarm 16957
The program area (stop delay area) enclosed by DELAYFSTON and DELAYFSTOF could not
be activated. As a result, every stop will take effect immediately and is not subject to a
delay! This will always occur when the deceleration begins before the stop delay area but
ends within the stop delay area. Likewise, if the stop delay area is entered with an override
of 0, the stop delay area also cannot be activated. (Example: A G4 before the stop delay
area allows the user to reduce the override to 0. The next block in the stop delay area then
begins with override 0 and the described alarm situation occurs.)
Note
MD11411 $MN_ENABLE_ALARM_MASK (activation of warnings) Bit 7 activates this alarm.
Stop criteria
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
A stop event can be triggered by the following
NC/PLC interface signals from the PLC
Alarms with NOREADY response
Stop key
Read-in disable
Single block
"Hard" stop event
"Hard" stop event
"Soft" stop event
"Soft" stop event
"Soft" stop event
Note
Some NCK events are stopped for a short time, in order to perform a switching operation, and
restart immediately. These include, e.g. the ASUB that stops the contour briefly in order to
then start the ASUB immediately. These events are also allowed in the stop delay area,
however they are pushed back to its end and are thus considered "soft stop events".
Conditions
The following conditions apply while a stop delay area is being processed:
A change in the feed is ignored while in the stop delay area. A feed disable is thus not
effective until the program area has been exited, and is stopped.
None of the main run axes, such as command axes and positioning axes, which are
traversed with POSA, are stopped.
Part program command G4 is permitted in the stop delay area.
Other part program commands that cause a stop in the meantime (e.g. WAITM) are not
permitted and trigger the alarm 16954.
A stop delay area entered with an override of 0% will not be accepted!
9.10
Asynchronous subprograms (ASUBs), interrupt routines
9.10.1
Function
9.10.1.1
General functionality
Note
The terms "asynchronous subprogram (ASUB)" and "interrupt routine" are used
interchangeably in the description below to refer to the same functionality.
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
Interrupt routines
Interrupt routines are NC programs which are started by interrupt events (interrupt inputs,
process or machine status).
A part program block currently being executed will be aborted by the activation of an interrupt
routine if it is not specifically declared to be locked against interruption. It is possible to continue
the part program at the point of interruption at a later stage.
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Definition of interrupt routines
The command SETINT or an interrupt signal via the PI service "ASUB" must be assigned to
a part program, which is supposed to act as interrupt routine. This turns the part program into
an interrupt routine.
Interrupt signals
A total of eight interrupt signals (inputs) are available.
All inputs can be controlled via the PLC.
The first four interrupt signals are also controlled via the four fast NC inputs of the NCU
module.
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
The signal states of the fast NC inputs can be read out via the NC/PLC interface (DB10).
The transmission of the fast NC inputs to the interrupt signals can be disabled via the NC/
PLC interface (DB10).
4 rapid NC inputs
PLC interface
4 interrupt signals
Figure 9-9
4 interrupt signals
Interrupt signals
For further information about PLC control of the rapid NC inputs (interrupt signals) see Section
"P3: Basic PLC program for SINUMERIK 840D sl (Page 821)".
References:
Function Manual, Extended Function; Digital and Analog NCK I/O (A4)
Call of interrupt routines
During program mode
During program mode, i.e. in the AUTOMATIC or MDA mode, interrupt routines can always
be called.
Outside the program mode
Outside the program mode, interrupt routines can be called in the following modes, machine
functions and states:
JOG, JOG REF
MDA Teach In, MDA Teach In REF, MDA Teach In JOG, MDA REF, MDA JOG
AUTOMATIC, program states "stopped", "ready"
Axis state "Not referenced"
If an interrupt routine is started during JOG or JOG REF, the current action is aborted.
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
Activation
The activation of an interrupt routine is initiated via:
0/1 edge of the interrupt signal, triggered by a 0/1 edge at the associated fast NC input
Call of the "Function call ASUB" (see Section "P3: Basic PLC program for SINUMERIK
840D sl (Page 821)")
Setting an output via synchronized action which is parameterized on an interrupt via shortcircuit (see "Examples (Page 570)")
References:
Function Manual, Synchronized Actions
Display
The activation of an interrupt routine is shown channel-specifically with the following NC/PLC
interface signal:
DB21, DBX378.0 == 1 (ASUB active)
9.10.1.2
Sequence of an interrupt routine in program operation
Decelerating the axes
Upon activation, all machine axes are decelerated to a standstill according to the acceleration
ramp (MD32300 $MA_MAX_AX_ACCEL), and the axis positions are stored.
Reorganization
In addition to decelerating the axes, the previously decoded calculation blocks are calculated
back to the interruption block, i.e. all the variables, frames and G codes are assigned the value
that they would have at the point of interruption if the part program had not been previously
decoded. These values are transferred to the buffer so that they can be called up again when
the interrupt routine is completed.
Exceptions where no reorganization is possible:
In thread cutting blocks
With complex geometries (e.g. spline or radius compensation)
Processing of interrupt routine
The interrupt routine is automatically started on completion of reorganization.
The system handles the interrupt routine like a normal part program (nesting depth, etc.)
End of interrupt routine
After the end identifier (M02, M30, M17) of the interrupt routine has been processed, the axis
traverses by default to the end position programmed in the part program block following the
interruption block.
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
A REPOS instruction must have been programmed at the end of the interrupt routine if return
positioning to the point of interruption is required, e.g.
N104 REPOSL M17
Part program:
PROGNAME
N10 ...
N20 Y20
N30 X60
N40 ...
N50 M30
Interrupt routine:
INTER
N101 ...
N102 ...
N103 ...
N104 REPOSL M17
End point of the
interrupt routine
Standard (for G91)
Traverse path of the
interrupt routine
N104
Path with
REPOSL
Standard (for G90)
N101
N20
N30
Interruption point
Figure 9-10
9.10.1.3
N40
End of interrupt routine
Interrupt routine with REPOSA
If an interrupt routine with REPOSA triggered by the PLC (block FC9) "interrupted" in channel
status in program operation is completed, then the following sequence is typical:
1. Before the re-approach to the contour, the controller stops and goes to program status
"Stopped". The following NC/PLC-interface signal is set:
DB21, ... DBX318.0 (ASUB is stopped)
2. The operator presses the START key. Thereupon, the signal DB21, ... DBX318.0 is reset
and the re-approach motion starts.
3. At the end of the re-approach motion, the FC9 signal "ASUB done" is set and the path of
the interrupted part program is continued.
Note
The NC/PLC-interface signal DB21, ... DBX318.0 (ASUB is stopped) is available only for
the following case: Interrupt "interrupted" in program operation in the channel status.
Note
In case of interrupt routines that close without REPOS, the signals "Asub-Done" and
DB21, ... DBX318.0 (ASUB is stopped) occur at the same time.
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
9.10.1.4
NC response
The different reactions of the control to an activated interrupt routine in the various operating
modes are given in the following table:
Status of NC
ASUB start
Control system reaction
Program is active
Interrupt, (PLC)
1. Fast retraction or stop axes
2. Interrupt the program for the duration of the ASUB
3. Approach of the interruption point, if REPOS in ASUB
4. Continuation of the part program
Reset
Interrupt, (PLC)
The ASUB is executed like a main program. Reset (without M30) is exe
cuted at the end of the ASUB. The next control system status depends on
the following machine data:
MD20110 $MC_RESET_MODE_MASK
MD20112 $MC_START_MODE_MASK
References:
Function Manual Basic Functions; Axes, Coordinate Systems, Frames
(K2), Chapter: "Workpiece-related actual-value system"
Program operation (AUTO
MATC or MDA)
+ channel stopped
Interrupt, (PLC)
ASUB is executed. At the end of the ASUB the STOP state is reapplied.
If REPOS in the ASUB:
The ASUB processing is stopped before the approach block.
The approach movement can be initiated with the Start key.
Start key
Once the ASUB has been executed, processing of the interrupted pro
gram is resumed.
Manual mode
+ channel stopped
Interrupt, (PLC)
Control system assumes the status "internal program execution mode" for
the addressed channel (not evident externally) and then activates the
ASUB. The selected operating mode remains valid. The original status is
resumed after execution of the ASUB (M17).
JOG
AUTO Teach-In
AUTO Teach reference
point.
Interrupt, (PLC)
Stop processing, evaluate:
MD11602 $MN_ASUP_START_MASK
MD11604 $MN_ASUP_START_PRIO_LEVEL
MDA JOG,
Interrupt, (PLC)
MDA Teach-In,
MDA Teach reference point.
Internal switchover to "internal program execution mode" if appropriate,
activate ASUB, restore status prior to ASUB start.
Any LIFTFAST defined with SETINT is not activated in JOG mode.
Manual mode
+ channel running
Interrupt, (PLC)
The current active motion is stopped. The distance-to-go is deleted. The
remaining sequence of operations is the same as for "Manual mode,
channel stopped".
User alarm 65500 - 65999,
channel in reset
Interrupt, (PLC)
When the following machine data is set, the user ASUB is processed
despite the "NC Start disable" alarm response:
MD20194 $MC_IGNORE_NONCSTART_ASUP
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
Status of NC
ASUB start
Control system reaction
Processing of INITIAL.INI
not possible
The signal "Interrupt request not possible" is generated.
not possible
The "request was canceled because of an alarm" signal is generated.
Block search
Alarm that cannot be re
moved by NC start.
Digitalizing active
Channel in fault condition
User alarm other
than 65500 - 65999,
channel in reset,
MD20194 not active
9.10.2
Parameterization
Effect of mode group-specific signals
The effect of the mode group-specific signals (NC/PLC interface signals DB11) on channels
of the mode group that is currently processing the interrupt routines, is set in the machine data:
MD11600 $MN_BAG_MASK.bit n = <value>
Bit
Value
Meaning
The mode group-specific signals (NC/PLC interface signals DB11) are effective.
The mode group-specific signals (NC/PLC interface signals DB11) are not effective.
MD11600 also controls whether the internal program execution mode is imported only for the
channel in which the interrupt routine has been activated, or to all channels in the mode group.
Bit
Value
Meaning
A mode group switchover is performed in all channels of the mode group.
An internal mode group switchover is only performed in the channel in which an
interrupt routine is active (only possible with bit 0==1).
If, because of the machine data setting, the channel in which the interrupt is being processed
has left the mode group, the mode group signals "Mode group reset", "Mode group stop", etc.
have no effect on this channel. In this way, the interrupt routine is run without being disturbed
by the mode group signals.
Parameterizable start enable
In the basic setting, the start of an ASUB is blocked by the following states in the channel:
Stop through NC stop, M0 or M01
Not all axes in the channel are referenced
Read-in disable is active (DB21, ... DBX6.1 = 1)
The start can be enabled for specific states via the following machine data.
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
NC-specific start enable for NC stop, M0, M01, read-in disable
MD11602 $MN_ASUP_START_MASK
Channel-specific start enable for non-referenced axes in the channel
The start enable can be set separately for the following states via the machine data for
event-driven program calls (ProgEvent) for non-referenced axes in the channel:
Part program start from channel state "Reset"
Part program end
Reset
Power On
First start after search
MD20105 $MC_PROG_EVENT_IGN_REFP_LOCK, Bit<n> = TRUE
n: For all required event-driven program calls (prog events)
The start enable can be issued interrupt-specifically via the machine data for the ASUB
with non-referenced axes in the channel:
MD20115 $MC_IGNORE_REFP_LOCK_ASUP, bit<n> = TRUE
n: For all required user interrupts
NOTICE
System interrupts
Interrupts 9 and 10 used by the system are released with MD20115
$MC_IGNORE_REFP_LOCK_ASUP, bit 8 and bit 9. Interrupt 9 starts an ASUB which
contains traversing motions.
Manual start enable
If an ASUB cannot be started automatically because of the parameterized start enables, the
user can manually issue a start enable by triggering NC start
Note
The ASUB for "fast retraction from the contour" (LIFTFAST) is started in every case.
Manual traversing during an ASUB interruption in JOG mode
Axes can be manually traversed by the operator using the traversing keys during the
interruption of an ASUB started automatically in JOG mode. The function is enabled via:
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
MD11602 $MN_ASUP_START_MASK.bit 3
Note
Multi-channel systems
In multi-channel systems, the following machine data must also be set:
MD11600 $MN_BAG_MASK, bit 1 = 1
Continuation of the ASUB
After manually traversing the axes, NC Start must be initiated by the operator. The axes are
automatically traversed to the interruption point (REPOS). The ASUB is then continued at the
interruption point.
Application example
In case of a single-slide turning machine a stock removal cycle is started as ASUB in the JOG
mode and with this a shaft several meters long is machined. During machining it is necessary
to change the cutting edge of the tool. The machine operator stops the ASUB and retracts the
axes manually using the traversing keys in order to change the cutting edge of the tool. After
changing the cutting edge, the operator activates NC Start. Repositioning at the interruption
point is performed with the REPOS operation. Thereafter, the ASUB is continued.
Supplementary condition
Manual traversing of axes during the interruption of an ASUB in JOG mode is only possible if
the ASUB has been activated from the program state "Aborted", channel state "Reset".
Effectiveness of the parameterized start enables
The user-specific interrupt signals are assigned the priorities 1 - 8, with 1 = highest priority
(see Section "Programming (Page 568)"). Starting from the highest, up to which priority the
parameterized start enables apply for the associated ASUB is defined with the following
machine data:
MD11604 $MN_ASUP_START_PRIO_LEVEL = <priority>
Behavior with read-in disable
The following channel-specific machine data is used to set for each interrupt signal whether
the assigned ASUB is processed despite a set read-in disable (DB21, ... DBX6.1 = 1), or
whether the read-in disable is to apply:
MD20116 $MC_IGNORE_INHIBIT_ASUP, bit 0 - bit 31
Bit x is assigned to the interrupt signal (x+1).
Supplementary conditions
The settings in MD20116 $MC_IGNORE_INHIBIT_ASUP have no effect if the read-in disable
in the ASUB is always to be ignored:
MD11602 $MN_ASUP_START_MASK, bit 2 = 1
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
Behavior when the single-block processing is set
The following channel-specific machine data is used to set for each interrupt signal whether
the assigned ASUBs are processed without interruption with active single-block processing or
whether the single-block processing is to apply:
MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP, bit 0 - bit 31
Bit x is assigned to the interrupt signal (x+1).
Supplementary conditions
MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP only applies for IPO single block (SBL1).
The settings in MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP have no effect if the
single-block processing in the ASUB is always to be ignored:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK, bit 1 = 1
Suppressing the updating of the "Program and channel state" display
To avoid a flickering of the display of the program and the channel states on the user interface
when executing a very short ASUB, the updating of the display can be suppressed. The
program and channel state before activation of the ASUB is then displayed. The parameter
assignment is performed via channel-specific machine data:
MD20191 $MC_IGN_PROG_STATE_ASUP, bit 0 - bit 31
Bit x is assigned to the interrupt signal (x+1).
The following NC/PLC interface signal is set when executing an ASUB with suppressed display:
DB21, DBX378.1 == 1 (still ASUB active)
Special system variables and NC/PLC interface signals
The system variables and NC/PLC interface signals for the program state and the channel
state are not affected by the suppression of the display during the execution of an ASUB:
$AC_STAT (channel state)
$AC_PROG (program state)
DB21, ... DBX35.0 - 4 (program state)
DB21, ... DBX35.5 - 7 (channel state)
Fast retraction from contour (LIFTFAST)
The following machine data can be used to set whether the retraction direction for "Fast
retraction from the contour" (LIFTFAST) is to be mirrored when the "Mirror" function is active:
MD21202 $MC_LIFTFAST_WITH_MIRROR (fast retraction with mirroring)
The mirroring of the retraction direction only refers to the direction components perpendicular
to the tool direction.
References
A detailed description of the machine data can be found in:
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
Lists Manual "Detailed Description of the Machines"
9.10.3
Programming
Assignment interrupt signal part program
The assignment interrupt signal part program is performed with the command SETINT.
Example:
Program code
Comment
...
N20 SETINT(3) ABHEBEN_Z
; If input 3 switches, then interrupt routine
"ABHEB_Z" should start.
...
Together with SETINT additionally the following commands can be programmed:
LIFTFAST
When the interrupt signal arrives, a "Fast retraction of the tool from the contour" is executed
before the interrupt routine starts. The motion direction for the fast retraction is specified
by the program instruction ALF.
BLSYNC
Upon receiving the interrupt signal, the current program block is processed and only then
is the interrupt routine started.
Note
The assignment interrupt signal part program is cleared when the following happens:
Channel in Reset state
CLRINT instruction in part program
Priorities
If several SETINT instructions are in the part program and therefore several signals can be
simultaneously received, the assigned interrupt routines must be allocated priorities that define
the sequence in which the interrupt routines are executed:
PRIO=<value>
There are priorities from 1 to 128. Priority 1 corresponds to the highest priority.
Example:
Program code
Comment
...
N20 SETINT(3) PRIO=2 ABHEBEN_Z
; If input 3 switches, then interrupt routine
"ABHEB_Z" should start.
N30 SETINT(2) PRIO=2 ABHEBEN_X
; If input 2 switches, then interrupt routine
"ABHEB_X" should start.
...
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
The interrupt routines are executed in the sequence of the priority values if the inputs become
available simultaneously (are energized simultaneously): First "ABHEBEN_Z", then
"ABHEBEN_X".
REPOS-query
With interrupt routines, sequences may be generated for which there is no unambiguous return
to an interruption point in the block processing sequence (REPOS).
The system variable $P_REPINF can be used to scan the ASUB to determine whether a
REPOS is possible.
Value
Meaning
Repositioning with REPOS not possible because:
Not called in the ASUB
ASUB ran from reset status
ASUB ran from JOG
Repositioning with REPOS possible in ASUB
Determining the cause of activation
With the system variable $AC_ASUP the cause leading to the activation of an interrupt routine
is specified bit-coded and can be read in the part program and in synchronized actions (see
"User-specific ASUB for RET and REPOS > Programming (Page 573)").
Flexible programming
The following commands help in the flexible programming of interrupt routines:
Command
Meaning
SAVE
If the SAVE command has been used to define the interrupt routine, the G
codes, frames and transformations previously active in the interrupted part
program become operative again as soon as the interrupt routine is ended.
DISABLE
The DISABLE command can be set to protect part program sections from
being interrupted by an interrupt routine.
The assignment interrupt signal part program is maintained but the in
terrupt routine no longer responds to the 0/1 signal transition.
ENABLE
The DISABLE command can be reset with the ENABLE command. Interrupt
routines are not activated until the next 0/1 transition of the interrupt signal.
CLRINT
Clear assignment interrupt signal part program
References
Programming Manual, Job Planning; Section: "Flexible NC Programming" > "Interrupt routine
(ASUB)"
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9.10 Asynchronous subprograms (ASUBs), interrupt routines
9.10.4
Restrictions
Cross-mode Start of interrupt routines
Settings to be checked
MD11600 $MN_BAG_MASK
MD11604 $MN_ASUP_START_PRIO_LEVEL
Interrupt assignment priority
Recommended settings
NC-specific machine data:
MD11600 $MN_BAG_MASK = 'H11'
MD11602 $MN_ASUP_START_MASK = 'H101'
MD11604 $MN_ASUP_START_PRIO_LEVEL = 7
Channel-specific machine data for the channel in which the ASUB is started or generally for
all channels:
MD20105 $MC_PROG_EVENT_IGN_REFP_LOCK, Bit<n> = TRUE
n: For all required event-driven program calls (prog events)
MD20115 $MC_IGNORE_REFP_LOCK_ASUP, bit<n> = TRUE
n: For all required user interrupts
NOTICE
System interrupts
Interrupts 9 and 10 used by the system are released with MD20115
$MC_IGNORE_REFP_LOCK_ASUP, bit 8 and bit 9. Interrupt 9 starts an ASUB which
contains traversing motions.
9.10.5
Examples
Activation of an interrupt routine via synchronous action
1. Parameterize two active digital I/O bytes:
MD10350 $MN_FASTIO_DIG_NUM_INPUTS = 2
MD10360 $MN_FASTIO_DIG_NUM_OUTPUTS = 2
2. Parameterize a short-circuit with OR operation from output 9 to input 9:
Input 1, input byte 2 = (output 1, output byte 2) OR (HW input signal 1, input byte 2):
MD10361 $MN_FASTIO_DIG_SHORT_CIRCUIT[0]='H0102B102'
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9.11 User-specific ASUB for RET and REPOS
3. Assign the HW input byte to the SETINT interrupt programming:
Input byte 2:
MD21210 $MC_SETINT_ASSIGN_FASTIN = 2
4. Define input as ASUB trigger:
Input 1 in the second input byte, i.e. absolute input 9, starts SYNCASUP program
SETINT(1) PRIO=1 SYNCASUP
5. Define a synchronized action to set the output:
Synchronized action with ID 1 always sets output 9 to 1 when the value of the
standardized path parameter becomes >= 0.5:
IDS=1 EVERY $$AC_PATHN >= 0.5 DO $A_OUT_[9]=1
9.11
User-specific ASUB for RET and REPOS
9.11.1
Function
Function
The NCK software supplied contains preprogrammed processes (internal ASUBs) for
implementation of the RET and REPOS functions. They can be replaced by user-specific
ASUBs written by the machine tool manufacturer.
DANGER
Programming fault
The machine manufacturer is responsible for the contents of ASUB routines used to replace
ASUP.SYF supplied by Siemens.
Installation
In the manufacturer directory _N_CMA_DIR or in the user directory _N_CUS_DIR a routine
with the name "_N_ASUP_SPF" can be loaded. It must implement the actions desired by the
user for the functions RET and REPOS.
9.11.2
Parameter assignment
Activation
The parameters for the activation of the user-specific routine "_N_ASUP_SPF" are set with the
machine data:
MD11610 $MN_ASUP_EDITABLE (activation of a user-specific ASUB).
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9.11 User-specific ASUB for RET and REPOS
Bit 0 and bit 1 specify which of the internal system routines are to be replaced by the userspecific ASUB:
Binary value
Meaning
Neither in case of RET nor in case of REPOS is the user-specific routine _N_AS
UP_SPF activated.
If the user-defined routine is activated for RET, then the routine provided in the system
is activated for REPOS.
If the user-defined routine is activated for REPOS, then the routine provided in the
system is activated for RET.
As in case RET and also in case of REPOS the user-specific routine is activated.
Bit 2 defines in which directory the user-specific routine is to be searched first in case of
activation.
Bit
Value
Meaning
The user-specific routine is searched first in the user directory _N_CUS_DIR.
The user-specific routine is searched first in the manufacturer directory _N_CMA_DIR.
Defining a level of protection
If a user-specific ASUB is to be used for RET and/or REPOS, i.e. when:
MD11610 $MN_ASUP_EDITABLE 0
then a level of protection can be defined for the user-specific routine "_N_ASUP_SPF". The
level of protection can have values in the range 0 - 7.
The setting is made via the following machine data:
MD11612 $MN_ASUP_EDIT_PROTECTION_LEVEL (level of protection of the user-specific
ASUB)
For further information about protection levels, refer to:
References:
Commissioning Manual; level of protection concept
Behavior when the single-block processing is set
Via the following machine data it can be set that the internal ASUB or the user-specific
"_N_ASUP_SPF" is processed without interruption, despite a set single block processing:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop)
572
Bit
Value
Meaning
A stop is done in each ASUB block.
The ASUB is processed without interruption.
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9.11 User-specific ASUB for RET and REPOS
9.11.3
Programming
Determining the cause of the ASUB activation
The cause of the activation of the ASUB can be read bit-coded via the system variable
$AC_ASUP.
Continuation
When using the system ASUB, the behavior for the continuation after execution of the actions
is permanently specified within the ASUB:
System ASUB 1 continuation with RET (subprogram return)
System ASUB 2 continuation with REPOS (repositioning)
The description of the system variables specifies the behavior with regard to the system ASUB
for each cause at "Continued for".
Note
Continued for user-specific ASUB
It is recommended for user-specific ASUBs that the appropriate continuation of the system
ASUB be retained.
Cause: Change of operating mode ($AC_ASUP, bit 9 == 1)
At a change of operating mode, the continuation depends on the machine data:
MD20114 $MC_MODESWITCH_MASK (interruption of MDA through mode change)
Bit 0 == 0: System ASUB 1 continuation with RET
Bit 0 == 1: System ASUB 2 continuation with REPOS
References
A detailed description of the system variables can be found in:
List Manual, System Variables
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9.12 Perform ASUB start for user alarms
9.12
Perform ASUB start for user alarms
9.12.1
Function
Description
An ASUB can be initiated in various situations, either by the user, the system or eventcontrolled. A user alarm with the "NC Start disable" alarm response prevents the ASUB start
in some situations. For a pending alarm response, a user ASUB from reset acknowledges with
the alarm 16906.
With the appropriate setting of a channel-specific machine data it is possible to start and
perform an ASUB although a user alarm with the alarm response "NC Start disable" is active.
The alarm response is overridden for the ASUB start and permits its execution.
Note
NCK alarms with the "NC Start disable" alarm response are not affected by the override. A
user ASUB from reset is still not possible and will be rejected with the alarm 16906.
User alarms that can be overridden
The number range for the user alarms that can be overridden is classified as follows:
Number range
Effect
Delete
65000 - 65499
Display, NC Start disable
Reset
65500 - 65999
Display, NC Start disable (not for ASUBs for set MD20194)
Reset
66000 - 66999
Display, NC Start disable, motion standstill after executing
the pre-decoded blocks
Reset
67000 - 67999
Display
Cancel
68000 - 68999
Display, NC Start disable, immediate interpolator stop
Reset
69000 - 69999
Display, NC Start disable, stop at next block end
Reset
Note
Although it is possible to override the "NC Start disable" alarm response for the following alarm
number ranges, the other responses of the associated alarms ensure for the stop conditions.
The stop conditions cannot be overridden with the function described in this chapter:
66000 66999
68000 68999
69000 69999
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9.12 Perform ASUB start for user alarms
9.12.2
Activation
Setting
Each ASUB channel can be set separately with the following channel-specific machine data:
MD20194 $MC_IGNORE_NONCSTART_ASUP (ASUB start permitted despite pending alarm
response "NC Start disable" for certain user alarms)
A change of the MD setting acts only with the NEWCONF part program command or from the
user interface per softkey.
Sequence
The normal sequence for the ASUB start has the following form:
Set machine data appropriate with MD20194 $MC_IGNORE_NONCSTART_ASUP and
activate with NEWCONF.
Start the part program.
A user alarm from the number ranges that can be overridden appears, e.g. alarm 65500.
This can occur from a synchronized action or with a part program command.
Despite alarm, the part program is processed to the program end M02, M30 or M17.
The Reset channel state is active.
A started user ASUB from reset is now performed.
Note
An ASUB start from a running or stopped part program is also permitted for a pending "NC
Start disable" alarm response. It is irrelevant whether a user alarm or an NCK alarm with the
"NC Start disable" alarm response is involved.
Note
If the part program is stopped during the processing of the user ASUB, the ASUB can no longer
be continued with the NC Start key, e.g. for M0 in the ASUB or for user stop. The "NC Start
disable" alarm response is rejected with the alarm 16906. The previously generated user alarm
can be acknowledged only with reset.
9.12.3
Examples
9.12.3.1
User ASUB from reset - example 1
MD20194 is not set in the application
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9.12 Perform ASUB start for user alarms
Main program
Program code
N10 G90 G0 Z10
N20 SETAL(65500)
N30 X100
N40 Z0
N50 M30
User ASUB
Program code
N110 G91 G0 X-10 Z5
N120 X20
N130 REPOSA
Sequence
1
$ODUP
1
5(326$
1
1
8VHU$68%IURPDFWLYH
SURJUDP
8VHU$68%IURPUHVHW
1
0
$ODUP
The block N10 is processed. The alarm 65500 appears that contains the "Display" and "NC
Start disable" alarm responses. The part program does not stop as result. The block N30 is
loaded and processed. If the user ASUB is used in the block middle, it is performed despite
pending "NC Start disable" alarm response. The REPOSA resumes at the program interruption
and processes the part program to the program end M30. If the user ASUB is now used, it will
be rejected with alarm 16906. The NC state is reset.
9.12.3.2
User ASUB from reset - example 2
The application is the normal case, MD20194 is set.
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9.12 Perform ASUB start for user alarms
Main program
Program code
N4 $MC_IGNORE_NONCSTART_ASUP=1
N6 NEWCONF
N10 G90 G0 Z10
N20 SETAL(65500)
N30 X100
N40 Z0
N50 M30
User ASUB
Program code
N110 G91 G0 X-10 Z5
N120 X20
N130 REPOSA
Sequence
1
$ODUP
1
5(326$
1
1
1
8VHU$68%IURPDFWLYH
SURJUDP
1
1
8VHU$68%IURPUHVHW
5(326$
0
The machine data MD20194 $MC_IGNORE_NONCSTART_ASUP is set for ASUB channel 1
and activated with NEWCONF. The block N10 is processed. The alarm 65500 appears that
contains the "Display" and "NC Start disable" alarm responses. The part program does not
stop as result. The block N30 is loaded and processed. If the user ASUB is used in the block
middle, it is performed despite pending "NC Start disable" alarm response. The REPOSA
resumes at the program interruption and processes the part program to the program end
M30. If the user ASUB is now used, it is repeated because of the set machine data MD20194.
9.12.3.3
User ASUB with M0
MD20194 is set in the application.
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9.12 Perform ASUB start for user alarms
Main program
Program code
N4 $MC_IGNORE_NONCSTART_ASUP=1
N6 NEWCONF
N10 G90 G0 Z10
N20 SETAL(65500)
N30 X100
N40 Z0
N50 M30
User ASUB
Program code
N110 G91 G0 X-10 Z5
N120 X10
N122 M0
N124 X10
N130 REPOSA
Sequence
1
$ODUP
1
0
$ODUP
1&6WDUWDIWHUVWDQGVWLOO
1
1
8VHU$68%IURPDFWLYH
SURJUDP
The machine data MD20194 $MC_IGNORE_NONCSTART_ASUP is set for ASUB channel 1
and activated with NEWCONF. The block N10 is processed. The alarm 65500 appears that
contains the "Display" and "NC Start disable" alarm responses. The part program does not
stop as result. The block N30 is loaded and processed. If the user ASUB is used in the block
middle, it is performed despite pending "NC Start disable" alarm response. The part program
stops at block N122 because of M0. The ASUB can no longer be continued when the NC Start
key is pressed. The "NC Start disable" alarm response is rejected with the alarm 16906. The
previously generated 65500 alarm can be acknowledged only with reset.
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9.12 Perform ASUB start for user alarms
9.12.3.4
User ASUB with stop
MD20194 is set in the application.
Main program
Program code
N4 $MC_IGNORE_NONCSTART_ASUP=1
N6 NEWCONF
N10 G90 G0 Z10
N20 SETAL(65500)
N30 X100
N40 Z0
N50 M30
User ASUB
Program code
N110 G91 G0 X-10 Z5
N120 X20
N130 REPOSA
Sequence
1&VWRS
1
$ODUP
1
$ODUP
1&6WDUWDIWHUVWDQGVWLOO
1
1
8VHU$68%IURPDFWLYH
SURJUDP
The machine data MD20194 $MC_IGNORE_NONCSTART_ASUP is set for ASUB channel 1
and activated with NEWCONF. The block N10 is processed. The alarm 65500 appears that
contains the "Display" and "NC Start disable" alarm responses. The part program does not
stop as result. The block N30 is loaded and processed. If the user ASUB is used in the block
middle, it is performed despite pending "NC Start disable" alarm response. If the NC Stop key
is pressed for N120 in the block middle, the ASUB stops. The ASUB can no longer be continued
when the NC Start key is pressed. The "NC Start disable" alarm response is rejected with the
alarm 16906. The previously generated 65500 alarm can be acknowledged only with reset.
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9.12 Perform ASUB start for user alarms
9.12.3.5
User ASUB from stopped
MD20194 is or not set in the application.
Main program
Program code
N10 G90 G0 Z10
N20 SETAL(65500)
N30 X50
N35 M0
N38 X100
N40 Z0
N50 M30
User ASUB
Program code
N110 G91 G0 X-10 Z5
N120 X20
N130 REPOSA
Sequence
$ODUP
1
$ODUP
1&6WDUWDIWHUVWDQGVWLOO
1
1
1
0
8VHU$68%IURPVWRSSHG
The block N10 is processed. The alarm 65500 appears that contains the "Display" and "NC
Start disable" alarm responses. The part program does not stop as result. The block N30 is
loaded and processed. The part program stops at block N35 because of M0. The NC state is
stopped. If the user ASUB is now used, it is performed despite the stopped NC state and
pending "NC Start disable" alarm response. It does not matter whether or not the machine
data MD20194 $MC_IGNORE_NONCSTART_ASUP is set. After block N120, the ASUB
remains stationary before REPOSA. Repositioning is possible only at the next NC Start. The
NC Start, however, is rejected with the alarm 16906 because of the "NC Start disable" alarm
response. The previously generated 65500 alarm can be acknowledged only with reset.
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9.13 Single block
9.13
Single block
With the "single block" function, the user can execute a part program block-by-block.
Function versions
The "single block" function is available in three versions:
SBL1 (= IPO single block)
When SBL1 is active, machining stops or pauses after each machine action block (IPO
block).
SBL2 (= decode single block)
When SBL2 is active, machining always stops or pauses after each part program block. If
a part program block is processed in several IPO blocks, machining stops after every IPO
block. Thread cutting is an exception.
SBL3 (= stop in cycle)
As with SBL2, however, there is a stop after every part program block in the cycle, too.
Selection and activation
SBL1, SBL2, or SBL3 are selected via the user interface (below the "program control" display).
This is activated via the channel-specific NC/PLC interface signal:
DB21, ... DBX0.4 (activate single block)
9.13.1
Parameterization
Preventing single-block stop
Stopping after every block when the "single block" function is active is not desirable in some
situations (e.g. during an ASUB).
The stopping at the end of a block during certain processes can be suppressed using the
following machine data:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop)
MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK (prog events ignore the single block)
MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP (execute interrupt program completely in
spite of single block)
Sequence
If an ASUB is activated during the single block, for example, execution of the ASUB is
completed. The deceleration does not take place until after the end of the ASUB or the first
IPO block in which single-block suppression is not activated. If the velocity is too large for the
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9.13 Single block
deceleration to be performed in this block (with continuouspath mode G64 active), further block
changes are allowed.
Note
For decode single block SBL2, machine data MD10702
$MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop) is only effective with
"internal ASUB", "user ASUB", and "subprograms with the attribute DISPLOF". In these cases,
it is already clear at the time of interpretation that the block belongs to one of the categories
cited. In these cases, further blocks can be generated.
Activate debug mode for SBL2
As a result of the preprocessing of part program blocks, the reference between the current
block display relative to the main run status of the NCK and the variable values displayed on
the HMI can be lost. The operator display then shows implausible variable values.
With the following channel-specific setting data, you can set a preprocessing stop to be
executed on every block when SBL2 is active:
SD42200 $SC_SINGLEBLOCK2_STOPRE (activate debug mode for SBL2)
This suppresses preprocessing of part program blocks and maintains the relationship between
the current block display and the variable values display.
Note
SBL2 in debug mode does not maintain an accurate contour. In other words, as a result of the
preprocessing stop, a different contour may be generated from the one created without singleblock mode or with SBL1.
Debug mode for SBL2 can be used to test out part programs.
9.13.2
Programming
Suppress single block (SBLOF, SBLON)
The "single block" function can also be suppressed at program level:
Language command
Meaning
SBLOF:
Switch off single-block execution
SBLOF can be written in a PROC block or alone in the block.
SBLON:
Reactivate single-block execution
SBLON must be in a separate block.
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9.13 Single block
Note
When single-block execution SBL3 is active (stop after every part program block even in the
cycle), the SBLOF command has no effect.
Single-block suppression for the complete program
Programs designated with SBLOF are completely executed just like a block when single-block
execution is active, i.e. single-block execution is suppressed for the complete program.
SBLOF is also valid in the called subprograms.
Single-block suppression for a subprogram
SBLOF is in the PROC line and is valid up to the end of the subprogram or until it is interrupted.
At the return command, the decision is made whether to stop at the end of the subprogram:
Return jump with M17: Stop at the end of the subprogram
Return jump with RET: No stop at end of the subprogram
Example:
Program code
PROC EXAMPLE SBLOF
G1 X10
RET
Single-block suppression within a program
SBLOF alone must remain in the block. Single-block stop is deactivated from this block onwards
up to the next programmed SBLON or up to the end of the active subprogram level.
Example:
Program code
Comment
N10 G1 X100 F1000
N20 SBLOF
; Deactivate single block.
N30 Y20
N40 M100
N50 R10=90
N60 SBLON
; Reactivate single block.
N70 M110
N80 ...
The area between N20 and N60 is executed as one step in single-block mode.
Note
When single-block execution SBL2 is active (stop after each part program block) there is no
execution stop in the SBLON block if bit 12 is set to "1" in the
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop).
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9.13 Single block
Single-block suppression in the system ASUB or user ASUB
In order to execute an ASUB in one step, a PROC instruction must be programmed in the ASUB
with SBLOF. This also applies to the function "Editable system ASUB" (see MD11610
$MN_ASUP_EDITABLE).
Note
The preset behavior of asynchronous subprograms with active single-block execution specified
in machine data MD20117 MC_IGNORE_SINGLEBLOCK_ASUP (process interrupt program
fully despite single block) can be overwritten on a program-specific basis using SBLOF.
Example:
Program code
Comment
N10 PROC ASUB1 SBLOF DISPLOF
N20 IF $AC_ASUP==H200
N30
RET
; No REPOS for mode change.
N40 ELSE
N50 REPOSA
; REPOS in all other cases.
N60 ENDIF
If the single-block stop in the system or user ASUB is suppressed using the settings in machine
data MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (bit 0 = 1 or bit 1 = 1), then the singleblock stop can be re-activated by programming SBLON in the ASUB.
If the single-block stop in the user ASUB is suppressed using the setting in machine data
MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP then the single-block stop cannot be
reactivated by programming SBLON in the ASUB.
Single-block suppression and block display
The current block display can be suppressed in cycles/subprograms using DISPLOF. If
DISPLOF is programmed together with SBLOF, then the cycle/subprogram call continues to
be displayed on single-block stops within the cycle/subprogram.
Example 1: A cycle is to act like a command for a user
Main program:
Program code
N10 G1 X10 G90 F200
N20 X-4 Y6
N30 CYCLE1
N40 G1 X0
N50 M30
Cycle CYCLE1:
584
Program code
Comment
N100 PROC CYCLE1 DISPLOF SBLOF
; Suppress single block
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9.13 Single block
Program code
Comment
N110 R10=3*SIN(R20)+5
N120 IF (R11 <= 0)
N130 SETAL(61000)
N140 ENDIF
N150 G1 G91 Z=R10 F=R11
N160 M17
CYCLE1 is processed for an active single block, i.e. the Start key must be pressed once to
process CYCLE1.
Example 2: An ASUB, which is started by the PLC in order to activate a modified zero offset
and tool offsets, is to be executed invisibly
Program code
N100 PROC ZO SBLOF DISPLOF
N110 CASE $P_UIFRNUM OF
0 GOTOF _G500
1 GOTOF _G54
2 GOTOF _G55
3 GOTOF _G56
4 GOTOF _G57
DEFAULT GOTOF END
N120 _G54: G54 D=$P_TOOL T=$P_TOOLNO
N130 RET
N140 _G54: G55 D=$P_TOOL T=$P_TOOLNO
N150 RET
N160 _G56: G56 D=$P_TOOL T=$P_TOOLNO
N170 RET
N180 _G57: G57 D=$P_TOOL T=$P_TOOLNO
N190 RET
N200 END: D=$P_TOOL T=$P_TOOLNO
N210 RET
Single-block suppression for program nesting
If SBLOF was programmed in the PROC instruction in a subprogram, then execution is stopped
at the subprogram return jump with M17. That prevents the next block in the calling program
from already running. If a single-block suppression is activated in a subprogram with SBLOF,
without SBLOF in the PROC instruction, execution is only stopped after the next machine
function block of the calling program. If that is not desired, SBLON must be programmed in the
subprogram before the return (M17). Execution does not stop for a return jump to a higher-level
program with RET.
Example:
Program code
Comment
N10 X0 F1000
; Execution is stopped in this block.
N20 UP1(0)
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9.13 Single block
Program code
PROC UP1(INT _NR) SBLOF
Comment
; Suppress single-block stop.
N100 X10
N110 UP2(0)
PROC UP2(INT _NR)
N200 X20
N210 SBLON
; Activate single-block stop.
N220 X22
; Execution is stopped in this block.
N230 UP3(0)
PROC UP3(INT _NR)
N300 SBLOF
; Suppress single-block stop.
N305 X30
N310 SBLON
; Activate single-block stop.
N320 X32
; Execution is stopped in this block.
N330 SBLOF
; Suppress single-block stop.
N340 X34
N350 M17
; SBLOF is active.
N240 X24
; Execution is stopped in this block. SBLON is active.
N250 M17
; Execution is stopped in this block. SBLON is active.
N120 X12
N130 M17
; Execution is stopped in this return jump block.
; SBLOF of the PROC instruction is active.
9.13.3
N30 X0
; Execution is stopped in this block.
N40 M30
; Execution is stopped in this block.
Supplementary conditions
Behavior with block-related synchronized actions
With decode single block SBL2 active, if there is a block-related synchronized action, the next
stop is only executed after the next main run. The initial blocks between the synchronized
action and the next main run are not stopped.
9.13.4
Single-block behavior in mode group with type A/B
Classifying channels
One mode group channel must be classified as a single-block control channel (KS), while the
other mode group channels must be classified as dependent channels (KA) via interface signal.
Type A or type B single-block behavior can be selected for KA channels.
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9.14 Program control
Type A determines Stop (analogous to Stop key).
Type B determines Stop (analogous to stop at block limit).
Channel classification
In one channel (KS) in a mode group, the user should select single block (NST DB21 ... DBX0.4
(activate single block)). Single-block type A or B refers to other channels (KA) of a mode group.
0RGHJURXS
&KDQQHO.6
&KDQQHO.$
&KDQQHO.$
&KDQQHOQ.$
%HKDYLRUFDQEHVHOHFWHGYLDW\SH$RUW\SH%
Figure 9-11
Channel classification for single block in mode group 1
Type A, IS DB11 DBX1.7=1 (single block type A)
- All channels are stopped
- All channels receive a start (Start key)
- Channel KS stops at the end of the block (due to single block)
- Channels KA receive a STOP (analogous to Stop key).
- All channels are stopped (deceleration phase of all KAs)
Type B, IS DB11 DBX1.6=1 (single block type B)
- All channels are stopped
- All channels receive a start
- Channel KS stops at the end of the block
- Channels KA receive a STOPATEND
(Comparable with IS DB21 to DBX7.2 (NC stop at the block limit).)
- All channels are stopped at a block limit (at some point in time)
9.14
Program control
Options
1. Function selection (via operator interface or PLC)
2. Activation of skip levels
3. Adapting the size of the interpolation buffer
4. Program display modes via an additional basic block display
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9.14 Program control
5. Execution from external source (buffer size and number)
6. Execution from external subroutines
9.14.1
Function selection (via operator panel front or PLC)
User interface or PLC
The user can control part program execution via the operator panel front or PLC.
Selection, activation, feedback
Selection
Different functions are available under the Program control soft key. Selection affects an
interface signal in the PLC. These signals are to be understood as selection signals from the
user interface, and do not activate the selected function.
Activation
These signal states must be transferred to another area of the data block to activate the
selected function. With program control by the PLC the signals are to be set directly.
Feedback
The activated functions are partly signaled back to the PLC from the NCK (see also Section
"Z1: NC/PLC interface signals (Page 1551)").
Table 9-5
Program control: Interface signals
Function
Selection signal
Activation signal
Feedback signal
SKP skip block 0 to 7
SKP skip block 8 to 9
DB21, ... DBX26.0 - 26.7
DB21, ... DBX27.0 - 27.1
DB21, ... DBX2.0 - 2.7
DB21, ... DBX31.6 - 31.7
---
DRY dry run feedrate
DB21, ... DBX24.6
DB21, ... DBX0.6
DB21, ... DBX318.6
ROV Rapid traverse override
DB21, ... DBX25.3
DB21, ... DBX6.6
---
Single block:
Preselection of SBL1, SBL2 or SBL3 via program control display of HMI
SBL1: Action single block
HMI operator panel
DB21, ... DBX0.4
---
M01 (Programmed stop)
DB21, ... DBX24.5
DB21, ... DBX0.5
DB21, ... DBX32.5
Associated M01
DB21, ... DBX24.4
DB21, ... DBX30.5
DB21, ... DBX318.5
DRF selection
DB21, ... DBX24.3
DB21, ... DBX0.3
DB21, ... DBX33.3
PRT program test
DB21, ... DBX25.7
DB21, ... DBX1.7
DB21, ... DBX33.7
SBL2: Decoding single block
SBL3: In cycle
References:
Operating Manual HMI Advanced "Operating Area, Machine"
588
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9.14 Program control
9.14.2
Activation of skip levels
Function
It is possible to skip blocks which are not to be executed every time the program runs. Blocks
to be skipped are indicated in the part program by the character "/" before the block number.
The skip levels in the part program are specified by "/0" to "/9".
Only one skip level can be specified for each part program block.
Parameter assignment
The number of skip levels is defined using machine data:
MD51029 $MM_MAX_SKP_LEVEL (max. number of skip levels in the NC program)
Programming
Blocks which are not to be executed in every program pass (e.g. program test blocks) can be
skipped according to the following schematic.
Program code
Comment
/N005
; Block skipped, (DB21,... DBX2.0) 1st skip level
/0 N005
; Block skipped, (DB21,... DBX2.0) 1st skip level
/1 N010
; Block skipped, (DB21,... DBX2.1) 2nd skip level
/2 N020
; Block skipped, (DB21,... DBX2.2) 3rd skip level
/3 N030
; Block skipped, (DB21,... DBX2.3) 4th skip level
/4 N040
; Block skipped, (DB21,... DBX2.4) 5th skip level
/5 N050
; Block skipped, (DB21,... DBX2.5) 6th skip level
/6 N060
; Block skipped, (DB21,... DBX2.6) 7th skip level
/7 N070
; Block skipped, (DB21,... DBX2.7) 8th skip level
/8 N080
; Block skipped, (DB21,... DBX31.6) 9th skip level
/9 N090
; Block skipped, (DB21,... DBX31.7) 10th skip level
Activation
The 10 skip levels "/0" to "/9" are activated by the PLC setting the PLC NCK interface
signals.
The function is activated from the HMI via the "Program control" menu in the "Machine"
operating area:
For skip levels "/0" to "/7":
Via the interface HMI PLC DB21, ... DBB26 (skip block selected).
For skip levels "/8" to "/9":
Via the interface HMI PLC DB21, ... DBX27.0 to DBX27.1.
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9.14 Program control
References:
Operating Manual
Note
The levels to be skipped can only be changed when the control is in the STOP/RESET state.
9.14.3
Adapting the size of the interpolation buffer
MD28060
The channelspecific interpolator executes prepared blocks from the interpolation buffer during
the part program run. The maximum number of blocks requiring space in the interpolation
buffer at any given point in time is defined by the memory configuring MD28060
$MM_IPO_BUFFER_SIZE (number of NC blocks in the IPO buffer (DRAM)). For some
applications it may be meaningful not to use the full buffer capacity in order to minimize the
"interval" between preparation and interpolation.
SD42990
The number of blocks in the interpolation buffer can be restricted dynamically to a smaller
value than in MD28060 $MC_MM_IPO_BUFFER_SIZE (number of NC blocks in the IPO buffer
(DRAM)), minimum 2 blocks, with the setting data SD42990
$SC_MAX_BLOCKS_IN_IPOBUFFER (max. number of blocks in the IPO buffer).
Values of setting data SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER:
Value
Effect
<0
No interpolation buffer limit active.
The max. possible interpolation buffer as set in MD 28060: MM_IPO_BUF
FER_SIZE is activated.
or 1
The minimum permissible interpolation buffer with 2 blocks is activated.
< < MM_IPO_BUFFER_SIZE
The interpolation buffer is activated with no more than the maximum specified
number of blocks.
>= MM_IPO_BUFFER_SIZE
The interpolation buffer is activated with the number of blocks specified in MD
28060: MM_IPO_BUFFER_SIZE.
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9.14 Program control
Note
If SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER is set in the part program, the interpolation
buffer limitation takes effect immediately if the block with the SD is being preprocessed by the
interpreter.
This means that the limitation of the IPO buffer may take effect a few blocks before the intended
limitation (see also MD 28070 $MC_MM_NUM_BLOCKS_IN_PREP).
To avoid premature activation and to make the limitation of the IPO buffer take effect in
synchronism with the block, a STOPRE (preprocessing stop) must be programmed before the
SD is set in the part program.
Validity
SD42990 $SC_MAX_BLOCK_IN_IPOBUFFER has global, channel-specific validity and can
also be modified in a part program. This modified value is maintained at program end. If this
setting data is to be reset again on defined events, a so-called event-driven program must be
created to do this. For example, this setting data could always be set to a predefined value on
RESET.
Application
The IPO buffer limitation can be used whenever the number of blocks between block
preparation and interpolation must be minimized, e.g., when actual positions in the part
program must be read and processed for other purposes.
Example
N10 ...
N20 ...
..........
N100 $SC_MAX_BLOCKS_IN_IPOBUFFER = 5
Limitation of IPO buffer to 5 NC
blocks
Cancellation of the IPO buffer
limitation
N110 ...
N120 ...
............
N200 $SC_MAX_BLOCKS_IN_IPOBUFFER = -1
N210 ...
............
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9.14 Program control
9.14.4
Program display modes via an additional basic block display
Basic block display (only for ShopMill/ShopTurn)
A second so-called basic block display can be used with the existing block display to show all
blocks that produce an action on the machine.
LookAhead basic block display
The actually approached end positions are shown as an absolute position. The position values
refer either to the workpiece coordinate system (WCS) or the settable zero system (SZS).
The number of LookAhead display blocks stored in the display buffer depends on the number
of prepared blocks in the NCK preprocessing buffer in the relevant processing state. If a
preprocessing stop is processed, the number of display blocks is reduced to zero and increases
again after the stop is acknowledged. In the case of REORG events (e.g. mode change, ASUB
start), the display blocks stored for LookAhead are deleted and preprocessed again afterwards.
Processed values
Values processed in the basic block display coincide with the:
Selected tools
Feedrate and spindle speed
Actually approached position values
Exceptions:
With active tool radius compensation, deviations can occur.
For modulo axes, the programmed value is displayed in the basic block display. This value
can also lie outside the modulo range.
Note
Generally the positions are represented in the WCS or the SZS.
The basic block display can be activated or deactivated with setting data
SD42750 $SC_ABSBLOCK_ENABLE.
9.14.5
Basic block display for ShopMill/ShopTurn
Configure basic block display
The basic block display can be configured via the following machine data:
592
NCK machine data for basic block display
Significance:
MD28400 $MC_MM_ABSBLOCK
Activate basic block display
MD28402 $MC_MM_ABSBLOCK_BUF
FER_CONF[2]
Size of display buffer
Display machine data
Position values to be set:
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9.14 Program control
MD9004 $MM_DISPLAY_RESOLUTION
For metric measurements
MD9011 $MM_DISPLAY_RESOLUTION_INCH
For inch measurements
MD9010 $MM_SPIND_DISPLAY_RESOLUTION
Settable coordinate system for spindle display
resolution
MD9424 $MM_MA_COORDINATE_SYSTEM
For actual value display in WCS or SZS
These display machine data are copied to NCK machine data
MD17200 $MN_GMMC_INFO_UNIT[0] to MD17200 $MN_GMMC_INFO_UNIT[3]. allowing
them to be accessed from the NCK.
Activating
The basic block display is activated by MD 28400 $MC_MM_ABSBLOCK by means of Power
On. If MD28400 $MC_MM_ABSBLOCK is set to 1, a channelspecific display buffer (FIFO) is
created during power-up.
Size of display buffer (FIFO) = (MD28060 $MC_MM_IPO_BUFFER_SIZE + MD28070
$MC_MM_NUM_BLOCKS_IN_PREP) multiplied by 128 bytes. This corresponds to a size of
6KB in the machine data default setting.
Optimize size of display buffer:
The memory requirement can be optimized by entering a value between 128 and 512. The
display blocks preprocessed in the display buffer are transferred to the HMI via a configurable
upload buffer.
Maximum size of upload buffer is obtained by multiplying (MD28402
$MC_MM_ABSBLOCK_BUFFER_CONF[0] +
MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1] + 1) by the block length configured in
MD28400 $MC_MM_ABSBLOCK.
The number of blocks before the current block is configured in
MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[0] and the number of blocks after the
current block is configured in MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1].
Constraints
If the length of a display block configured in MD28400 $MC_MM_ABSBLOCK is exceeded,
this display block is truncated accordingly. This is represented by string "..." at the end of the
block.
For preprocessed cycles (MD10700 $MN_PREPROCESSING_LEVEL > 1), the display block
contains only axis positions.
Additional boundary conditions for the basic block display:
Modal synchronized action blocks with absolute values are
not taken into account.
The basic block display is deactivated during block search with or without computation.
Polar coordinate programming is not shown in Cartesian system.
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9.14 Program control
Radius / diameter values
Diameter values shown in the basic block display and position display may be needed as a
radius for internal calculation. These values for measurements in radius/diameter according
to G code group 29 can be manipulated using the following options:
G code DIAMCYCOF (expansion of channel-specific diameter programming)
This G code deactivates the channel-specific diameter programming during the cycle
execution. In this way, computations in the cycle can always be done in the radius. The
position display and the basic block display are continued according to the state of the
diameter programming before DIAMCYCOF.
In the basic block display, the last displayed value is retained.
G code DIACYCOFA[AX] (axis-specific diameter programming)
This G code deactivates the axis-specific diameter programming during the cycle execution.
In this way, computations in the cycle can always be done in the radius. In the position
display and in the basic block display, this continues according to the state of the diameter
programming before DIACYCOFA[AX].
In the basic block display, the last displayed value is retained.
MD27100 $MC_ABSBLOCK_FUNCTION_MASK
Bit0 = 1
Transverse axis setpoints are always shown as diameter values in the basic
block display.
Behavior while the compressor is active
With active compressor and G/Code group 30 not equal to COMPOF, two display blocks are
generated. The
first contains the G/Code of the active compressor.
The second contains the string "..." as character for missing display blocks.
Example:
G0 X10 Y10 Z10
Block to be preprocessed for the basic block display
COMPCAD
Compressor for optimized surface quality (CAD prog.) A
...
string as character for missing display blocks
To avoid bottlenecks in the NCK performance, the basic block display is deactivated
automatically. As a sign that the display blocks are missing, a display block with the string "..."
is generated.
All display blocks are always generated in the single block.
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9.14 Program control
9.14.6
Structure for a DIN block
Structure of display block for a DIN block
Basic structure of display block for a DIN block
Block number/label
G function of the first G group
(only if changed as compared to the last machine function block).
Axis position
(sequence corresponding to MD20070 $MC_AXCONF_MACHAX_USED (machine axis
number valid in the channel)).
Further modal G functions
(only if changed as compared to the last machine function block).
Other addresses as programmed.
The display block for the basic block display is directly derived from the programmed part
program blocks according to the following rules:
Macros are expanded.
Skip identifiers and comments are omitted.
Block number and labels are transferred from the original block, but omitted if DISPLOF is
active.
The number of decimal places is defined in display machine data MD 9004, MD 9010 and
MD 9011 via the HMI.
HMI display machine data
Access in NCK machine data
MD9004 $MM_DISPLAY_RESOLUTION
MD17200 $MN_GMMC_INFO_NO_UNIT[0]
MD9011 $MM_DISPLAY_RESOLUTION_INCH MD17200 $MN_GMMC_INFO_NO_UNIT[1]
MD9010 $MM_SPIND_DISPLAY_RESOLU
TION
MD17200 $MN_GMMC_INFO_NO_UNIT[2]
MD9424 $MM_MA_COORDINATE_SYSTEM
MD17200 $MN_GMMC_INFO_NO_UNIT[3]
Programmed axis positions are represented as absolute positions in the coordinate system
(WCS / ENS) specified in MD9424 $MM_MA_COORDINATE_SYSTEM (coordinate system
for actual value display)
Note
The modulo correction is omitted for modulo axes, which means that positions outside the
modulo range can be displayed. It also means that the basic block display differs from the
position display in which values are always moduloconverted.
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9.14 Program control
Examples
Comparisons between display block (original block) and basic block display:
Programmed positions are displayed as absolute.
The addresses AP/RP are displayed with their programmed values.
Original block:
Display block:
N10 G90 X10.123
N10 X10.123
N20 G91 X1
N20 X11.123
Address assignments (non-DIN addresses) are displayed in the form <address> =
<constant>.
Original block:
Display block:
N110 R1 = -67.5 R2 = 7.5
N130 Z = R1 RND = R2
N130 Z-67.5 RND = 7.5
Address indices (address extensions) are displayed as constants <address> [ <constant> ]
= <constant>.
Original block:
Display block:
N220 DEF AXIS AXIS_VAR = X
N240 FA[ AXIS_VAR] = R2
N240 FA[X] = 1000
DIN addresses without address extension are displayed in the form
<din_address> <constant>.
Original block:
Display block:
N410 DEF REAL FEED = 1.5
N420 F = FEED
596
N420 F1.5
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9.14 Program control
The following applies for H functions: Each programmed value is display irrespective of the
output type to the PLC.
(MD22110 $MC_AUXFU_H_TYPE_INT (type of H auxiliary function is integer)).
For Tool selection by tool command
Display information is generated in the form T<value> or T=<string>. If an address
extension has been programmed, this is displayed as well.
If several spindles have been configured or the "Tool change via master toolholder" function
(MD20124 $MC_TOOL_MANAGEMENT_TOOLHOLDER (toolholder number)) is active,
the T number is always output with address extension.
If no address extension has been programmed, the number of the master spindle or the
master toolholder is used instead (T<spindle_number/tool_holder>= ).
For the Spindle programming via S, M3, M4, M5, M19, M40 - M45 and M70 (or MD 20094
$MC_SPIND_RIGID_TAPPING_M_NR (M function for switching over in the controlled axis
operation)) the following regulation applies regarding the address extension:
If an address extension has been programmed, then this is also resolved.
If several spindles have been configured, then the address extension is also output.
If no address extension has been programmed, the number of the master spindle is used
(S<spindle_number>=).
Indirect G code programming in form G[ <group> ] = <printout> is substituted by the
corresponding G code.
Original block:
Display block:
N510 R1=2
N520 G[8]= R1
N520 G54
Modal G codes that do not generate an executable block are collected and output with the
display block of the next executable block if permitted by the syntax (DIN block). If this is
not the case (e.g. predefined subprogram call TRANSMIT), a separate display block
containing the modified G codes is placed in front of the next executable block.
Original block:
Display block:
N610 G64
G64
N620 TRANSMIT
N620 TRANSMIT
A display block is always generated for part program lines in which the addresses F and
FA appear (including for MD22240 $MC_AUXFU_F_SYNC_TYPE = 3 (output time of the
F functions)).
Original block:
Display block:
N630 F1000
N630 F1000
N640 X100
N640 X100
The display blocks generated for the block display are derived directly from the programmed
part program blocks. If intermediate blocks (e.g. tool radius compensation G41/G42, radius/
chamfer RNDM, RND, CHF, CHR) are generated in the course of contour preprocessing,
these are assigned the display information from the part program block on which the motion
is based.
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9.14 Program control
Original block:
Display block:
N710 Y157.5 G42
N710 Y157.5 G42
N720 Z-67.5 RND=7.5
N720 Z-67.5 RND=7.5
With the EXECTAB command (processing a table of contour elements), the block
generated by EXECTAB is shown in the display block.
Original block:
Display block:
N810 EXECTAB (KTAB[5])
N810 G01 X46.147 Z-25.38
With the EXECSTRING command, the block generated via EXECSTRING is displayed in
the display block.
Original block:
N910 DEF STRING[40] PROGSTRING = "N905 M3 S1000 G94 Z100 F1000 G55"
N920 EXECSTRING(PROGSTRING)
Original block:
N905 Z100 G55 G94 M3 S1000 F1000
9.14.7
Execution from external
Function
The "execution from external source" function can be used to execute programs from an
external program memory that cannot be saved in the NC memory due to their size.
Note
Protected cycles (_CPF files) can not be executed from an external program memory.
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9.14 Program control
External program memory
External program memory can be found on the following data carriers:
Local drive
Network drive
USB drive
Note
Only the USB interfaces on the operator panel front or the TCU can be used as interface
for the processing of an external program on a USB drive.
NOTICE
Tool/workpiece damage caused by the USB FlashDrive
It is recommended that a USB-FlashDrive is not used for the execution of an external
subprogram. A communication interruption to the USB FlashDrive during the execution of
the subprogram due to contact problems, failure, abort through trigger or unintentional
unplugging, results in an immediate machining stop. The tool and/or workpiece could be
damaged.
Applications
Direct execution from external programs
In principle, any program that is accessible via the directory structure of the interface in the
"Execution from external" HMI mode can be selected and executed.
Execution of external subprograms from the part program
The external subprogram is called through the part program command EXTCALL with
specification of a call path (optional) and the subprogram name ( see "Executing external
subprograms (EXTCALL) (Page 600)").
Parameter assignment
A reloading memory (FIFO buffer) must be reserved in the dynamic NC memory for executing
a program in "execution from external source" mode.
Size of FIFO buffer
The size of the FIFO buffer is set in the machine data:
MD18360 $MN_MM_EXT_PROG_BUFFER_SIZE (FIFO buffer size for processing from
external)
Note
Programs with jump commands
For external programs that contain jump commands (GOTOF, GOTOB, CASE, FOR, LOOP,
WHILE, REPEAT, IF, ELSE, ENDIF etc.) the jump destinations must lie within the post loading
memory.
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9.14 Program control
Note
ShopMill/ShopTurn programs
The contour descriptions added at the file end mean the ShopMill and ShopTurn programs
must be stored completely in the read-only memory.
Number of FIFO buffers
One FIFO buffer must be provided for each one of the programs that are executed
simultaneously in "execution from external source" mode.
The number of FIFO buffers is set in the machine data:
MD18362 $MN_MM_EXT_PROG_NUM (number of externally executed program levels
executable simultaneously)
Behavior on reset, power-on
External program calls are aborted using reset and power-on and the particular FIFO buffers
are erased.
A main program selected from an external program memory is selected again automatically
after a power-on if the same program memory is still available and execution of EXTCALL calls
has been activated in MD9106 $MM_SERVER_EXTCALL_PROGRAMS.
9.14.8
Executing external subprograms (EXTCALL)
Function
Individual machining steps for producing complex workpieces may involve program sequences
that require so much memory that they cannot be stored in the NC memory.
In such cases, the user has the option of executing the program sequences as subprograms
from an external program memory in the "Execution from external source" mode with the help
of the EXTCALL part program command.
Preconditions
The following preconditions are applicable to the execution from external subprograms:
The subprograms must be accessible via the directory structure of the operator interface.
A reloading memory (FIFO buffer) must be reserved for each subprogram in the dynamic
NC memory.
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9.14 Program control
Note
Subprograms with jump commands
For external subprograms that contain jump commands (GOTOF, GOTOB, CASE, FOR, LOOP,
WHILE, REPEAT, IF, ELSE, ENDIF etc.) the jump destinations must lie within the post loading
memory.
The size of the post loading memory is set via:
MD18360 MM_EXT_PROG_BUFFER_SIZE
ShopMill/ShopTurn programs
The contour descriptions added at the file end mean the ShopMill and ShopTurn programs
must be stored completely in the read-only memory.
Parameterization
The path for the external subprogram directory can be preset using setting data:
SD42700 $SC_EXT_PROG_PATH (program path for the EXTCALL external subprogram
call)
The entire path of the program to be called along with the subprogram path or name specified
during programming is derived therefrom.
Programming
An external subprogram is called by means of parts program command EXTCALL.
Syntax:
EXTCALL("<path/><program name>")
Parameter:
<path>:
Absolute or relative path data (optional)
Type: STRING
<program name>:
The program name is specified without prefix "_N_".
The file extension ("MPF", "SPF") can be attached to program names
using the "_" or "." character (optional).
Type: STRING
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9.14 Program control
Note
Path specification: Short designations
The following short designations can be used to specify the path:
LOCAL_DRIVE: for local drive
CF_CARD: for CompactFlash Card
USB: for USB front connection
CF_CARD: and LOCAL_DRIVE: can be alternatively used.
EXTCALL call with absolute path name
If the subprogram exists at the specified path, it will be executed following the EXTCALL call.
If it does not exist, program execution is canceled.
EXTCALL call with relative path name / without path name
In the event of an EXTCALL call with a relative path name or without a path name, the available
program memories are searched as follows:
If a path name is preset in SD42700 $SC_EXT_PROG_PATH, the data specified in the
EXTCALL call (program name or with relative path name) is searched for first, starting from
this path. The absolute path results from linking the following characters:
The path name preset in SD42700
The "/" character as a separator
The subprogram path or name programmed in EXTCALL
If the called subprogram is not found at the preset path, the data specified in the
EXTCALL call is then searched for in the user-memory directories.
The search ends when the subprogram is found for the first time. If the search does not
produce any hits, the program is canceled.
Example
Execute from local drive
Main program:
Program code
N010 PROC MAIN
N020 ...
N030 EXTCALL ("ROUGHING")
N040 ...
N050 M30
External subprogram:
Program code
N010 PROC ROUGHING
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Program code
N020 G1 F1000
N030 X= ... Y= ... Z= ...
N040 ...
...
...
N999999 M17
The "MAIN.MPF" main program is stored in NC memory and is selected for execution.
The "SCHRUPPEN.SPF" or "SCHRUPPEN.MPF" subprogram to be subsequently loaded is
on the local drive in the directory "/user/sinumerik/data/prog/WKS.DIR/WST1.WPD".
The subprogram path is preset in SD42700:
SD42700 $SC_EXT_PROG_PATH = "LOCAL_DRIVE:WKS.DIR/WST1.WPD"
Note
Without the path being specified in the SD42700, the EXTCALL operation for this example
would have to be programmed as follows:
EXTCALL("LOCAL_DRIVE:WKS.DIR/WST1.WPD/SCHRUPPEN")
9.15
EES (optional)
9.15.1
Function
Note
To use the function, the "Execute from external storage (EES)" licensed option is required!
Using the EES (Execution from External Storage) function, users have the option of having
the NCK execute programs directly from an external program memory.
The following options for external memories are available:
Local drive LOCAL_DRIVE/CF_CARD: CF card of the NCU, user CF card of the PPU or
hard disk of a CPU
Local drive SYS_DRIVE: System CF card of the PPU
Note
For the SINUMERIK 828D, a user memory (100 MB) is released on the system CF card
when the EES function is active. The EES function can therefore be used without a user
CF card of the PPU.
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9.15 EES (optional)
A network drive provided through Windows
Statically managed USB drive
NOTICE
Tool/workpiece damage caused by the USB FlashDrive
A USB FlashDrive cannot be recommended when executing an external program. A
communication interruption to the USB FlashDrive during the execution of the program
due to contact problems, failure, abort through trigger or unintentional unplugging, results
in an uncontrolled stop of the machining. The tool and/or workpiece could be damaged.
The EES function can replace the "Execution from external (Page 598)" and "Executing
external subprograms (EXTCALL) (Page 600)" functions.
The EES function has the following advantages:
Standard program handling throughout the system
No restrictions regarding the commands that can be used
The restrictions on "execution from external source" and "execution of external
subprograms (EXTCALL)", e.g. no backward jumps, limitation of the jump distance of jump
commands by the size of the reload memory, are eliminated with EES.
Programs can be moved between different program memories (NC, GDIR, external drive)
significantly easier.
There are practically no restrictions regarding the part program size (this is only limited by
the capacity of the external data storage).
Uniform syntax for the subprogram call, independent of the storage location of the
subprogram (an EXTCALL call is not required).
Network drives can be used jointly by more than one station (PCU/NCU). Prerequisite is a
uniform drive configuration for these stations. This results in a uniform view of the programs
for all stations.
Because of the uniform view of the external program memory for all stations, changes to
the programs stored there consistently apply to all stations.
9.15.2
Commissioning
9.15.2.1
Preconditions
To use the EES function, the drives used with the control system must be declared.
References:
Commissioning Manual, base software and operating software
Universal/Turning/Milling/Grinding Operating Manual
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After activation of the new drive configuration, the programs can be freely distributed among
the available drives.
Note
All the previous drives may no longer be available in the newly created drive configuration.
Access to the programs on these drive is then no longer possible.
Remedy: First copy the programs stored on these drives to a drive that can still be accessed.
Note
Because protected cycles (_CPF files) are only executed from the NC part program memory
for system reasons, they cannot be stored for execution on an external program memory.
The previous NC part program memory with the MPF.DIR, SPF.DIR and WKS.DIR directories
is not absolutely necessary when using EES. A system can also be configured without using
the NC part program memory.
NOTICE
Executing programs that are not visible
Even if the NC part program memory was removed from the drive configuration, it is always
still available in the system itself. This especially means that when executing the program it
is possible that programs that still exist there are inadvertently executed from the SPF.DIR.
Remedy: If the system is configured without NC part program memory in the drive
configuration, any programs still stored there should be deleted manually.
If the NC part program memory is still to be used, then it should not be completely removed
from the system, only assigned an appropriate protection level when required.
Drives can be shared by more than one station (PCU/NCU). A standard drive configuration for
these stations means that there is a standard program view that is independent of the particular
station.
Note
The CF card of an NCU/PPU cannot be shared by several stations.
SINUMERIK 840D sl only
For operation with an external HMI, the drives must be configured on the external HMI! The
drive configuration (logdrive.ini) must be loaded into the corresponding NCU from the external
HMI. A softkey is available for the transfer on the dialog for the drive configuration.
In systems in which multiple NCs work together, the drive configuration must be identical for
all NCs. This is achieved by distributing the logdrive.ini across the corresponding NCUs.
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9.15 EES (optional)
9.15.2.2
Global part program memory (GDIR)
When declaring the drives, one of the drives can be designated the global part program
memory (GDIR).
References:
Operating Manual; Section: "Managing programs" > "Setting up drives"
The system automatically creates the MPF.DIR, SPF.DIR and WKS.DIR directories on the
drive that acts as the GDIR. These three directories form the GDIR.
The GDIR only plays a role for the EES function. Depending on the drive configuration, the
GDIR replaces or extends the NC part program memory. However, it is not mandatory to set
up a GDIR for the EES operation.
The directories and files of the GDIR can be addressed in the part program in the same way
as in the passive file system. Therefore, a compatible relocation of an NC program with path
specification is possible for the passive file system to the GDIR.
GDIR replaces the NC part program memory
If the NC part program memory is completely empty in the MPF.DIR, SPF.DIR and WKS.DIR
directories, then the GDIR replaces the NC part program memory. The previous NCK search
path is emulated 1:1 by the GDIR.
Selecting the main program on an external archive/data storage medium
Search sequence for the subprograms:
1. Actual directory on an external archive/data storage medium
2. SPF.DIR in the GDIR memory
3. The drive referenced using CALLPATH
4. Cycles
GDIR extends the NC part program memory
When the NC part program memory is not empty in the MPF.DIR, SPF.DIR and WKS.DIR
directories, then the search sequence for the subprograms depends on where the main
program is archived (active directory).
Selecting the main program in the NC part program memory (MPF.DIR or xxx.WPD in
WKS.DIR)
Search sequence for the subprograms:
1. Actual directory in the NC part program memory
2. SPF.DIR in the NC part program memory
3. The drive referenced using CALLPATH
4. Cycles
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9.15 EES (optional)
Selecting the main program on an external archive/data storage medium released for EES
Search sequence for the subprograms:
1. Actual directory on an external archive/data storage medium
2. SPF.DIR in the NC part program memory
3. SPF.DIR in GDIR
4. The drive referenced using CALLPATH
5. Cycles
Note
To define the search sequence, also see MD11625 $MN_FILE_ONLY_WITH_EXTENSION
and MD11626 $MN_CYCLES_ONLY_IN_CYCDIR!
Note
An external drive can also be referenced using the CALLPATH statement.
9.15.2.3
Settings for file handling in the part program for EES
Program names unique throughout the system
If external program memories are used together at different stations in EES mode, file
operations performed simultaneously on different stations (WRITE, DELETE, ) result in
access conflicts. To avoid such access conflicts, we recommend setting up a name space for
file names on each station that is unique throughout the system.
Name space unique throughout the system
A name space for file names that is unique throughout the system is achieved, for example,
by associating the file names with the EES-specific name of the NC parameterized in the
machine data and the channel number of the channel in which the program is executed. For
example, when the program is executed, the following code generates the file name (MYFILE
_NC1_1.SPF), which is unique throughout the system, by appending the EES-specific name
of the NC (NC1) and the channel number (channel 1) to the program name.
$MN_EES_NC_NAME="NC1"
N10 DEF STRING[31] FILENAME
N20 FILENAME="MYFILE_" << $MN_EES_NC_NAME << "_" << $P_CHANNO <<
".SPF"
Parameterization
The EES-specific name of the NC is set in the NC-specific machine data:
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9.15 EES (optional)
MD10125 $MN_EES_NC_NAME = <NC name>
Note
Name of the NC unique throughout the system
To avoid access conflicts, the EES-specific name of the NC must be unique throughout the
system. The responsibility for this resides exclusively with the user/machine manufacturer.
When calling the program, only search for files with file ID
In order to speed up the program search for subprogram calls during EES operation, we
recommend that you limit the search to files with file ID (e.g. SPF, MPF, etc.).
MD11625 $MN_FILE_ONLY_WITH_EXTENSION = 1
Note
MD11625 has no effect on the program search when processing external subprograms with
EXTCALL.
Reference:
Description of the search path for the subprogram call, see the Programming Manual Job
Planning.
Only search for programs with interface in the cycle directories
In order to speed up the program search for subprogram calls during EES operation, we
recommend the search for subprograms which have created an interface description (by
means of PROC statement), and whose interface description was generated from the one of
the cycle directories (CUS, CMA, CST) be limited to the cycle directories:
MD11626 $MN_CYCLES_ONLY_IN_CYCDIR = 1
Note
MD11626 has no effect on subprograms whose interface was created using an EXTERNAL
declaration. A search is made in all program directories.
NOTICE
No search success for cycles outside the cycle directories
Cycles in the current directory and global subprogram directory are no longer found with the
setting MD11626 = 1!
Remedy: Always store cycles in the cycle directories.
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9.16 System settings for power-up, RESET / part program end and part program start
9.15.2.4
Memory configuration
Reducing the end user program memory in the passive file system
With active EES, the end user program memory in the passive file system can be reduced:
MD18352 $MN_MM_U_FILE_MEM_SIZE (end user memory for part programs / cycles / files)
The released memory can then be used, for example, for tool data or manufacturer cycles
(MD18353 $MN_MM_M_FILE_MEM_SIZE).
References:
For detailed information on the memory configuration, see Function Manual, Extended
Functions
Releasing reload memory
The EES function can replace the "Execution from external source" and "Execution of external
subprograms (EXTCALL)" functions.
In order to execute subprograms from part programs with EXTCALL calls with EES instead of
the "Execution of external subprograms (EXTCALL)" function, the EXTCALL calls must be
changed to CALL calls, and the path specifications adapted if required.
After a complete changeover, the reload memory (FIFO buffer) required for the "Execution
from external source" and "Execution of external subprograms (EXTCALL)" can be released:
MD18362 $MN_MM_EXT_PROG_NUM (number of externally executed program levels
executable simultaneously) = 0
9.16
System settings for power-up, RESET / part program end and part
program start
Concept
The behavior of the control can be set via the machine data for the following events:
Run-up (power-on)
Reset / part program end
Part program start
The control-system response after:
Can be set with:
Run-up (power on)
MD20110 $MC_RESET_MODE_MASK
*)
MD20144 $MC_TRAFO_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
RESET / part program end
MD20110 $MC_RESET_MODE_MASK
MD20150 $MC_GCODE_RESET_VALUES
MD20152 $MC_GCODE_RESET_MODE
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9.16 System settings for power-up, RESET / part program end and part program start
The control-system response after:
Can be set with:
Part program start
MD20112 $MC_START_MODE_MASK
MD20110 $MC_RESET_MODE_MASK
*)
see also POWER ON (Page 783)
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9.16 System settings for power-up, RESET / part program end and part program start
System settings after run-up
MD20110 $MC_RESET_MODE_MASK, bit 0 = 0 or 1
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9.16 System settings for power-up, RESET / part program end and part program start
System settings after reset / part program end and part program start
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612
System settings after reset / part program end and part program start
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9.16 System settings for power-up, RESET / part program end and part program start
G code effective after run-up and reset / part program end
The G code that is effective in every G group after run-up (power-on) and reset / part program
end is set in the following machine data:
MD20150 $MC_GCODE_RESET_VALUES[<G group>] = <default-G code>
MD20152 $MC_GCODE_RESET_MODE[<G group>] = <value>
Value
Description: Per G group
The default-G code from MD20150 $MC_GCODE_RESET_VALUES takes effect.
The last active/current G code takes effect.
Control basic setting after run-up, reset / part program end and part program start
The control initial setting after run-up (power-on), reset / part program end and part program
start is defined in the following machine data:
MD20110 $MC_RESET_MODE_MASK (definition of the control initial setting after run-up
and reset / part program end)
MD20112 $MC_START_MODE_MASK (definition of the control initial setting after part
program start)
References
Detailed Machine Data Description
Relevant machine data
Machine data
Meaning
MD20120 $MC_TOOL_RESET_VALUE
Tool length compensation during run-up, reset / part program
end
MD20121 $MC_TOOL_PRESEL_RESET_VALUE
Preselect tool on Reset
MD20130 $MC_CUTTING_EDGE_RESET_VALUE
Tool cutting-edge length compensation on run-up
MD20140 $MC_TRAFO_RESET_VALUE
Run-up transformation data block
MD20144 $MC_TRAFO_MODE_MASK
Selection of the kinematic transformation function
MD20150 $MC_GCODE_RESET_VALUES
Initial setting of the G groups
MD20152 $MC_GCODE_RESET_MODE
Reset behavior of the G groups
MD21330 $MC_COUPLE_RESET_MODE_1
Coupling cancellation response
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB
Assignment of geometry axis to channel axis
MD20118 $MC_GEOAX_CHANGE_RESET
Allow automatic geometry axis change
Example
Activate reset setting on reset:
MD20110, bit 0 = 1
MD20112 = 0
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9.16 System settings for power-up, RESET / part program end and part program start
Transformation remains with reset / part program start:
MD20110, bit 0 = 1
MD20110, bit 7 = 1
MD20112 = 0
Tool length compensation is retained after reset / part program start:
MD20110, bit 4 = 1
MD20110, bit 6 = 1
MD20112 = 0
Active level (bit 4) and settable frame (bit 5) remain active after reset and are reset on part
program start:
MD20110, bit 4 = 1
MD20110, bit 5 = 1
MD20112, bit 4 = 1
MD20112, bit 5 = 1
Note
MD20110/MD20112, bit 5 and bit 6
If MD20110/MD20112 are parameterized so that tool length compensation or a frame is
active on a part program start in the automatic or MDI mode, the first programming of the
axes must use absolute measurements (because of the traversing of the offset).
Exception: With MD42442/MD42440 the offsetting process for G91 is suppressed.
9.16.1
Tool withdrawal after POWER ON with orientation transformation
Function
If a part program with a machining operation with tool orientation is aborted due to a power
failure or reset, it is possible to select the previously active transformation and generate a
frame in the direction of the tool axis after the control has run up (power on). The tool can then
be retracted in JOG mode by means of a retraction movement towards the tool axis.
Requirement
The active measuring systems must have a machine reference for all the machine axes
involved in the transformation. See Section "Automatic restoration of the machine reference
(Page 1190)".
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9.16 System settings for power-up, RESET / part program end and part program start
Parameterization
The following machine data must be set so that the last active transformation is retained after
POWER ON:
MD20144 $MC_TRAFO_MODE_MASK, bit 1 = 1
MD20110 $MC_RESET_MODE_MASK, bit 0 = 1
MD20110 $MC_RESET_MODE_MASK, bit 7 = 1
See also Section "System settings for power-up, RESET / part program end and part program
start (Page 609)".
Programming
Wait for machine reference WAITENC
With the command WAITENC, the system waits channel-specific in a program until there is a
valid machine reference for all the active measuring systems of the parameterized axes. See
the "Requirement" section above. The parameter assignment of the axes is performed via:
MD34800 $MA_WAIT_ENC_VALID = 1
Application
In the user program (/_N_CMA_DIR/_N_PROG_EVENT_SPF) to be called event-controlled
when running up (requirement: MD20108 bit 3 = 1), the system must wait using the command
WAITENC until the valid axis positions are available.
A frame that positions the tool axis in the direction of the X, Y or Z axis can then be generated
using the NC language command TOROTX/TOROTY/TOROTZ.
Example
Orientation transformation and orientation axes with incremental encoders.
Configuration:
Meaning:
MD10720 $MN_OPERATING_MODE_DEFAULT [ 0 ] = 6
Run-up in JOG mode.
MD30240 $MA_ENC_TYPE [ 0, <axis>] = 1
Incremental measuring system.
MD34210 $MA_ENC_REFP_STATE [ 0, <axis>] = 3
Enable the restoration of axis positions for incre
mental encoders.
MD20108 $MC_PROG_EVENT_MASK = H9
Activate event-controlled using program
PROG_EVENT during run-up and at the start of
the part program.
MD20152 $MC_GCODE_RESET_MODE [ 52 ] = 1
Obtain TOFRAME via reset.
MD20110 $MC_RESET_MODE_MASK = HC1
Obtain transformation and tool offset via reset.
MD20144 $MC_TRAFO_MODE_MASK = H02
Obtain transformation via POWER OFF.
Event-driven user program (/_N_CMA_DIR/_N_PROG_EVENT_SPF):
Program code
Comment
; Example with activation of the frame, which aligns the WCS in the tool direction, when running up and
resetting with part program start.
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9.16 System settings for power-up, RESET / part program end and part program start
Program code
Comment
IF $P_PROG_EVENT == 4
; Run-up
IF $P_TRAFO <> 0
; Transformation has been selected.
WAITENC
; Wait for valid axis positions of the orientation axes.
TOROTZ
; Rotate the Z axis of the WCS towards the tool axis.
ENDIF
M17
ENDIF
IF $P_PROG_EVENT == 1
TOROTOF
; Start of the part program.
; Reset the tool frame.
RET
ENDIF
The WAITENC command essentially corresponds to the following program sequence (example
for 5-axis machine with AB kinematics):
Program code
Comment
WHILE TRUE
; Wait for a measuring system.
IF (($AA_ENC_ACTIVE[X]==TRUE) AND ($AA_ENC_ACTIVE[Y]==TRUE) AND ($AA_ENC_ACTIVE[Z]==TRUE) AND
($AA_ENC_ACTIVE[A]==TRUE) AND ($AA_ENC_ACTIVE[B]==TRUE)) GOTOF GET_LABEL
ENDIF
G4 F0.5
; 0.5 s wait time
ENDWHILE
:Position synchronization
GET_LABEL: GET(X,Y,Z,A,B,)
Continuing machining
AUTOMATIC mode
For automatic execution of programs in the AUTOMATIC mode, all the machine axes, whose
actual position of the active measuring system has been restored, must be referenced.
MDI mode and overstore
In the MDI mode and for the overstore function, machining can also be performed, without
referencing the axes, with restored positions. To do this, NC start with restored positions must
be enabled explicitly for a specific channel:
MD20700 $MC_REFP_NC_START_LOCK = 2
Supplementary condition
Axes with incremental encoders and without actual value buffering
It is to be assumed that axes with incremental encoders and without actual value buffering are
clamped with sufficient speed in the event of a power failure to prevent them drifting from their
last position setpoint.
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9.17 Replacing functions by subprograms
9.17
Replacing functions by subprograms
9.17.1
Overview
Function
User-specific auxiliary functions (e.g. M101) do not trigger any system functions. They are only
output to the NC/PLC interface. The functionality of the auxiliary function must be implemented
by the user / machine manufacturer in the PLC user program. A description will be provided
as to how a user-specific subprogram call can be configured (replacement subprogram)
instead of the output to NC/PLC interface, which is the default setting.
Function M101 is then still programmed in the part program. However, when executing the
part program, the substitute subprogram is called. Therefore, the NC replaces the function by
a subprogram call. This results in the following advantages:
When adapting to the production process, an existing, tested and proven part program can
still be used, unchanged. The changes required are then shifted into the user-specific
subprograms.
The functionality can be implemented within the substitute subprogram with the full
functional scope of the NC language.
The communication overhead between NC and PLC is not required.
Functions that can be replaced
The following functions can be replaced by subprograms:
Auxiliary functions
M
Switching functions
Tool selection
TCA
Tool selection independent of the tool status
Tool offset
DL
Additive tool offset
Spindle-related functions during active synchronous spindle coupling
M40
Automatic gear stage change
M41 - M45
Gear stage selection 1 ... 5
SPOS
Spindle positioning
SPOSA
Spindle positioning
M19
Spindle positioning
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9.17 Replacing functions by subprograms
9.17.2
Replacement of M, T/TCA and D/DL functions
9.17.2.1
Replacement of M functions
General Information
The following conditions are applicable for replacing the M functions:
Per block only one M function is replaced.
A block in which an M function is to be replaced, must not contain the following elements:
M98
Modal subprogram call
Subprogram return
Part program end
M functions that trigger system functions must not be replaced by a subprogram (see
Section "Non-replaceable M functions").
Parameterization
M function and subprogram
M functions and the replacement subprograms are parameterized in the following machine
data:
MD10715 $MC_M_NO_FCT_CYCLE[<Index>] = <M function number>
MD10716 $MC_M_NO_FCT_CYCLE_NAME[<Index>] = "<subprogram name>"
The M function and the corresponding replacement subprogram are connected through the
same index.
Example: M function M101 is replaced by subprogram SUB_M101 and M function M102 by
SUB_M102:
MD10715 $MC_M_NO_FCT_CYCLE[ 0 ]
MD10716 $MC_M_NO_FCT_CYCLE_NAME[ 0 ]
= 101
= "SUB_M101"
MD10715 $MC_M_NO_FCT_CYCLE[ 1 ]
MD10716 $MC_M_NO_FCT_CYCLE_NAME[ 1 ]
= 102
= "SUB_M102"
System variable for transferring information
For a freely selectable M function, information regarding the M function that has been replaced
and additional functions (T, TCA, D, DL) for evaluation in the replacement subprogram are
made available via the system variable (see Section "System variable (Page 623)"). The data
contained in the system variables refers to the block in which the M function to be replaced is
programmed.
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9.17 Replacing functions by subprograms
The M function is selected with the index of machine data MD10715
$MC_M_NO_FCT_CYCLE[<Index>] in which the M function to be replaced has been
parameterized:
MD10718 $MC_M_NO_FCT_CYCLE_PAR = <Index>
Note
For an M function replacement with transfer of information via system variable, the address
extension and function value of the M function must be programmed as constant values.
Permissible programming:
M<function value>
M=<function value>
M[<address extension>]=<function value>
Illegal programming:
M=<variable1>
M[<variable2>]=<variable1>
Programming
Rules for replacing M functions:
The replacement subprogram is called at the block end
Within the replacement subprogram, no M functions are replaced
In an ASUB, the M function is also replaced if the ASUB was started within the replacement
subprogram.
M functions that cannot be replaced
The following M functions trigger system functions as pre-defined auxiliary functions and must
not be replaced by a subprogram:
M0 ... M5
M17, M30,
M19
M40 ... M45
M98, M99 (only for MD18800 $MN_MM_EXTERN_LANGUAGE 0)
User-specific M functions parameterized via machine data must also not be replaced by a
subprogram as they also trigger system functions.
Machine data
Meaning
MD10714 $MN_M_NO_FCT_EOP
M function for spindle active after RE
SET
MD10804 $MN_EXTERN_CHAN_M_NO_SET_INT
M function for ASUB activation (exter
nal mode)
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9.17 Replacing functions by subprograms
Machine data
Meaning
MD10806 $MN_EXTERN_CHAN_M_NO_DISABLE_INT
M function for ASUB deactivation (ex
ternal mode)
MD10814 $MN_EXTERN_M_NO_MAC_CYCLE
Macro call via M function
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR
M function for switchover to controlled
axis mode
MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR
M function for switchover to controlled
axis mode (external mode)
MD22254 $MC_AUXFU_ASSOC_M0_VALUE
Additional M function for program stop
MD22256 $MC_AUXFU_ASSOC_M1_VALUE
Additional M function for conditional
stop
MD26008 $MC_NIBBLE_PUNCH_CODE
Definition of M functions (for nibble-spe
cific)
MD26012 $MC_PUNCHNIB_ACTIVATION
Activation of punching and nibbling
functions
Note
Exception
The M function parameterized with MD22560 $MC_TOOL_CHANGE_M_CODE (tool change
with M function) must not be replaced with a subprogram.
9.17.2.2
Replacing T/TCA and D/DL functions
Boundary conditions
For replacing functions T, TCA, D and DL, the following supplementary conditions apply:
A maximum of one function replacement is active per block.
A block with the function replacement must not contain the following elements:
M98
Modal subprogram call
Subprogram return
Part program end
If the multitool slot number is programmed with address MTL for the multitool select with
T = slot number, the T replacement also replaces the MTL address. The programmed
values can be queried in the replacement subprogram using the $C_MTL_PROG and
$C_MTL system variables.
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9.17 Replacing functions by subprograms
Parameterization: Replacement subprogram
The replacement subprogram is specified function-specific in the machine data:
Function
Machine data
MD10717 $MN_T_NO_FCT_CYCLE_NAME
TCA
MD15710 $MN_TCA_CYCLE_NAME
D/DL
MD11717 $MN_D_NO_FCT_CYCLE_NAME
Note
It is recommended that the same subprogram is used to replace T, TCA and D/DL functions.
Parameterization: Behavior regarding D or DL function with simultaneous T function
When D or DL and T functions are simultaneously programmed in a block, the D or DL number
is either transferred as parameter to the replacement subprogram or the D or DL function is
executed before calling the replacement subprogram. The behavior is configurable via:
MD10719 $MN_T_NO_FCT_CYCLE_MODE (parameterization of the T function
replacement)
Bit
Value
Meaning
The D or DL number is available in the subprogram in the form of a system variable
(initial state).
The D or DL number is calculated directly in the block.
Note:
This function is only active if the tool change was configured with M function:
MD22550 $MC_TOOL_CHANGE_MODE = 1
otherwise the D or DL values are always transferred.
System variable for transferring information
The replacement subroutine is provided with all of the information relevant to the functions
programmed in the block via system variables (see Section "System variable (Page 623)").
The data contained in the system variables refers to the block in which the function to be
replaced was programmed.
Parameterization: Time that the replacement subprogram is called
The call time of the replacement subprogram is set via:
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9.17 Replacing functions by subprograms
MD10719 $MN_T_NO_FCT_CYCLE_MODE, bit 1 and bit 2
Bit 2
Bit 1
Time that the replacement subprogram is called
At the end of the block
After the replacement subprogram has been executed, the interpretation is resumed
with the program line following the line that triggered the replacement operation.
At block start
After the replacement subprogram has been executed, the program line, which re
sulted in the replacement subprogram being called, is interpreted. The T address
and the D or DL address and the M function for the tool change are no longer pro
cessed.
At block start and block end
The replacement program is called twice.
System variable for the call time
System variable $P_SUB_STAT can be used to read whether the substitution is active, and if
so, when the replacement subprogram referred to the block was called up:
Value
Meaning
Replacement not active
Replacement active, subprogram call is made at the block start
Replacement active, subprogram call is made at the block end
Example: Replacement of the T function
Parameterization
Meaning
MD22550 $MC_TOOL_CHANGE_MODE = 0
Tool change with T function
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE"
Name of the subprogram to re
place the T function
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0
Call time: End of block
Programming
Comment
N110 D1
; D1
N120 G90 G0 X100 Y100 Z50
; D1 is active.
N130 D2 X110 Z0 T5
; D1 remains active. The T function is replaced
at the block end with the MY_T_CYCLE subprogram call. D2 provides MY_T_CYCLE in a system
variable.
A detailed example for replacement of the T function can be found in Section: "Examples of
M/T function replacement at a tool change (Page 624)".
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9.17 Replacing functions by subprograms
9.17.2.3
System variable
General Information
The replacement subprogram is provided with all of the information relevant to the functions
programmed in the block (T or TCA, D or DL, M) via system variables.
Exception
D or DL number is not transferred if:
MD10719 $MN_T_NO_FCT_CYCLE_MODE, bit 0 = 1
MD22550 $MC_TOOL_CHANGE_MODE = 1
AND
D or DL are programmed together with the T or M function in a block.
CAUTION
Values do not act
The values provided for the replacement subprogram in the system variables are not yet
effective. It is the sole responsibility of the user / machine manufacturer to resolve this by
using the appropriate programming in the replacement subprogram.
System variable
System variable
Meaning
$C_M_PROG
TRUE, if the M function has been programmed
$C_M
For $C_M_PROG == TRUE, contains the value of address M
We must differentiate between two cases here:
$C_M supplies the value if, for the tool change with M function,
a subprogram is configured with parameter transfer:
MD10715 MN_M_NO_FCT_CYCLE
If only one subprogram is configured for the addresses T and/
or D/DL and if in the program the M function for the tool change
is programmed together with one of the addresses to be
replaced, then $C_M supplies the value: MD22560
$MC_TOOL_CHANGE_M_CODE
$C_AUX_VALUE[0]
Value of the replaced M function
$C_ME
For $C_M_PROG == TRUE, contains the value of the address
extension of the M function
$C_AUX_EXT[0]
Address extension of the M function (identical to $C_ME)
$C_AUX_IS_QUICK[0]
TRUE, if the M function was programmed with quick output to the
PLC
$C_T_PROG
TRUE, if the T function was programmed
$C_T
For $C_T_PROG == TRUE, contains the value of the T function
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9.17 Replacing functions by subprograms
System variable
Meaning
$C_TE
Contains for:
$C_T_PROG == TRUE
$C_TS_PROG == TRUE
the value of the address extension of the T function
9.17.2.4
$C_TS_PROG
TRUE, if for the T or TCA replacement, a tool name has been
programmed.
$C_TS
For $C_TS_PROG == TRUE, contains the tool name program
med for the T or TCA replacement
$C_TCA
TRUE, if the TCA replacement is active
$C_DUPLO_PROG
TRUE, if the duplo number of the TCA replacement has been
programmed
$C_DUPLO
For $C_DUPLO_PROG == TRUE, contains the value of the pro
grammed duplo number
$C_THNO_PROG
TRUE, if the toolholder/spindle number of the TCA replacement
has been programmed
$C_THNO
For $C_THNO_PROG == TRUE, contains the value of the pro
grammed toolholder/spindle number
$C_D_PROG
TRUE, if the D function has been programmed
$C_D
For $C_D_PROG == TRUE, contains the value of the D function
$C_DL_PROG
TRUE, if the DL function was programmed
$C_DL
For $C_DL_PROG == TRUE, contains the value of the DL function
$P_SUB_STAT
Block-related time when the replacement subprogram is called
$C_MTL_PROG
TRUE if address MTL has been programmed
$C_MTL
For $C_MTL_PROG == TRUE, contains the value of address MTL
Example: Replacement of an M function
Example 1
The function M6 is replaced by calling the subprogram "SUB_M6".
The information relevant for a tool change should be transferred using system variables.
Parameterization
Machine data
MD10715 $MN_M_NO_FCT_CYCLE[2] = 6
MD10716 $MN_M_NO_FCT_CYCLE_NAME[2] = "SUB_M6"
MD10718 $MN_M_NO_FCT_CYCLE_PAR = 2
Meaning
Tool change with M6
Replacement subpro
gram for M6
Information transfer
using system variables
Main program
Programming
Comment
PROC MAIN
624
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9.17 Replacing functions by subprograms
Programming
Comment
...
N10 T1 D1 M6
; M6 is replaced by subroutine "SUB_M6"
;
...
N90 M30
Subprogram "SUB_M6"
Programming
Comment
PROC SUB_M6
N110 IF $C_T_PROG==TRUE
; IF address T is programmed
N120
T[$C_TE]=$C_T
Execute T selection
N130 ENDIF
; ENDIF
N140 M[$C_ME]=6
; Execute tool change.
N150 IF $C_D_PROG==TRUE
; IF address D is programmed
N160
D=$C_D
N170 ENDIF
Execute D selection
; ENDIF
N190 M17
Example 2
The new tool is prepared for changing with the T function. The tool change is only realized
with function M6. The T function is replaced by calling the subprogram "MY_T_CYCLE". The
D / DL number is transferred to the subprogram.
Parameterization
Parameterization
Meaning
MD22550 $MC_TOOL_CHANGE_MODE = 1
Tool change prepared with T
function
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE"
Replacement subprogram
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0
Transfer of the D/DL number
Main program
Program code
Comment
N210 D1
N220 G90 G0 X100 Y100 Z50
; D1 is active.
N230 D2 X110 Z0 T5
; D1 remains active, programmed D2 is transferred
; to the subprogram as variable
N240 M6
; Execute tool change
Example 3
The new tool is prepared for changing with the T function. The tool change is only realized
with function M6. The T function is replaced by calling the subprogram "MY_T_CYCLE". The
D / DL number is not transferred to the subprogram.
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9.17 Replacing functions by subprograms
Parameterization
Parameterization
Meaning
MD22550 $MC_TOOL_CHANGE_MODE = 1
Tool change prepared with T
function
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE"
Replacement subprogram
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 1
No transfer of the D/DL number
Main program
Program code
Comment
N310 D1
N320 G90 G0 X100 Y100 Z50
; D1 is active.
N330 D2 X110 Z0 T5
; D2 is active and is not transferred as variable
; to
N340 M6
; Execute tool change.
the replacement subprogram.
Example 4
The functions T and M6 are replaced by the subprogram "MY_T_CYCLE".
The parameters are transferred to the subprogram when replacing M6.
If M6 is programmed together with D or DL in the block, the D or the DL number is also
transferred as parameter to the subprogram if no transfer of the D/DL number has been
parameterized:
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 1
Parameterization
Configuration
Meaning
MD22550 $MC_TOOL_CHANGE_MODE = 1
Tool change with M function
MD22560 $MC_TOOL_CHANGE_M_CODE = 6
M code for tool change
MD10715 $MC_M_NO_FCT_CYCLE[3] = 6
M function to be replaced
MD10716 $MC_M_NO_FCT_CYCLE_NAME[3] = "MY_T_CYCLE"
Replacement subprogram for
the M function
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE"
Replacement subprogram for
the T function
MD10718 $MN_M_NO_FCT_CYCLE_PAR = 3
Parameter transfer to the
replacement subprogram for M6
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 1
No transfer of the D/DL number
Main program
Program code
Comment
N410 D1
626
N420 G90 G0 X100 Y100 Z50
; D1 is active.
N330 D2 X110 Z0 T5 M6
; D1 remains active, D2 and T5 are transferred to
the M6 replacement subprogram as variable.
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9.17 Replacing functions by subprograms
9.17.2.5
Example: Replacement of a T and D function
The functions T and D are replaced by calling the subprogram "D_T_SUB_PROG". The
following should also be true for the example:
The tool change is realized with address T.
The subprogram is called at the start of the block.
The tool management is not active.
Axis B is an indexing axis with Hirth gearing.
Parameterization
Machine data
MD11717 $MN_D_NO_FCT_CYCLE_NAME = "D_T_SUB_PROG"
MD10717 $MN_T_NO_FCT_CYCLE_NAME = "D_T_SUB_PROG"
MD10719 $MN_T_NO_FCT_CYCLE_MODE = 'H2'
MD22550 $MC_TOOL_CHANGE_MODE = 0
Meaning
Replacement subpro
gram
for D function
Replacement subpro
gram
for M function
Call at block start
Tool change with T
function
Main program
Programming
Comment
PROC MAIN
...
N10 G01 F1000 X10 T1=5 D1
; T and D function replaced by calling
; "D_T_SUB_PROG" at start of block
...
N90 M30
Subprogram "D_T_SUB_PROG"
Programming
Comment
N1000 PROC D_T_SUB_PROG DISPLOF SBLOF
N4100 IF $C_T_PROG==TRUE
; IF address T is programmed
N4120
POS[B]=CAC($C_T)
Approach the indexing position
N4130
T[$C_TE]=$C_T
Select tool (T selection)
N4140 ENDIF
; ENDIF
N4300 IF $C_T_PROG==TRUE
; IF address D is programmed
N4320
D=$C_D
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9.17 Replacing functions by subprograms
Programming
Comment
N4330 ENDIF
; ENDIF
N4400 IF $C_DL_PROG==TRUE
; IF address DL is programmed
N4420
D=$C_DL
N4430 ENDIF
Select insert offset
; ENDIF
N9999 RET
9.17.2.6
Behavior in the event of a conflict
Conflict case
A conflict is present if several functions are programmed in one block and the functions should
be replaced with different subprograms:
Addresses D and DL replaced with subprogram:
MD11717 $MN_FCT_CYCLE_NAME = "D_SUB_PROG"
Address T replaced with subprogram:
MD10717 $MN_FCT_CYCLE_NAME = "T_SUB_PROG"
M function M6 replaced with subprogram:
MD10715 $MN_M_NO_FCT_CYCLE[0] = 6
MD10716 $MN_M_NO_FCT_CYCLE_NAME[0] = "M6_SUB_PROG"
MD10718 $MN_M_NO_FCT_CYCLE_PAR = 0
MD22550 $MC_TOOL_CHANGE_MODE = 1
MD22560 $MC_TOOL_CHANGE_M_CODE = 6
Resolution
A conflict is resolved corresponding to the following table:
The following are programmed in one program line:
628
Called subprogram:
D and/or DL
T or TCA
M6
M6_SUB_PROG
T_SUB_PROG
M6_SUB_PROG
D_SUB_PROG
M6_SUB_PROG
T_SUB_PROG
M6_SUB_PROG
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9.17 Replacing functions by subprograms
9.17.3
Replacement of spindle functions
9.17.3.1
General
Function
When a coupling is active the following spindle functions can be replaced for leading spindles:
M40: Automatic gear stage change
M41 ... M45 Programmed gear stage change
SPOS, SPOSA and M19: Spindle positioning
Boundary conditions
To replace a spindle function, the following conditions must be met:
The programmed spindle must be the leading spindle of an active coupling.
Leading and following spindle are located in the same channel. This is only detected if
the leading spindle is located in the channel in which the coupling was closed. If the
leading spindle is changed to another channel, a gear stage change or positioning of
this spindle does not call the replacement subprogram.
A programmed gear stage change must result in a real gear stage change. For this
purpose, the programmed and active gear stage must differ.
In a block, only one spindle function can be replaced. Multiple replacements lead to the
termination of the program processing. The spindle functions, which are to be replaced,
must then be distributed over several blocks.
Parameterization
Spindle function
The spindle functions to be replaced by the subprogram are selected in the machine data:
MD30465 $MA_AXIS_LANG_SUB_MASK
Bit
0
Meaning
Gear-stage change automatic (M40) and directly (M41-M45)
Val
ue
Meaning
No replacement
Replacement through the subprogram set in MD15700 and MD15702
Spindle positioning with SPOS / SPOSA / M19
Val
ue
Meaning
No replacement
Replacement through the subprogram set in MD15700 and MD15702
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9.17 Replacing functions by subprograms
Subprogram: Name
The name of the replacement subprogram is entered in the machine data:
MD15700 $MN_LANG_SUB_NAME = "<subprogram name>"
Subprogram: Path
The path of the replacement subprogram is set in the machine data:
MD15702 $MN_LANG_SUB_PATH = <value>
Value
Meaning
Manufacturer cycle folder: /_N_CMA_DIR
User cycle folder: /_N_CUS_DIR
Siemens cycle folder: /_N_CST_DIR
System variable: Time that the replacement subprogram is called
The time that the replacement subprogram is called can be read using the system variable
$P_SUB_STAT:
Value
Meaning
Replacement not active
Replacement active, subprogram call is made at the block start
Replacement active, subprogram call is made at the block end
Block processing
If the replacement subprogram is called at the block start, after processing the replacement
subprogram, the block that initiated the call is processed. The replaced commands are no
longer processed.
If the replacement subprogram is called at the block end, the block that initiated calling the
replacement subprogram is first processed without the commands to be replaced. The
replacement subprogram is then subsequently called.
9.17.3.2
Replacement of M40 - M45 (gear stage change)
Function
When a coupling is active, the commands for gear stage change (M40, M41 ... M45) of the
leading spindle are replaced by calling a user-specific subprogram.
Parameterization
Activation
MD30465 $MA_AXIS_LANG_SUB_MASK, bit 0 = 1
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9.17 Replacing functions by subprograms
Time that the subprogram is called
M40
The time of the call cannot be set. The replacement subprogram is always called at the
block start.
M41 ... M45
The call time depends on the configured output behavior of the auxiliary function to the PLC
(see below MD22080):
Output before or during motion: Subprogram call at the start of the block.
Output after motion: Subprogram call at the end of the block
MD22080 $MC_AUXFU_PREDEF_SPEC[12 ... 16] (output behavior for M41 ... M45)
Bit
Value
Meaning
Output of the auxiliary function before the motion
Output of the auxiliary function during the motion
Output of the auxiliary function after the motion
System variable to transfer information
The replacement subroutine is provided with all of the information relevant to the functions
programmed in the block via system variables (see Chapter "System variable (Page 632)").
The data refer exclusively to the block, in which the function to be replaced has been
programmed.
9.17.3.3
Replacement of SPOS, SPOSA, M19 (spindle positioning)
Function
When a coupling is active, the positioning commands (SPOS, SPOSA or M19) of a leading
spindle are replaced by calling a user-specific subprogram (replacement subprogram).
Application example
When machining workpieces in parallel on a double-spindle machine, the spindles are coupled
through a coupling factor not equal to 1. When changing the tool, they must be brought to the
same position. The replacement subprogram opens the coupling, separately positions the
spindles at the tool change position and then recloses the coupling.
Parameterization
Activation
MD30465 $MA_AXIS_LANG_SUB_MASK, bit 1 = 1
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9.17 Replacing functions by subprograms
Time that the replacement subprogram is called
SPOS, SPOSA
The time of the call cannot be set. The replacement subprogram is always called at the
block start.
M19
The call time depends on the configured output behavior of the auxiliary function to the PLC
(see below MD22080):
Output before or during motion: Subprogram call at the start of the block.
Output after motion: Subprogram call at the end of the block
MD22080 $MC_AUXFU_PREDEF_SPEC[9]
Bit
Value
Meaning
Output of the auxiliary function before the motion
Output of the auxiliary function during the motion
Output of the auxiliary function after the motion
System variable for transferring information
The replacement subroutine is provided with all of the information relevant to the functions
programmed in the block via system variables (see Chapter "System variable (Page 632)").
The data refer exclusively to the block, in which the function to be replaced has been
programmed.
9.17.3.4
System variable
System variable
Meaning
$P_SUB_AXFCT
TRUE, if M40, M41 ... M45 replacement is active
$P_SUB_GEAR
Programmed or calculated gear stage
Outside the replacement subprogram: Gear stage of the master spindle
$P_SUB_AUTOGEAR
TRUE, if M40 was active in the block that had initiated the replacement
operation.
Outside the replacement subprogram: Actual setting in the interpreter
$P_SUB_LA
Contains the axis name of the leading spindle of the active coupling, which
had triggered the replacement operation.
Note
If the variable is used outside the replacement subprogram, program pro
cessing is cancelled with an alarm.
$P_SUB_CA
Contains the axis name of the following spindle of the active coupling, which
had triggered the replacement operation.
Note
If the variable is called outside the replacement subprogram, program pro
cessing is cancelled with an alarm.
632
$P_SUB_AXFCT
Contains the active replacement types corresponding to MD30465
$MA_AXIS_LANG_SUB_MASK
$P_SUB_SPOS
TRUE, if the SPOS replacement is active
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9.17 Replacing functions by subprograms
System variable
Meaning
$P_SUB_SPOSA
TRUE, if the SPOSA replacement is active
$P_SUB_M19
TRUE, if the M19 replacement is active
$P_SUB_SPOSIT
Contains the programmed spindle position
Note
If the variable is called outside the replacement subprogram, program pro
cessing is cancelled with an alarm.
$P_SUB_SPOSMODE
Contains the position approach mode for the programmed spindle position:
Value
Meaning
No change of the position approach mode
AC
IC
DC
ACP
ACN
OC
PC
Note:
If the variable is called outside the replacement subprogram, program pro
cessing is cancelled with an alarm.
$P_SUB_STAT
9.17.3.5
Block-related time when the replacement subprogram is called
Example: Gear stage change
In the subprogram, all commands to change the gear stage M40, M41 ... M45 are replaced.
Parameterization
Machine data
MD15700 $MN_LANG_SUB_NAME = "LANG_SUB"
MD15702 $MN_LANG_SUB_PATH = 0
MD22080 $MC_AUXFU_PREDEF_SPEC[12] = 'H21'
MD22080 $MC_AUXFU_PREDEF_SPEC[13] = 'H21'
MD22080 $MC_AUXFU_PREDEF_SPEC[13] = 'H21'
MD22080 $MC_AUXFU_PREDEF_SPEC[15] = 'H21'
MD22080 $MC_AUXFU_PREDEF_SPEC[16] = 'H21'
MD30465 $MA_AXIS_LANG_SUB_MASK[AX5] =
'H0001'
Meaning
Subprogram
Manufacturer's folder
M41: Output prior to motion
M42: Output prior to motion
M43: Output prior to motion
M44: Output prior to motion
M45: Output prior to motion
Replace gear change commands
Main program
Programming
Comment
PROC MAIN
N110 COUPON(S2,S1)
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; Close the synchronous spindle coupling
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9.17 Replacing functions by subprograms
Programming
Comment
N120 G01 F100 X100 S5000 M3 M43
; Subprogram call due to M43
N130 M40
; Switch-on automatic gear stage change
N140 M3 S1000
; Subprogram call due to S1000
; and as a result initiated automatic
; Gear stage change
N9999 M30
Replacement subprogram "LANG_SUB", version 1
Optimized for simplicity and velocity by directly addressing the spindles (S1: Leading spindle,
S2: Following spindle).
Programming
Comment
N1000 PROC LANG_SUB DISPLOF SBLOF
N1100 IF($P_SUB_AXFCT ==1)
; Replacement due to gear stage change
N1140
DELAYFSTON
; Start of stop delay area
N1150
COUPOF(S2,S1)
; Open synchronous spindle coupling
N1160
;gear stage change separately for leading and following spindles
N1170
M1=$P_SUB_GEAR M2=$P_SUB_GEAR
N1180
DELAYFSTON
; End of stop delay area
N1190
COUPON(S2,S1)
; Close the synchronous spindle coupling
N1200 ENDIF
...
N9999 RET
Replacement subprogram "LANG_SUB", version 2
Flexibility through indirect addressing using the system variable (leading spindle: $P_SUB_LA,
following spindle: $P_SUB_CA).
Programming
Comment
N1000 PROC LANG_SUB DISPLOF SBLOF
634
N1010 DEF AXIS _LA
; Bit memory for leading axis / leading spindle
N1020 DEF AXIS _CA
; Bit memory for following axis / following spindle
N1030 DEF INT _GEAR
; Bit memory for gear stage
N1100 IF($P_SUB_AXFCT==1)
; Replacement due to gear stage change
N1110
_GEAR=$P_SUB_GEAR
; Gear stage to be activated
N1120
_LA=$P_SUB_LA
; Axis name of the leading spindle
N1130
_CA=$P_SUB_CA
; Axis name of the following spindle
N1140
DELAYFSTON
; Start of stop delay area
N1150
COUPOF(_CA,_LA)
; Open synchronous spindle coupling
N1160
;gear stage change for leading and following spindles
N1170
M[AXTOSPI(_LA)]=_GEAR M[AXTOSPI(_CA)]=_GEAR
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9.17 Replacing functions by subprograms
Programming
Comment
N1180
DELAYFSTOF
; End of stop delay area
N1190
COUPON(_CA,_LA)
; Close the synchronous spindle coupling
N1200 ENDIF
...
N9999 RET
9.17.3.6
Example: Spindle positioning
In the subprogram, only the replacement of commands SPOS and SPOSA is explicitly executed.
Additional replacements should be supplemented in essentially the same fashion.
Parameterization
Machine data
Meaning
MD30465 $MA_AXIS_LANG_SUB_MASK[AX5] =
Replace positioning commands
'H0002'
MD22080 $MC_AUXFU_PREDEF_SPEC[9] = 'H0021' Output of M19 to the PLC before mo
tion
Setting Data
SD43240 $SA_M19_SPOS[AX5] = 260
SD43250 $SA_M19_SPOSMODE[AX5] = 4
Meaning
Spindle position for M19 = 260
Position approach mode for M19:
"Approach in the positive direction
(ACP)"
Main program
Programming
Comment
PROC MAIN
...
N210 COUPON(S2,S1)
; Activate synchronous spindle coupling
N220 SPOS[1]=100
; Position leading spindle with SPOS
...
N310 G01 F1000 X100 M19
; Position leading spindle with M19
Replacement subprogram "LANG_SUB", version 1
Optimized for simplicity and velocity by directly addressing the spindles (S1: Leading spindle,
S2: Following spindle).
Programming
Comment
N1000 PROC LANG_SUB DISPLOF SBLOF
N2100 IF($P_SUB_AXFCT==2)
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9.17 Replacing functions by subprograms
Programming
Comment
N2110 ;Replacement of SPOS/SPOSA/M19 for active synchronous spindle coupling
N2185
DELAYFSTON
; Start of stop delay area
N2190
COUPOF(S2,S1)
; Open synchronous spindle coupling
N2200
; Position leading and following spindles
N2210
IF($P_SUB_SPOS==TRUE) OR ($P_SUB_SPOSA==TRUE)
N2220
;SPOS and SPOSA are mapped to SPOS
N2230
CASE $P_SUB_SPOSMODE OF \
0 GOTOF LABEL1_DC \
1 GOTOF LABEL1_IC \
2 GOTOF LABEL1_AC \
3 GOTOF LABEL1_DC \
4 GOTOF LABEL1_ACP \
5 GOTOF LABEL1_ACN \
DEFAULT GOTOF LABEL_ERR
LABEL1_DC:
SPOS[1]=DC($P_SUB_SPOSIT) SPOS[2]=DC($P_SUB_SPOSIT)
LABEL1_IC:
DELAYFSTOF
GOTOF LABEL1_CONT
SPOS[1]=IC($P_SUB_SPOSIT) SPOS[2]=IC($P_SUB_SPOSIT)
DELAYFSTON
GOTOF LABEL1_CONT
LABEL1_AC:
SPOS[1]=AC($P_SUB_SPOSIT) SPOS[2]=AC($P_SUB_SPOSIT)
GOTOF LABEL1_CONT
LABEL1_ACP: SPOS[1]=ACP($P_SUB_SPOSIT) SPOS[2]=ACP($P_SUB_SPOSIT)
GOTOF LABEL1_CONT
LABEL1_ACN: SPOS[1]=ACN($P_SUB_SPOSIT) SPOS[2]=ACN($P_SUB_SPOSIT)
LABEL1_CONT:
N2250
ELSE
N2270
M1=19 M2=19
; Positioning the spindle using M19
; Leading and following spindles
N2280
ENDIF
; End replacement SPOS, SPOSA
N2285
DELAYFSTOF
; End of stop delay area
N2290
COUPON(S2,S1)
; Activate synchronous spindle coupling
N2410 ELSE
N2420
;from here processing further replacements
...
N3300 ENDIF
; End replacements
...
636
N9999 RET
; Normal end of program
LABEL_ERR: SETAL(61000)
; Error has occurred
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9.17 Replacing functions by subprograms
Replacement subprogram "LANG_SUB", version 2
Flexibility through indirect addressing using the system variable (leading spindle: $P_SUB_LA,
following spindle: $P_SUB_CA).
Programming
Comment
N1000 PROC LANG_SUB DISPLOF SBLOF
N1010 DEF AXIS _LA
; Leading axis/spindle
N1020 DEF AXIS _CA
; Following axis/spindle
N1030 DEF INT _LSPI
; Leading spindle number (programmed
; spindle)
N1040 DEF INT _CSPI
; Following spindle number
...
N2100 IF($P_SUB_AXFCT==2)
N2110 ;Replacement of SPOS/SPOSA/M19 for active synchronous spindle coupling
N2120
_LA=$P_SUB_LA
; Axis name of the leading spindle
N2130
_CA=$P_SUB_CA
; Axis name of the following spindle
N2140
_LSPI=AXTOSPI(_LA)
; Number of the leading spindle
N2180
_CSPI=AXTOSPI(_LA)
; Number of the following spindle
N2185
DELAYFSTON
; Start of stop delay area
N2190
COUPOF(_CA,_LA)
; Deactivate synchronous spindle coupling
N2200
; Position leading and following spindle:
N2210
IF($P_SUB_SPOS==TRUE) OR ($P_SUB_SPOSA==TRUE)
N2220
;SPOS and SPOSA are mapped to SPOS
N2230
CASE $P_SUB_SPOSMODE OF
0 GOTOF LABEL1_DC \
1 GOTOF LABEL1_IC \
2 GOTOF LABEL1_AC \
3 GOTOF LABEL1_DC \
4 GOTOF LABEL1_ACP \
5 GOTOF LABEL1_ACN \
DEFAULT GOTOF LABEL_ERR
LABEL1_DC:
SPOS[_LSPI]=DC($P_SUB_SPOSIT) SPOS[_CSPI]=DC($P_SUB_SPOSIT)
LABEL1_IC:
DELAYFSTOF
GOTOF LABEL1_CONT
SPOS[_LSPI]=IC($P_SUB_SPOSIT) SPOS[_CSPI]=IC($P_SUB_SPOSIT)
DELAYFSTON
GOTOF LABEL1_CONT
LABEL1_AC:
SPOS[_LSPI]=AC($P_SUB_SPOSIT) SPOS[_CSPI]=AC($P_SUB_SPOSIT)
GOTOF LABEL1_CONT
LABEL1_ACP: SPOS[_LSPI]=ACP($P_SUB_SPOSIT) POS[_CSPI]=ACP($P_SUB_SPOSIT)
GOTOF LABEL1_CONT
LABEL1_ACN: SPOS[_LSPI]=ACN($P_SUB_SPOSIT) POS[_CSPI]=ACN($P_SUB_SPOSIT)
LABEL1_CONT:
N2250
N2270
ELSE
; Position the spindle using M19
M[_LSPI]=19 M[_CSPI]=19
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9.17 Replacing functions by subprograms
Programming
Comment
N2280
ENDIF
N2285
DELAYFSTOF
; End of stop delay area
N2290
COUPON(_CA,_LA)
; Activate synchronous spindle coupling
N2410 ELSE
N2420
;from here processing further replacements
...
N3300 ENDIF
...
9.17.4
N9999 RET
; Normal end of program
LABEL_ERR: SETAL(61000)
; Error has occurred
Properties of the subprograms
General rules
The subprogram called when making the replacement can contain the command PROC and
the attribute SBLOF and DISPLOF.
The replacement is also made in the ISO language mode. However, the replacement
subprograms are exclusively processed in the standard language mode (Siemens). There
is an implicit switchover into the standard language mode. The original language mode is
reselected with the return jump from the replacement subprogram.
System variables are exclusively used to transfer information to the replacement
subprogram. Transfer parameters are not possible.
The behavior for a single block and attribute SBLOF depends on the setting in:
MD10702 IGNORE_SINGLEBLOCK_MASK, bit 14 (prevent single-block stop)
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9.17 Replacing functions by subprograms
Value
0
Meaning
The replacement subprogram behaves like a "normal" subprogram:
Return jump with M17: Stop at the end of the subprogram
Note
The output of the M function at the PLC depends on:
MD20800 $MC_SPF_END_TO_VDI, bit 0 (subprogram end to PLC)
- Bit 0 = 0: No output
- Bit 0 = 1: M17 is output to the PLC.
Return jump with RET: No stop at the end of the replacement subprogram
In the block, in which the replacement subprogram is called, only one stop is made. Regardless
of whether:
The subprogram was called at the block start and/or at the block end
Other subprograms are called in the subprogram
The subprogram is exited with M17 or RET
The single-block stop takes place for the replacement of M functions at the end of the replace
ment subprogram.
For the replacement of T and D/DL functions, the time of the single-block stop depends on
when the subprogram is called:
Call at block start: Single-block stop at the end of the block
Call at the block end: Single-block stop at the end of the replacement subprogram
For replacement subprograms with the attribute DISPLOF in the block display, the program
line is displayed as actual block, which resulted in the subprogram being called.
In the replacement subprogram, areas or the complete replacement subprogram can be
protected against interruptions, such as NC stop, read-in inhibit etc., using the
DELAYFSTON and DELAYFSTOF commands.
Replacements do not occur recursively, i.e. the function that has led to the replacement
subprogram call is no longer replaced if it is programmed again in the replacement
subprogram.
Output of auxiliary functions to PLC
When replacing auxiliary functions, calling the replacement subprogram does not initiate that
the auxiliary function is output to the PLC. The auxiliary function is only output if the auxiliary
function is reprogrammed in the replacement subprogram.
Behavior during block search
The replacement subprogram is also called in the search modes "Block search with calculation"
and "Block search with calculation in the program test mode" (SERUPRO). Any special
features must be implemented in the replacement subprogram using the system variable:
$P_SEARCH, $AC_SERUPRO.
Regarding collecting actions for "search with calculation", replacement subprograms behave
just like "normal" subprograms.
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9.18 Program runtime / part counter
9.17.5
Restrictions
Function replacements are not permitted in:
Synchronized actions
Technology cycles
There must be no blockwise synchronized actions in front of a block that contains functions
at the beginning to be replaced. See the paragraph below "Example for: Non-modal
synchronized actions".
Only the actions required for the respective replacements can be performed in the
replacement subprogram.
In a block, in which the replacement subprogram is called at the block end, the following
should be observed:
No modal subprogram call should be active
No subprogram return jump should be programmed
No program end should be programmed
Note
The controller does not monitor whether the function to be replaced has been realized
in the replacement subprogram.
Example of: Non-modal synchronized actions
MD30465 $MA_AXIS_LANG_SUB_MASK, bit 0 = 1 (gear stage change)
Program code
...
N1000 WHENEVER $AA_IM[X2] <= $AA_IM[X1] + 0.5 DO $AA_OVR[X1]=0
N1010 G1 X100 M43
...
If, in block N1010, the function M43 initiates that a replacement subprogram is called,
machining is interrupted and an alarm is output.
9.18
Program runtime / part counter
Information on the program runtime and workpiece counter are provided to support the
machine tool operator.
This information can be processed as system variables in the NC and/or PLC program. This
information is also available to be displayed on the operator interface.
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9.18 Program runtime / part counter
9.18.1
Program runtime
Function
The "Program runtime" function provides various timers to monitor technological processes,
which can be read into the part program and into synchronized actions via system variables.
There are two types of timers:
1. Standard timers
Standard timers are always active
2. Timers that can be activated
Timers that can be activated must be activated via machine data.
Standard timers
Time since the last control power-up
System variable
Meaning
$AN_SETUP_TIME
Time since the last control power-up with default values in minutes.
Is automatically reset to "0" in each control power-up with default values.
$AN_POWERON_TIME
Time since the last normal control power-up ("warm restart") in minutes.
Is automatically reset to "0" in each normal control power-up.
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9.18 Program runtime / part counter
Program runtime
The timers to measure the program runtimes are only available in AUTOMATIC mode.
System variable (channel-specific)
Description
$AC_ACT_PROG_NET_TIME
Actual net runtime of the current program in seconds
Net runtime means that the time, in which the program was stopped, has been
deducted.
If, in the AUTOMATIC operating mode, a part program is restarted from the
RESET channel state, then $AC_ACT_PROG_NET_TIME is automatically reset
to "0".
Additional properties:
The reset button does not reset $AC_ACT_PROG_NET_TIME back to "0",
but rather only stops the timer.
When starting an ASUB, $AC_ACT_PROG_NET_TIME is set to "0" and also
counts the runtime of the ASUB. At the end of an ASUB, it behaves just the
same as for the RESET button: The timer is only held, but is not set to "0".
$AC_ACT_PROG_NET_TIME is not reset when starting an event-controlled
program (PROG_EVENT).
The program runtime is only counted further if it involves a start, M30 or a
search PROG_EVENT.
The behavior of $AC_ACT_PROG_NET_TIME for GOTOS and override =
0% can be parameterized using MD27850 (refer to Section
"Parameterization")
Tip:
With $AC_PROG_NET_TIME_TRIGGER, $AC_ACT_PROG_NET_TIME can
be manipulated further.
$AC_OLD_PROG_NET_TIME
Net runtime in seconds of the program that has just been correctly ended
"Correctly ended" means that the program was not interrupted with RESET, but
instead ended properly with M30.
If a new program is started, $AC_OLD_PROG_NET_TIME remains unscanned,
till M30 is reached again.
Additional properties:
$AC_OLD_PROG_NET_TIME is set to "0" if the currently selected program
is edited.
$AC_OLD_PROG_NET_TIME is not changed at the end of an ASUB or an
event-controlled program (PROG_EVENT).
Tip:
The implied copying process of $AC_ACT_PROG_NET_TIME after
$AC_OLD_PROG_NET_TIME takes place only when
$AC_PROG_NET_TIME_TRIGGER is not written.
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9.18 Program runtime / part counter
System variable (channel-specific)
Description
$AC_OLD_PROG_NET_TIME_COUNT
Changes to $AC_OLD_PROG_NET_TIME
After POWER ON, $AC_OLD_PROG_NET_TIME_COUNT is at "0".
$AC_OLD_PROG_NET_TIME_COUNT is always increased if the control has
newly written to $AC_OLD_PROG_NET_TIME.
If the user terminates the running program with RESET,
$AC_OLD_PROG_NET_TIME and $AC_OLD_PROG_NET_TIME_COUNT re
main unchanged.
With $AC_OLD_PROG_NET_TIME_COUNT it can thus be ascertained, wheth
er $AC_OLD_PROG_NET_TIME was written.
Example:
If two programs running consecutively have the same runtime and were ended
correctly, then the user can identify this via the changed value in
$AC_OLD_PROG_NET_TIME_COUNT.
$AC_PROG_NET_TIME_TRIGGER
Trigger for the selective measurement of program sections.
The function is triggered by the writing of the value to the variable:
Val Function
ue
0
Not active
Terminates the measurement
$AC_OLD_PROG_NET_TIME = $AC_ACT_PROG_NET_TIME
$AC_ACT_PROG_NET_TIME = 0 and then continues to run
Starts the measurement
$AC_ACT_PROG_NET_TIME = 0
$AC_OLD_PROG_NET_TIME is not changed
Stops the measurement
$AC_OLD_PROG_NET_TIME is not changed
$AC_ACT_PROG_NET_TIME is not changed
Continues the stopped measurement
$AC_ACT_PROG_NET_TIME continues to run
$AC_OLD_PROG_NET_TIME is not changed
All system variables are reset to 0 as a result of POWER ON!
Note
Residual time for a workpiece
If the same workpieces are produced one after the other, then from the timer values:
Processing time for the last workpiece produced (see $AC_OLD_PROG_NET_TIME)
and
Current processing time (see $AC_ACT_PROG_NET_TIME)
the remaining residual time for a workpiece can be determined.
The residual time is displayed on the user interface in addition to the current processing time.
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9.18 Program runtime / part counter
Note
Using STOPRE
The system variables $AC_OLD_PROG_NET_TIME and
$AC_OLD_PROG_NET_TIME_COUNT do not generate any implicit preprocessing stop. This
is uncritical when used in the part program if the value of the system variables comes from the
previous program run. However, if the trigger for the runtime measurement
($AC_PROG_NET_TIME_TRIGGER) is written very frequently and as a result
$AC_OLD_PROG_NET_TIME changes very frequently, then an explicit STOPRE should be
used in the part program.
The following system variables are available for the timers that are activated/deactivated
through MD parameterization:
Timers that can be activated
Program runtime
The timers to measure the program runtimes are only available in AUTOMATIC mode.
System variable (channel-spe Description
cific)
$AC_OPERATING_TIME
Total runtime of NC programs in Automatic mode (in s)
In the automatic mode, the runtimes of all programs between NC start and end of pro
gram / reset are summed up.
The default is not to count in NC stop and override = 0%. Continued counting can be acti
vated at an override of 0% via MD27860.
The value is automatically reset to "0" every time the control powers up.
$AC_CYCLE_TIME
Runtime of the selected NC program (in seconds)
The runtime between NC Start and end of program / NC reset is measured in the selected
NC program.
The default is not to count in NC stop and override = 0%. Continued counting can be acti
vated at an override of 0% via MD27860.
The value is automatically reset to "0" every time a new NC program starts up. MD27860
can be set to ensure that this value will be deleted even if there is a jump to the beginning
of the program with GOTOS or in the event of ASUBs and PROG_EVENTs starting.
$AC_CUTTING_TIME
Processing time in seconds
The runtime of the path axes (at least one is active) is measured in all NC programs between
NC Start and end of program / NC reset without rapid traverse active. MD27860 can be
used to set whether measuring should only be conducted when the tool is active or inde
pendent of the tool state.
The measurement is interrupted when a dwell time is active.
The value is automatically reset to "0" every time the control powers up with default values.
Activation/deactivation
The timer that can be activated is switched-in/switched-out using machine data:
644
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9.18 Program runtime / part counter
MD27860 $MC_PROCESSTIMER_MODE, bit 0 - 2 = <value>
Bit
Value
0
1
Timer for $AC_OPERATING_TIME active.
Timer for $AC_CYCLE_TIME not active.
Timer for $AC_CYCLE_TIME active.
Timer for $AC_CUTTING_TIME not active.
Timer for $AC_CUTTING_TIME active.
Meaning
Timer for $AC_OPERATING_TIME not active.
Parameterization
Behavior of the timer that is always active
The behavior of the timer that is always active for GOTOS and override = 0% is set using
machine data:
MD27850 $MC_PROG_NET_TIMER_MODE
Bit
Value
$AC_ACT_PROG_NET_TIME is not reset to "0" in case of a jump with GOTOS to the
program start (initial setting).
With a jump with GOTOS to the start of the program, $AC_ACT_PROG_NET_TIME is
reset to "0", the value is first saved in $AC_OLD_PROG_NET_TIME and the program
counter $AC_OLD_PROG_NET_TIME_COUNT is incremented.
For override = 0%, $AC_ACT_PROG_NET_TIME is not increased. This means that the
program runtime is measured without the time for which the override was set to "0"
(basic setting).
Also for override = 0%, $AC_ACT_PROG_NET_TIME is increased. This means that
the program runtime is measured with the time for which the override was set to "0".
Meaning
Behavior of the timer that can be activated
The behavior of the timer that can be activated for certain functions (e.g. test run feedrate,
program test) is set using machine data:
MD27860 $MC_PROCESSTIMER_MODE
Bit
Value
No measurement during active dry run feedrate.
Measurement during active dry run feedrate.
No measurement during program test.
Measurement during program test.
5
6
Meaning
Only for bit 1 = 1 (timer for $AC_CYCLE_TIME is active)
0
$AC_CYCLE_TIME is reset to "0" also in case of Start through ASUB and
PROG_EVENTs.
$AC_CYCLE_TIME is not reset to "0" in case of Start through ASUB and
PROG_EVENTs.
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9.18 Program runtime / part counter
Bit
7
Value
Meaning
Only for bit 2 = 1 (timer for $AC_CUTTING_TIME is active)
0
Timer for $AC_CUTTING_TIME counts only for the active tool.
Timer for $AC_CUTTING_TIME counts independent of the tool.
Only for bit 1 = 1 (timer for $AC_CYCLE_TIME is active)
0
$AC_CYCLE_TIME is not reset to "0" in case of a jump with GOTOS to the program
start.
$AC_CYCLE_TIME is reset to "0" in case of a jump with GOTOS to the program start.
Only for bit 0, 1 = 1 (timer for $AC_OPERATING_TIME and $AC_CYCLE_TIME are active)
0
Counting of the program runtime is not continued at an override of 0%.
Counting of the program runtime continues at an override of 0%.
Supplementary conditions
Block search
No program runtimes are determined through block searches.
REPOS
The duration of a REPOS process is added to the current processing time
($AC_ACT_PROG_NET_TIME).
Examples
Example 1: Parameterization of the runtime measurement via MD27860
Activating the runtime measurement for the active NC program and hence no measurement
in case of active dry run feedrate and program test:
MD27860 $MC_PROCESSTIMER_MODE = 'H2'
Activating the measurement for the tool action time and measurement also with active dry
run feedrate and program test.
MD27860 $MC_PROCESSTIMER_MODE = 'H34'
Activating the measurement for the total runtime and the processing time with an active
tool, including measurement with a program test:
MD27860 $MC_PROCESSTIMER_MODE = 'H25'
Activating the measurement for the total runtime and the machining time (independent of
the tool), including measurement with a program test:
MD27860 $MC_PROCESSTIMER_MODE = 'Ha5'
Activating the measurement for the processing time with an active tool, including
measurements at an override = 0%, but not with a trial run feed active:
MD27860 $MC_PROCESSTIMER_MODE = 'H22'
Example 2: Measuring the duration of "mySubProgrammA"
Program code
...
N50 DO $AC_PROG_NET_TIME_TRIGGER=2
N60 FOR ii= 0 TO 300
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9.18 Program runtime / part counter
Program code
N70 mySubProgrammA
N80 DO $AC_PROG_NET_TIME_TRIGGER=1
N95 ENDFOR
N97 mySubProgrammB
N98 M30
After the program has processed line N80, the net runtime of "mySubProgrammA" is located
in $AC_OLD_PROG_NET_TIME.
The value from $AC_OLD_PROG_NET_TIME:
Is kept beyond M30.
Is updated each time the loop is run through.
Example 3: Measuring the duration of "mySubProgrammA" and "mySubProgrammC"
Program code
N10 DO $AC_PROG_NET_TIME_TRIGGER=2
N20 mySubProgrammA
N30 DO $AC_PROG_NET_TIME_TRIGGER=3
N40 mySubProgrammB
N50 DO $AC_PROG_NET_TIME_TRIGGER=4
N60 mySubProgrammC
N70 DO $AC_PROG_NET_TIME_TRIGGER=1
N80 mySubProgrammD
N90 M30
9.18.2
Workpiece counter
Function
Various counters with a range of values from 0 to 999,999,999 are available with the
"Workpiece counter" function in the form of channel-specific system variables. Read and write
access to the system variables is possible.
The following channel-specific machine data can be used to control counter activation, counter
reset timing and the counting algorithm.
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9.18 Program runtime / part counter
System variables for workpiece counting
System variable
$AC_REQUIRED_PARTS
Meaning
Number of workpieces to be produced (setpoint number of workpieces)
In this counter the number of workpieces at which the actual workpiece
count ($AC_ACTUAL_PARTS) will be reset to "0" can be defined.
MD27880 can be used to activate the generation of the display alarm:
"Channel %1 workpiece target = %2 reached"
and of the channel-specific NC/PLC interface signal:
DB21, DBX317.1 (workpiece target reached)
.
$AC_TOTAL_PARTS
Total number of completed workpieces (actual workpiece total)
This counter specifies the total number of workpieces produced since
the start time. The value is only automatically reset to "0" when the
control runs up with default values.
$AC_ACTUAL_PARTS
Number of completed workpieces (actual workpiece total)
This counter registers the total number of workpieces produced since
the start time. On condition that $AC_REQUIRED_PARTS > 0, the
counter is automatically reset to "0" when the required number of work
pieces ($AC_REQUIRED_PARTS) is reached.
$AC_SPECIAL_PARTS
Number of workpieces selected by the user
This counter supports user-specific workpiece counts. An alarm can be
defined to be output when the setpoint number of workpieces is reached
($AC_REQUIRED_PARTS). Users must reset the counter themselves.
Note
All workpiece counters are set to "0" when the control runs up with default values and can be
read and written independent of their activation.
Activation
The workpiece counter is activated with the machine data:
MD27880 $MC_PART_COUNTER (activation of workpiece counters)
Bit
648
Value
Meaning
$AC_REQUIRED_PARTS is active
Alarm / signal output in case of: $AC_ACTUAL_PARTS = $AC_REQUIRED_PARTS
Alarm / signal output in case of: $AC_SPECIAL_PARTS = $AC_REQUIRED_PARTS
$AC_TOTAL_PARTS is active.
$AC_TOTAL_PARTS is incremented by the value "1" through M02/M30.
$AC_TOTAL_PARTS is incremented by the value "1" through the M command defined
with MD27882[0].
$AC_TOTAL_PARTS is also active for program test / block search.
$AC_TOTAL_PARTS is incremented by the value "1" upon a jump back with GOTOS.
$AC_ACTUAL_PARTS is active
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9.18 Program runtime / part counter
Bit
Value
Meaning
$AC_ACTUAL_PARTS is incremented by the value "1" through M02/M30.
$AC_ACTUAL_PARTS is incremented by the value "1" through the M command de
fined with MD27882[1].
10
$AC_ACTUAL_PARTS is also active for program test / block search.
11
$AC_ACTUAL_PARTS is incremented by the value "1" upon a jump back with GOTOS.
12
$AC_SPECIAL_PARTS is active.
13
$AC_SPECIAL_PARTS is incremented by the value "1" through M02/M30.
$AC_SPECIAL_PARTS is incremented by the value 1 through the M command defined
with MD27882[2].
14
$AC_SPECIAL_PARTS is also active for program test / block search.
15
$AC_SPECIAL_PARTS is incremented by the value "1" upon a jump back with
GOTOS.
Workpiece counting with user-defined M command
If the corresponding bit is set in MD27880, then the count pulse can be triggered via a userdefined M command parameterized via the following machine data instead of via the end of
program M2/M30.
MD27882 $MC_PART_COUNTER_MCODE[<n>] (workpiece counting with user-defined M
command)
<n>
Meaning
MD27882[0] defines the M command in which $AC_TOTAL_PARTS is incremented.
MD27882[1] defines the M command in which $AC_ACTUAL_PARTS is incremented.
MD27882[2] defines the M command in which $AC_SPECIAL_PARTS is incremented.
The respective workpiece counter is incremented by "1", when a user-defined M command is
called.
Supplementary conditions
Mode change / NC RESET
The counters are not affected by a mode change or NC RESET.
$AC_REQUIRED_PARTS 0
Where $AC_REQUIRED_PARTS 0 and MD27880 $MC_PART_COUNTER, bit 0 = 1, the
counting procedure and the identity comparison set with MD27880 are not conducted for
all the active counters.
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9.18 Program runtime / part counter
Examples
Activation of the workpiece counter $AC_REQUIRED_PARTS:
MD27880 $MC_PART_COUNTER = 'H3'
$AC_REQUIRED_PARTS is active
Display alarm at: $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS
Activation of the workpiece counter $AC_TOTAL_PARTS:
MD27880 $MC_PART_COUNTER = 'H10'
MD27882 $MC_PART_COUNTER_MCODE[0] = 80
$AC_TOTAL_PARTS is active; the counter is incremented by the value 1 with each
M02.
$MC_PART_COUNTER_MCODE[0] has no significance.
Activation of the workpiece counter $AC_ACTUAL_PARTS:
MD27880 $MC_PART_COUNTER = 'H300'
MD27882 $MC_PART_COUNTER_MCODE[1] = 17
$AC_TOTAL_PARTS is active; the counter is incremented by a value of "1" with each
M17.
Activation of the workpiece counter $AC_SPECIAL_PARTS:
MD27880 $MC_PART_COUNTER = 'H3000'
MD27882 $MC_PART_COUNTER_MCODE[2] = 77
$AC_SPECIAL_PARTS is active.
The following takes place with every M77: $AC_SPECIAL_PARTS + 1
Deactivation of the workpiece counter $AC_ACTUAL_PARTS:
MD27880 $MC_PART_COUNTER = 'H200'
MD27882 $MC_PART_COUNTER_MCODE[1] = 50
$AC_ACTUAL_PARTS is inactive
Activation of all counters:
MD27880 $MC_PART_COUNTER = 'H3313'
MD27882 $MC_PART_COUNTER_MCODE[0] = 80
MD27882 $MC_PART_COUNTER_MCODE[1] = 17
MD27882 $MC_PART_COUNTER_MCODE[2] = 77
$AC_REQUIRED_PARTS is active
Display alarm at: $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS
$AC_TOTAL_PARTS is active; the counter is incremented by the value 1 with each
M02.
$MC_PART_COUNTER_MCODE[0] has no significance.
$AC_ACTUAL_PARTS is active; the counter is incremented by a value of "1" with each
M17.
$AC_SPECIAL_PARTS is active; the counter is incremented by a value of "1" with each
M77.
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9.19 Data lists
Workpiece counter $AC_ACTUAL_PARTS is not processed during the program test / block
search:
MD27880 $MC_PART_COUNTER = 'H700'
MD27882 $MC_PART_COUNTER_MCODE[1] = 75
$AC_ACTUAL_PARTS is active; the counter is incremented by a value of "1" with each
M75, apart from during the program test and search.
Cancellation of the count modes in the MD27880 $MC_PART_COUNTER with bit 0 = 1:
MD27882 $MC_PART_COUNTER_MCODE[0] = 41
MD27882 $MC_PART_COUNTER_MCODE[1] = 42
MD27882 $MC_PART_COUNTER_MCODE[2] = 43
Program code
Comment
...
N100 $AC_REQUIRED_PARTS=-10
; Value < 0 stop counting.
N200 M41 M43
; Not counting.
N300 M42
...
N500 $AC_REQUIRED_PARTS=52
; Value > 0: Counting in accordance with MD27880
activated.
N501 M43
; Counting.
N502 M42 M41
; Counting.
...
9.19
Data lists
9.19.1
Machine data
9.19.1.1
General machine data
Displaying machine data
Number
Identifier: $MM_
Description
9421
MA_AXES_SHOW_GEO_FIRST
Display geo axes of channel first
9422
MA_PRESET_MODE
PRESET / basic offset in JOG.
9423
MA_MAX_SKP_LEVEL
Maximum number of skip levels
SINUMERIK Operate
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9.19 Data lists
NC-specific machine data
Number
Identifier: $MN_
Description
10010
ASSIGN_CHAN_TO_MODE_GROUP
Channel valid in mode group
10125
EES_NC_NAME
NCU name for the generation of unique NC program
names in the EES mode
10280
PROG_FUNCTION_MASK
Comparison commands ">" and "<"
10700
PREPROCESSING_LEVEL
Program preprocessing level
10702
IGNORE_SINGLEBLOCK_MASK
Prevent single block stop
10707
PROG_TEST_MASK
Program test modes
10708
SERUPRO_MASK
Block change modes
10710
PROG_SD_RESET_SAVE_TAB
Setting data to be updated
10711
NC_LANGUAGE_CONFIGURATION
Manner of handling the languages, whose related op
tion or function is not activated.
10713
M_NO_FCT_STOPRE
M function with preprocessing stop
10715
M_NO_FCT_CYCLE
M function to be replaced by subprogram
10716
M_NO_FCT_CYCLE_NAME
Subroutine name for M function replacement
10717
T_NO_FCT_CYCLE_NAME
Name of the tool change cycle for T function replace
ment
10718
M_NO_FCT_CYCLE_PAR
M function replacement with parameters
10719
T_NO_FCT_CYCLE_MODE
Parameter assignment for T function replacement
11450
SEARCH_RUN_MODE
Block search parameter settings
11470
REPOS_MODE_MASK
Repositioning properties
11600
BAG_MASK
Mode group response to ASUB
11602
ASUP_START_MASK
Ignore stop conditions for ASUB
11604
ASUP_START_PRIO_LEVEL
Priorities, starting from which $MN_AS
UP_START_MASK is effective
11610
ASUP_EDITABLE
Activating a user-specific ASUB program
11612
ASUP_EDIT_PROTECTION_LEVEL
Protection level of user-specific ASUB program
11620
PROG_EVENT_NAME
Program name for PROG_EVENT
11625
FILE_ONLY_WITH_EXTENSION
When calling the program, only search for files with a
file ID
11626
CYCLES_ONLY_IN_CYCDIR
Only search for programs with interface in the cycle
directories
11717
D_NO_FCT_CYCLE_NAME
Subroutine name for D function replacement
15700
LANG_SUB_NAME
Name for replacement subprogram
15702
LANG_SUB_PATH
Call path for replacement subprogram
17200
GMMC_INFO_NO_UNIT
Global HMI info (without physical unit)
17201
GMMC_INFO_NO_UNIT_STATUS
Global HMI status info (without physical unit)
18045
EES_MODE_INFO
Mode in which the EES function operates
18360
MM_EXT_PROG_BUFFER_SIZE
FIFO buffer size for execution from external source
(DRAM)
18362
MM_EXT_PROG_NUM
Number of program levels that can be processed si
multaneously from external
652
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9.19 Data lists
9.19.1.2
Channel-specific machine data
Basic machine data
Number
Identifier: $MC_
Description
20000
CHAN_NAME
Channel name
20050
AXCONF_GEOAX_ASSIGN_TAB
Assignment of geometry axis to channel axis
20060
AXCONF_GEOAX_NAME_TAB
Geometry axis name in channel
20070
AXCONF_MACHAX_USED
Machine axis number valid in channel
20080
AXCONF_CHANAX_NAME_TAB
Channel axis name in channel [channel axis no.]: 0...7
20090
SPIND_DEF_MASTER_SPIND
Initial setting of master spindle in channel
20100
DIAMETER_AX_DEF
Geometry axis with transverse axis function
20106
PROG_EVENT_IGN_SINGLEBLOCK
Prog events ignore the single block
20107
PROG_EVENT_IGN_INHIBIT
Prog events ignore the read-in disable
20108
PROG_EVENT_MASK
Event-driven program calls
20109
PROG_EVENT_MASK_PROPERTIES
Prog events properties
20114
MODESWITCH_MASK
Setting for REPOS
20116
IGNORE_INHIBIT_ASUP
Execute user ASUBs completely in spite of read-in dis
able
20117
IGNORE_SINGLEBLOCK_ASUP
Process user ASUBs completely in spite of single-block
processing
20160
CUBIC_SPLINE_BLOCKS
Number of blocks for C spline
20170
COMPRESS_BLOCK_PATH_LIMIT
Maximum traversing length of NC block for compres
sion
20191
IGN_PROG_STATE_ASUP
Do not display the execution of the interrupt routine on
the operator panel
20192
PROG_EVENT_IGN_PROG_STATE
Do not display the execution of the program events on
the operator panel
20193
PROG_EVENT_IGN_STOP
Prog events ignore the Stop key
20194
IGNORE_NONCSTART_ASUP
ASUB start permitted despite pending alarm response
"NC Start disable" for certain user alarms
20210
CUTCOM_CORNER_LIMIT
Max. angle for intersection calculation with tool radius
compensation
20220
CUTCOM_MAX_DISC
Maximum value for DISC
20230
CUTCOM_CURVE_INSERT_LIMIT
Maximum angle for intersection calculation with tool ra
dius compensation
20240
CUTCOM_MAXNUM_CHECK_BLOCKS
Blocks for predictive contour calculation with tool radius
compensation
20250
CUTCOM_MAXNUM_DUMMY_BLOCKS
Maximum number of blocks without traversing motion
for TRC
20270
CUTTING_EDGE_DEFAULT
Basic setting of tool cutting edge without programming
20400
LOOKAH_USE_VELO_NEXT_BLOCK
Look Ahead to programmed following block velocity
20430
LOOKAH_NUM_OVR_POINTS
Number of override corner values for Look Ahead
20440
LOOKAH_OVR_POINTS
Override switch points for LookAhead
20500
CONST_VELO_MIN_TIME
Minimum time with constant velocity
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9.19 Data lists
Number
Identifier: $MC_
Description
20600
MAX_PATH_JERK
Path-related maximum jerk
20610
ADD_MOVE_ACCEL_RESERVE
Acceleration reserve for overlaid motions
20700
REFP_NC_START_LOCK
NC start disable without reference point
20750
ALLOW_GO_IN_G96
G0 logic for G96, G961
20800
SPF_END_TO_VDI
Subprogram end to PLC
21000
CIRCLE_ERROR_CONST
Circle end point monitoring constant
21010
CIRCLE_ERROR_FACTOR
Circle end point monitoring factor
21100
ORIENTATION_IS_EULER
Angle definition for orientation programming
21110
X_AXIS_IN_OLD_X_Z_PLANE
Coordinate system for automatic Frame definition
21200
LIFTFAST_DIST
Traversing path for fast retraction from the contour
21210
SETINT_ASSIGN_FASTIN
HW assignment of the ext. NCK input byte for NC pro
gram interrupt:
21202
LIFTFAST_WITH_MIRROR
Lift fast with mirror
Block search
Number
Identifier: $MC_
Description
20128
COLLECT_TOOL_CHANGE
Tool change commands to the PLC after block search
22600
SERUPRO_SPEED_MODE
Velocity with block search type 5
22601
SERUPRO_SPEED_FACTOR
Velocity factor for block search type 5
22621
ENABLE_START_MODE_MASK_PRT
Switches MD22620: START_MODE_MASK_ PRT for
SERUPRO search run
22622
DISABLE_PLC_START
Allow part program start via PLC
22680
AUTO_IPTR_LOCK
Disable interrupt pointer
Reset response
Number
Identifier: $MC_
Description
20110
RESET_MODE_MASK
Initial setting after RESET / parts program end
20112
START_MODE_MASK
Basic setting for NC start after part program start
20118
GEOAX_CHANGE_RESET
Allow automatic geometry axis change
20120
TOOL_RESET_VALUE
Tool length compensation when powering-up (RE
SET / part program end)
20121
TOOL_PRESEL_RESET_VALUE
Preselected tool on RESET
20130
CUTTING_EDGE_RESET_VALUE
Tool cutting edge length compensation when poweringup (RESET / part program end)
20140
TRAFO_RESET_VALUE
Transformation data set when powering-up (RE
SET / part program end)
20150
GCODE_RESET_VALUES
Initial setting of the G groups
20152
GCODE_RESET_MODE
Reset behavior of G groups
654
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9.19 Data lists
Number
Identifier: $MC_
Description
20156
MAXNUM_GCODES_EXT
Reset behavior of the external G groups
22620
START_MODE_MASK_PRT
Initial setting at special NC Start after power-up and at
RESET
Auxiliary function settings
Number
Identifier: $MC_
Description
22000
AUXFU_ASSIGN_GROUP
Auxiliary function group
22010
AUXFU_ASSIGN_TYPE
Auxiliary function type
22020
AUXFU_ASSIGN_EXTENSION
Auxiliary function extension
22030
AUXFU_ASSIGN_VALUE
Auxiliary function value
22200
AUXFU_M_SYNC_TYPE
Output timing of M functions
22210
AUXFU_S_SYNC_TYPE
Output timing of S functions
22220
AUXFU_T_SYNC_TYPE
Output timing of T functions
22230
AUXFU_H_SYNC_TYPE
Output timing of H functions
22240
AUXFU_F_SYNC_TYPE
Output timing of F functions
22250
AUXFU_D_SYNC_TYPE
Output timing of D functions
22400
S_VALUES_ACTIVE_AFTER_RESET
S function active after RESET
22410
F_VALUES_ACTIVE_AFTER_RESET
F function active after RESET
22510
GCODE_GROUPS_TO_PLC
G codes that are output to the NCK/PLC interface on
block change/RESET
22550
TOOL_CHANGE_MODE
New tool offset for M function
22560
TOOL_CHANGE_M_CODE
M function for tool change
Memory settings
Number
Identifier: $MC_
Description
27900
REORG_LOG_LIMIT
Percentage of IPO buffer for log file enable
28000
MM_REORG_LOG_FILE_MEM
Memory size for REORG (DRAM)
28010
MM_NUM_REORG_LUD_MODULES
Number of blocks for local user variables for REORG
28020
MM_NUM_LUD_NAMES_TOTAL
Number of local user variables (DRAM)
28040
MM_LUD_VALUES_MEM
Memory size for local user variables (DRAM)
28050
MM_NUM_R_PARAM
Number of channelspecific R parameters (SRAM)
28060
MM_IPO_BUFFER_SIZE
Number of NC blocks in IPO buffer (DRAM)
28070
MM_NUM_BLOCKS_IN_PREP
Number of blocks for block preparation (DRAM)
28080
MM_NUM_USER_FRAMES
Number of settable Frames (SRAM)
28090
MM_NUM_CC_BLOCK_ELEMENTS
Number of block elements for compile cycles (DRAM)
28100
MM_NUM_CC_BLOCK_USER_MEM
Size of block memory for compile cycles (DRAM)
28400
MM_ABSBLOCK
Activating basis blocks with absolute values
28402
MM_ABSBLOCK_BUFFER_CONF
Dimension size of upload buffer
28500
MM_PREP_TASK_STACK_SIZE
Stack size of preparation task (DRAM)
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9.19 Data lists
Program runtime and workpiece counter
Number
Identifier: $MC_
Description
27860
PROCESSTIMER_MODE
Activate the runtime measurement
27880
PART_COUNTER
Activate the workpiece counter
27882
PART_COUNTER_MCODE[ ]
Workpiece counting via M command
9.19.1.3
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
30465
AXIS_LANG_SUB_MASK
Substitution of NC language commands
30550
AXCONF_ASSIGN_MASTER_CHAN
Reset position of channel for axis change
30600
FIX_POINT_POS
Fixed value positions of axes with G75
33100
COMPRESS_POS_TOL
Maximum deviation with compensation
9.19.2
Setting data
9.19.2.1
Channelspecific setting data
Number
Identifier: $SC_
Description
42000
THREAD_START_ANGLE
Start angle for thread
42010
THREAD_RAMP_DISP
Acceleration behavior of axis when thread cutting
42100
DRY_RUN_FEED
Dry run feedrate
42200
SINGLEBLOCK2_STOPRE
Activate debug mode for SBL2
42444
TARGET_BLOCK_INCR_PROG
Continuation mode after block search with calculation
42700
EXT_PROG_PATH
Program path for external subroutine call EXTCALL
42750
ABSBLOCK_ENABLE
Enable basic block display
42990
MAX_BLOCKS_IN_IPOBUFFER
Maximum number of blocks in the interpolation buffer
9.19.3
Signals
9.19.3.1
Signals to NC
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Emergency stop
DB10.DBX56.1
DB2600.DBX0.1
656
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K1: Mode group, channel, program operation, reset response
9.19 Data lists
9.19.3.2
Signals to mode group
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
AUTOMATIC mode
DB11.DBX0.0
DB3000.DBX0.0
MDA mode
DB11.DBX0.1
DB3000.DBX0.1
JOG mode
DB11.DBX0.2
DB3000.DBX0.2
Mode change disable
DB11.DBX0.4
DB3000.DBX0.4
Mode group stop
DB11.DBX0.5
DB3000.DBX0.5
Mode group stop axes plus spindles
DB11.DBX0.6
DB3000.DBX0.6
Mode group reset
DB11.DBX0.7
DB3000.DBX0.7
Machine function teach in
DB11.DBX1.0
DB3000.DBX1.0
Machine function REPOS
DB11.DBX1.1
Machine function REF
DB11.DBX1.2
DB3000.DBX1.2
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Selected mode AUTOMATIC
DB11.DBX4.0
Selected mode MDA
DB11.DBX4.1
Selected JOG mode
DB11.DBX4.2
Selected machine function teach in
DB11.DBX5.0
Selected machine function REPOS
DB11.DBX5.1
Selected machine function REF
DB11.DBX5.2
Active mode AUTOMATIC
DB11.DBX6.0
DB3100.DBX0.0
Active mode MDA
DB11.DBX6.1
DB3100.DBX0.1
Active mode JOG
DB11.DBX6.2
DB3100.DBX0.2
Mode group ready
DB11.DBX6.3
DB3100.DBX0.3
Mode group reset performed
DB11.DBX6.4
DB3100.DBX0.4
NC internal JOG active
DB11.DBX6.5
All channels in the reset state
DB11.DBX6.7
DB3100.DBX0.7
Active machine function teach in
DB11.DBX7.0
DB3100.DBX1.0
Active machine function REPOS
DB11.DBX7.1
Active machine function REF
DB11.DBX7.2
DB3100.DBX1.2
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Activate DRF
DB21, ... .DBX0.3
DB320x.DBX0.3
Activate single block
DB21, ... .DBX0.4
DB320x.DBX0.4
Activate M01
DB21, ... .DBX0.5
DB320x.DBX0.5
Activate dry run feedrate
DB21, ... .DBX0.6
DB320x.DBX0.6
9.19.3.3
9.19.3.4
Signals to NC
Signals to channel
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9.19 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
PLC action completed
DB21, ... .DBX1.6
Activate program test
DB21, ... .DBX1.7
DB320x.DBX1.7
Skip block levels: /0 to /7
DB21, ... .DBX2.0-7
DB320x.DBX2.0-7
Read-in disable
DB21, ... .DBX6.1
DB320x.DBX6.1
Program level abort
DB21, ... .DBX6.4
DB320x.DBX6.4
NC start disable
DB21, ... .DBX7.0
DB320x.DBX7.0
NC start
DB21, ... .DBX7.1
DB320x.DBX7.1
NC Stop at block limit
DB21, ... .DBX7.2
DB320x.DBX7.2
NC stop
DB21, ... .DBX7.3
DB320x.DBX7.3
NC Stop axes plus spindles
DB21, ... .DBX7.4
DB320x.DBX7.4
Reset
DB21, ... .DBX7.7
DB330x.DBX3.7
REPOSPATHMODE
DB21, ... .DBX31.0-2
REPOSMODEEDGE
DB21, ... .DBX31.4
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
DRF selected
DB21, ... .DBX24.3
DB170x.DBX0.3
Select NCK associated M01
DB21, ... .DBX24.4
M01 selected
DB21, ... .DBX24.5
DB170x.DBX0.5
Dry run feedrate selected
DB21, ... .DBX24.6
DB170x.DBX0.6
REPOSPATHMODE 0 - 2
DB21, ... .DBX25.0-2
Feedrate override for rapid traverse selected
DB21, ... .DBX25.3
DB170x.DBX1.3
REPOS MODE EDGE
DB21, ... .DBX25.4
Program test selected
DB21, ... .DBX25.7
DB170x.DBX1.7
Skip block selected /0 - /7
DB21, ... .DBX26.0-7
DB170x.DBX2.0-7
Skip block selected /8
DB21, ... .DBX27.0
DB170x.DBX3.0
Skip block selected /9
DB21, ... .DBX27.1
DB170x.DBX3.1
REPOSPATHMODE 0 - 2
DB21, ... .DBX31.0-2
REPOS MODE EDGE
DB21, ... .DBX31.4
Skip block active /8
DB21, ... .DBX31.6
DB320x.DBX15.6
Skip block active /9
DB21, ... .DBX31.7
DB320x.DBX15.7
Execution from external active
DB21, ... .DBX32.0
DB330x.DBX0.0
Action block active
DB21, ... .DBX32.3
DB330x.DBX0.3
Approach block active
DB21, ... .DBX32.4
DB330x.DBX0.4
M0/M1 active
DB21, ... .DBX32.5
DB330x.DBX0.5
Last action block active
DB21, ... .DBX32.6
DB330x.DBX0.6
Block search active
DB21, ... .DBX33.4
DB330x.DBX1.4
M02/M30 active
DB21, ... .DBX33.5
DB330x.DBX1.5
Transformation active
DB21, ... .DBX33.6
DB330x.DBX1.6
9.19.3.5
658
Signals from channel
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K1: Mode group, channel, program operation, reset response
9.19 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Program test active
DB21, ... .DBX33.7
DB330x.DBX1.7
Program state: Running
DB21, ... .DBX35.0
DB330x.DBX3.0
Program state: Waiting
DB21, ... .DBX35.1
DB330x.DBX3.1
Program state: Stopped
DB21, ... .DBX35.2
DB330x.DBX3.2
Program state: Interrupted
DB21, ... .DBX35.3
DB330x.DBX3.3
Program state: Aborted
DB21, ... .DBX35.4
DB330x.DBX3.4
Channel state: Active
DB21, ... .DBX35.5
DB330x.DBX3.5
Channel state: Interrupted
DB21, ... .DBX35.6
DB330x.DBX3.6
Channel state: Reset
DB21, ... .DBX35.7
DB330x.DBX3.7
Interrupt handling active
DB21, ... .DBX36.4
Channel is ready
DB21, ... .DBX36.5
DB330x.DBX4.5
Read-in enable is ignored
DB21, ... .DBX37.6
Stop at the end of block with SBL is suppressed
DB21, ... .DBX37.7
Number of the active G function of G function group 1 n
(8 bit int)
DB21, ... .DBB208-271
DB350x.DBB0-63
Workpiece setpoint reached
DB21, ... .DBX317.1
DB330x.DBX4001.1
ASUB is stopped
DB21, ... .DBX318.0
DB330x.DBX4002.0
Block search via program test is active
DB21, ... .DBX318.1
REPOS MODE EDGEACKN
DB21, ... .DBX319.0
Repos Path Mode Ackn: 0 - 2
DB21, ... .DBX319.1-3
Repos DEFERAL Chan
DB21, ... .DBX319.5
Display of the triggering event in case of event-driven pro
gram call
DB21, ... .DBX376.0-7
DB330x.DBB4004
ASUB is active
DB21, ... .DBX378.0
DB330x.DBB4006.0
ASUB with suppressed display update is active
DB21, ... .DBX378.1
DB330x.DBB4006.1
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
REPOSDELAY
DB31, ... .DBX10.0
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
REPOS offset
DB31, ... .DBX70.0
REPOS offset valid
DB31, ... .DBX70.1
REPOS Delay Ackn
DB31, ... .DBX70.2
REPOSDELAY
DB31, ... .DBX72.0
Path axis
DB31, ... .DBX76.4
DB390x.DBX1002.4
9.19.3.6
9.19.3.7
Signals to NC
Signals from axis/spindle
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9.19 Data lists
660
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K2: Axis Types, Coordinate Systems, Frames
10.1
Brief description
10.1.1
Axes
10
Machine axes
Machine axes are the axes that actually exist on a machine tool.
Channel axes
Every geometry axis and every special axis is assigned to a channel and, therefore, a channel
axis. Geometry axes and additional axes are always traversed in "their" channel.
Geometry axes
The three geometry axes always make up a fictitious rectangular coordinate system, the basic
coordinate system (BCS).
By using FRAMES (offset, rotation, scaling, mirroring), it is possible to image geometry axes
of the workpiece coordinate system (WCS) on the BCS.
Special axes
In contrast to geometry axes, no geometrical relationship is defined between the special axes.
Path axes
Path axes are interpolated together (all the path axes of a channel have a common path
interpolator).
All the path axes of one channel have the same acceleration phase, constant travel phase and
delay phase.
Positioning axes
Positioning axes are interpolated separately (each positioning axis has its own axis
interpolator). Each positioning axis has its own feedrate and acceleration characteristic.
Synchronized axes
Synchronous axes are interpolated together with path axes (all path axes and synchronous
axes of one channel have a common path interpolator).
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10.1 Brief description
All path axes and all synchronous axes of a channel have the same acceleration phase,
constant travel phase and deceleration phase.
Axis configuration
The machine data below are used to assign the geometry axes, special axes, channel axes
and machine axes as well as the names of the individual axis types:
MD20050 $MC_AXCONF_GEOAX_ASIGN_TAB (assignment of geometry axis to channel
axis)
MD20060 $MC_AXCONF_GEOAX_NAME_TAB (name of the geometry axis in the channel)
MD20070 $MC_AXCONF_MACHAX_USED (machine axis number valid in channel)
MD20080 $MC_AXCONF_CHANAX_NAME_TAB (name of the channel axis in the channel)
MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name)
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX (assignment of spindle to machine axis)
Replaceable geometry axes
The "Replaceable geometry axes" function allows the geometry axes in a grouping to be
replaced by other channel axes.
Axes that are initially configured as synchronous special axes in a channel can replace any
selected geometry axis in response to a program command.
Link axis
Link axes are axes, which are physically connected to another NCU and whose position is
controlled from this NCU. Link axes can be assigned dynamically to channels of another NCU.
Link axes are not local axes from the perspective of a particular NCU.
The axis container concept is used for the dynamic modification of the assignment to an NCU.
Axis replacement with GET and RELEASE from the part program is not available for link axes
across NCU boundaries.
The link axes are described in
References:
Function Manual, Extended Functions; Several Operator Panels on Multiple NCUs, Distributed
Systems (B3)
Axis container
An axis container is a circular buffer data structure, in which local axes and/or link axes are
assigned to channels. The entries in the circular buffer can be shifted cyclically.
In addition to the direct reference to local axes or link axes, the link axis configuration in the
logical machine axis image also allows references to axis containers.
This type of reference consists of:
Axis container number
A slot (circular buffer location within the corresponding container)
662
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K2: Axis Types, Coordinate Systems, Frames
10.1 Brief description
The entry in a circular buffer location contains:
A local axis
or
A link axis
The axis container function is described in
References:
Function Manual, Extended Functions; Several Operator Panels on Multiple NCUs, Distributed
Systems (B3)
10.1.2
Coordinate systems
MCS
The machine coordinate system (MCS) has the following properties:
It is defined by the machine axes.
The machine axes can be perpendicular to each other to form Cartesian system or arranged
in any other way.
The names of the machine axes can be defined.
The machine axes can be linear or rotary axes.
BCS
The basic coordinates system (BKS) has the following properties:
The geometry axes form a perpendicular Cartesian coordinate system.
The BCS is derived from a kinematic transformation of the MCS.
BZS
The basic zero system (BZS) is the basic coordinate system with a basic offset.
SZS
The settable zero system (SZS) is the workpiece coordinate system with a programmable
frame from the viewpoint of the WCS. The workpiece zero is defined by the settable frames
G54 to G599.
WCS
The workpiece coordinate system (WCS) has the following properties:
In the workpiece coordinate system all the axes coordinates are programmed (parts
program).
It is made up of geometry axes and special axes.
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K2: Axis Types, Coordinate Systems, Frames
10.1 Brief description
Geometry axes always form a perpendicular Cartesian coordinate system
Special axes form a coordinate system without any geometrical relation between the special
axes.
The names of the geometry axes and special axes can be defined.
The workpiece coordinate system can be translated, rotated, scaled or mirrored with
FRAMES (TRANS, ROT, SCALE, MIRROR).
Multiple translations, rotational movements, etc., are also possible.
Zero offset external
The zero offset external has the following properties:
At a time defined in the PLC, a predefined additional zero offset between the basic and the
workpiece coordinate systems is activated.
The magnitudes of the offsets can be set by the following for each of the axes involved:
PLC
Operator Panel
Part program
Activated offsets take effect at the instant the first motion block of the relevant axes is
processed after offset activation. The offsets are superimposed on the programmed path
(no interpolation).
The velocity, at which the zero offset external is applied, is as follows:
Programmed F value plus +1/2 JOG velocity
The zero offset external is traversed at the end of G0 blocks.
The activated offsets are retained after RESET and end of program.
After POWER ON, the last active offset is still stored in the control but must be reactivated
by the PLC.
10.1.3
Frames
A frame is a closed calculation rule (algorithm) that translates one Cartesian coordinate system
into another.
Frame components
A frame consists of the following components:
Frame components
Programmable with:
Offset
TRANS
Coarse offset
ATRANS (additive translation component)
CTRANS (work offset for multiple axes)
G58 (axial work offset)
Fine offset
CFINE
G59 (axial work offset)
664
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
K2: Axis Types, Coordinate Systems, Frames
10.1 Brief description
Frame components
Programmable with:
Rotation
ROT / ROTS
AROT / AROTS
CROTS
Scaling
SCALE
ASCALE
Mirroring
MIRROR
AMIRROR
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Frame components
Coarse and fine offsets
As the assignment of machine axes to channel axes and, in particular, to geometry axes, can
be different in all channels, there is consequently no unique cross-channel geometric
relationship between the channel axes. Therefore, only offset, scaling and mirroring is possible
for NCU-global frames. Rotations are not possible.
G58: Absolute axis-specific programmable work offset (coarse offset)
The absolute component of the translatory offset (coarse offset) is programmed axisspecifically with G58. The additive component of the translatory offset (fine offset) is retained.
G59: Additive axis-specific programmable work offset (fine offset)
The additive component of the translatory offset (fine offset) is programmed axis-specifically
with G59. The absolute component of the translatory offset (coarse offset) is retained.
G59 can only be used when the fine offset has been released:
MD18600 $MN_MM_FRAME_FINE_TRANS = TRUE
MD24000 $MC_FRAME_ADD_COMPONENTS = TRUE
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K2: Axis Types, Coordinate Systems, Frames
10.1 Brief description
Rotation
Orientations in space are defined via frame rotations as follows:
Rotation with ROT defines the individual rotations for all geometry axes.
Solid angles with ROTS, AROTS, CROTS define the orientation of a plane in space.
Frame rotation with TOFRAME defines a frame with a Z axis pointing in the tool direction.
Scaling
SCALE is used to program the programmable scale factors for all geometry axes and special
axes.
If a new scaling is to be based on a previous scaling, rotation, translation or mirroring, then
ASCALE must be programmed.
Mirroring
The following machine data is used to set how the mirroring is to be performed:
MD10610 $MN_MIRROR_REF_AX
Concatenation
Frames and frame components can be combined using the concatenation operator ":". The
channel-specific active frame $P_ACTFRAME results, for example, from the chaining of all
active frames of the channel:
$P_ACTFRAME =
$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :
$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :
$P_ACTBFRAME : $P_IFRAME : $P_GFRAME :
$P_TOOLFRAME : $P_WPFRAME : $P_TRAFRAME:
$P_PFRAME : $P_ISO4FRAME : $P_CYCFRAME
Supplementary conditions
Incremental dimensioning G91
Incremental programming with G91 is defined such that the offset value is traversed additively
to the incrementally programmed value when a work offset is selected.
The behavior depends on the setting in the setting data:
SD42440 $SC_FRAME_OFFSET_INCR_PROG (work offsets in frames)
666
Value
Meaning
Work offset is applied on FRAME and incremental programming of an axis (= default setting).
Only the programmed path is traversed.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
K2: Axis Types, Coordinate Systems, Frames
10.2 Axes
Consistency
When writing, reading and activating frames, e.g. using channel coordination, the user is solely
responsible for achieving consistent behavior within the channels. Cross-channel activation of
frames is not supported.
10.2
Axes
10.2.1
Overview
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Relationship between geometry axes, special axes and machine axes
Basic Functions
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K2: Axis Types, Coordinate Systems, Frames
10.2 Axes
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Local and external machine axes (link axes)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
K2: Axis Types, Coordinate Systems, Frames
10.2 Axes
10.2.2
Machine axes
Meaning
Machine axes are the axes that actually exist on a machine tool.
=
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;
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Figure 10-4
Machine axes X, Y, Z, B, S on a Cartesian machine
Application
The following can be machine axes:
Geometry axes X, Y, Z
Orientation axes A, B, C
Loader axes
Tool turrets
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K2: Axis Types, Coordinate Systems, Frames
10.2 Axes
Axes for tool magazine
Axes for automatic tool changer
Spindle sleeves
Axes for pallet changers
Etc.
10.2.3
Channel axes
Meaning
Each geometry axis and each special axis is assigned to a channel. Geometry axes and
additional axes are always traversed in "their" channel.
10.2.4
Geometry axes
Meaning
The three geometry axes always make up a fictitious rectangular coordinate system.
By using FRAMES (offset, rotation, scaling, mirroring), it is possible to image geometry axes
of the workpiece coordinate system (WCS) on the BCS.
Application
Geometry axes are used to program the workpiece geometry (the contour).
Plane selection G17, G18 and G19 (DIN 66217) always refers to the three geometry axes. That
is why it is advantageous to name the three geometry axes X, Y and Z.
10.2.5
Special axes
Significance
In contrast to geometry axes, no geometrical relationship is defined between the special axes.
Note
Geometry axes have an exactly defined relationship in the form of a rightangled coordinate
system.
670
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K2: Axis Types, Coordinate Systems, Frames
10.2 Axes
Special axes are part of the basic coordinate system (BCS). With FRAMES (translation,
scaling, mirroring), special axes of the workpiece coordinate system can be mapped on the
basic coordinate system.
Application
Typical special axes are:
Rotary axes
Machine tool axes
Tool revolver axes
Loader axes
10.2.6
Path axes
Meaning
Path axes are interpolated together (all the path axes of a channel have a common path
interpolator).
All the path axes of one channel have the same acceleration phase, constant travel phase and
delay phase.
The feedrate programmed under address F (path feedrate) applies to all the path axes
programmed in a block, with the following exceptions:
An axis has been programmed that has been defined as having no control over the path
velocity with instruction FGROUP.
Axes programmed with instructions POS or POSA have an individual feedrate setting (axis
interpolator).
Application
Path axes are used to machine the workpiece with the programmed contour.
10.2.7
Positioning axes
Meaning
Positioning axes are interpolated separately (each positioning axis has its own axis
interpolator). Each positioning axis has its own feedrate and acceleration characteristic.
Positioning axes can be programmed in addition to path axes (even in the same block). Path
axis interpolation (path interpolator) is not affected by the positioning axes. Path axes and the
individual positioning axes do not necessarily reach their block end points at the same time.
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10.2 Axes
Instructions POS and POSA are used to program positioning axes and define block change
criteria:
POS
Block change takes place when the path axes and positioning axes have reached their
block end points.
POSA
Block change takes place when the path axes have reached their end of block position.
Positioning axes continue to traverse beyond block limits to their block end point.
Concurrent positioning axes differ from positioning axes in that they:
Only receive their block end points from the PLC
Can be started at any time (not at block limits)
Do not affect the execution of current part programs.
Application
Typical positioning axes are:
Loaders for moving workpieces away from machine
Tool magazine/turret
Reference
For further information, see Section "P3: Basic PLC program for SINUMERIK 840D sl
(Page 821)" and "S1: Spindles (Page 1199)".
References:
Function Manual, Extended Functions; Positioning Axes (P2)
Function Manual, Special Functions; Gantry Axes (G1)
Function Manual, Special Functions; Axis Couplings and ESR (M3)
Function Manual, Extended Functions; Oscillation (P5)
Function Manual, Synchronized Actions
10.2.8
Main axes
Meaning
A main axis is an axis that is interpolated by the main run.
672
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10.2 Axes
This interpolation can be started as follows:
From synchronized actions
(as command axes due to an event via block-related, modal or static synchronized actions)
From the PLC via special function blocks in the basic PLC program
(named as a concurrent positioning axis or a PLC axis)
Via the setting data or from the part program
(as an asynchronous or block-synchronous oscillating axis)
Channel control
An axis interpolated by the main axis reacts in terms of:
NC stop
Alarm handling
Program control
End of program
RESET
Note
The response at the end of the program varies. The axis movement need not always be
completed and, therefore, may carry on beyond the end of the program.
Application
Certain axes in the main run can be decoupled at the channel response triggered by the NC
program sequence and controlled from the PLC. These axes are also interpolated in the main
run and respond independently for the channel and program sequence.
A PLC-controlled axis can then be controlled independently by the NC. This concerns the
following actions:
The sequence for canceling the axis (equivalent to delete distancetogo)
Stopping or interrupting the axis
Continuing the axis (continue sequence of motion)
Resetting the axis to its basic status
10.2.9
Synchronized axes
Meaning
Synchronous axes are components of the path axes, which are not referenced in order to
calculate the tool path velocity. They are interpolated together with path axes (all path axes
and synchronous axes of one channel have a common path interpolator).
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10.2 Axes
All path axes and all synchronous axes of a channel have the same acceleration phase,
constant travel phase and deceleration phase.
The feedrate (path feedrate) programmed under address F applies to all the path axes
programmed in a block but not to the synchronous axes.
Synchronous axes take the same time to cover the programmed path as the path axes.
FGROUP command
The command FGROUP specifies whether the axis is a feed-defining path axis (used to calculate
the path velocity) or a synchronous axis (not used to calculate the path velocity).
Example
Program code
Comment
N05 G00 G94 G90 M3 S1000 X0 Y0 Z0
N10 FGROUP(X,Y)
; Axes X/Y are path axes,
Z is a synchronous axis.
N20 G01 X100 Y100 F1000
; Progr. feedrate 1000 mm/min.
Feedrate of axis X = 707 mm/min.
Feedrate of axis Y = 707 mm/min.
N30 FGROUP (X)
; Axis X is a path axis,
axis Y is a synchronous axis
N20 X200 Y150
; Progr. Feedrate 1000 mm/min
Feedrate of Axis X = 1000 mm/min
Feedrate of Axis Y is set to 500 mm/min,
because only half the distance is to be
traversed.
Note
The channel axis name must be used for the FGROUP command.
This is defined by the machine data:
MD20080 $MC_AXCONF_CHANAX_NAME_TAB (name of the channel axis in the channel)
Application
In the case of helical interpolation FGROUP can be programmed to determine whether:
The programmed feedrate should be valid on the path
(all three programmed axes are path axes)
The programmed feedrate should be valid on the circle
(two axes are path axes and the infeed axis is a synchronous axis)
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10.2 Axes
10.2.10
Axis configuration
Assigning geometry, special, channel and machine axes.
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10.2 Axes
Figure 10-5
Axis configuration
Special features
Leading zeros for user-defined axis names are ignored:
MD10000 `$MN_AXCONF_MACHAX_NAME_TAB[0] = X01 corresponds to X1
The geometry axes must be assigned to the channel axes in ascending order without any
gaps.
All channel axes that are not geometry axes are special axes.
Channel axis gaps
Normally, each channel axis defined in machine data MD20080
$MC_AXCONF_CHANAX_NAME_TAB must be assigned a machine axis.
In order to simplify commissioning series of machines with a different number of machine axes,
channel axes may also be defined, which are not assigned to any machine axis. As a result,
gaps can occur in the numbering sequence of the channel axes.
Any channel axis gaps must be explicitly enabled:
MD11640 $MN_ENABLE_CHAN_AX_GAP = 1
Without being enabled, a value of 0 in machine data:
MD20070 $MC_AXCONF_MACHAX_USED
ends the assignment of possibly existing additional machine axes to channel axes.
References:
Function Manual, Extended Functions; Several Operator Panels on Multiple NCUs, Distributed
Systems (B3)
Note
Channel axes without assigned machine axes (channel axis gaps) are, regarding the number
and indexing of the channel axes, treated just like normal channel axes with associated
machine axes.
If a channel axis without assigned machine axis (channel axis gap) is defined as geometry
axis, then this is rejected without an alarm.
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10.2 Axes
Example: Channel axis gap
Channel axis B is not assigned a machine axis in the following example.
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Special situations: Channel axis gaps
Regarding channel axis gaps, the following also have to be taken into account:
Channel axes without assigned machine axes (channel axis gaps) are, regarding the
number and indexing of the channel axes, treated just like normal channel axes with
associated machine axes.
If a channel axis without assigned machine axis (channel axis gap) is defined as geometry
axis, then this is rejected without an alarm.
10.2.11
Link axes
Meaning
A link axis is a machine axis that is not on the NCU from which it is traversed. The name of a
local machine axis is not entered in the machine data for the logical machine axis image of the
traversing NCU, but the NCU and machine axis name of the NCU to which it is physically
connected.
As an example, machine axis AX1 of NCU2 should be traversed from NCU1:
NCU1: MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB[n] = NC2_AX1
Requirement
The NCUs involved must be connected using link communication as a requirement for using
link axes. The link axes and link communication functions are described in detail in:
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10.3 Zeros and reference points
References:
Function Manual, Extended Functions; Several Operator Panels on Multiple NCUs, Distributed
Systems (B3)
10.3
Zeros and reference points
10.3.1
Reference points in working space
Zeros and reference points
The neutral position of the machine is obtained from the coordinate axes and the constructive
characteristics of the machine. The zero of the coordinate system is obtained by defining a
suitable reference point on the machine in its neutral position.
The position of the coordinate systems (MCS, BCS, BZS, SZS, WCS) is determined by means
of zeros.
Zero points
Reference points
M = Machine zero
R = Reference point
W = Workpiece zero
T = Toolholder reference point
Machine zero M
The machine zero M defines the machine coordinate system MCS. All other reference points
refer to the machine zero.
Workpiece zero W
The workpiece zero W defines the workpiece coordinate system in relation to the machine
zero M. The programmed part-program blocks are executed in the workpiece coordinate
system WCS.
Reference point R
The position of the reference point R is defined by cam switches. Reference point R calibrates
the position measuring system.
With incremental encoders, the reference point must be approached every time the control
power is switched on. The control can only then work with the measuring system and transfer
all position values to the coordinate systems.
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10.3 Zeros and reference points
Toolholder reference point T
The toolholder reference point T is located on the toolholder locator. By entering the tool
lengths, the control calculates the distance between the tool tip (TCP Tool Center Position)
and the toolholder reference point.
Example: Zeros and reference points on a turning machine
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10.3 Zeros and reference points
10.3.2
Position of coordinate systems and reference points
Control POWER ON
For incremental measuring probes, the reference point must be approached each time the
control is activated so that the control can transfer all position values to the coordinate system.
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10.4 Coordinate systems
10.4
Coordinate systems
10.4.1
Overview
Definitions
DIN 66217 stipulates that machine tools must use right-angled, rectangular (Cartesian)
coordinate systems. The positive directions of the coordainate axes are determined using the
"Right Hand Rule". The coordinate system is related to the workpiece and programming takes
place independently of whether the tool or the workpiece is being traversed. When
programming, it is always assumed that the tool traverses relative to the coordinate system of
the workpiece, which is intended to be stationary.
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10.4 Coordinate systems
Coordinate systems
The following coordinate systems are defined for machine tools:
682
Coordinate system
Abbreviation
Machine Coordinat System
MCS
Basic Coordinate System
BCS
Basic Zero System
BZS
Settable Zero System
SZS
Workpiece Coordinate System
WCS
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10.4 Coordinate systems
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10.4 Coordinate systems
Starting from the machine coordinate system, the various coordinate systems are defined
using kinematic transformation and frames:
MCS BCS: Kinematic transformation
If kinematic transformation is not active, then the BCS is the same as the MCS.
BCS BZS: Basic frame
BZS SZS: Activated adjustable FRAME G54...G599
SZS WCS: Programmable FRAME
The program to machine the workpiece is written in WCS.
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10.4 Coordinate systems
10.4.2
Machine coordinate system (MCS)
Machine coordinate system (MCS)
The machine coordinate system (MCS) is made up of all physically available machine axes.
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10.4 Coordinate systems
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Axial preset offset
The reference point of the control in the machine coordinate system (machine zero) can be
reset via the "Preset offset (PRESETON)" function.
CAUTION
Loss of the encoder adjustment
After a preset offset, the appropriate machine axis is in the "Not referenced" state! This means
that when using absolute encoders, the encoder adjustment is lost and must be performed
again (e.g. by calibration with a laser interferometer ). The use of PRESETON in combination
with absolute encoders is therefore not recommended.
Note
We recommend that the function is only used for machine axes that do not require a reference
point.
In order to restore the original machine coordinate system, the machine axis must be rereferenced, e.g. with G74 (reference point approach).
The machine axes are not moved with the preset offset.
References
Programming Manual, Fundamentals
Section: "Supplementary commands" > "Reference point approach (G74)"
Programming Manual, Job Planning
Section: "Coordinate transformations (FRAMES)" > "Preset offset (PRESETON)
10.4.2.1
Actual value setting with loss of the referencing status (PRESETON)
Function
The PRESETON() procedure sets a new actual value for one or more axes in the machine
coordinate system (MCS). This corresponds to work offset of the axis MCS. The axis is not
traversed.
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10.4 Coordinate systems
A preprocessing stop with synchronization is triggered by PRESETON. The actual position is
not assigned until the axis is at standstill.
If the axis is not assigned to the channel at PRESETON, the further procedure depends on the
axis-specific configuration of the axis interchange behavior:
MD30552 $MA_AUTO_GET_TYPE
Referencing status
By setting a new actual value in the machine coordinate system, the referencing status of the
machine axis is reset.
DB31, ... DBX60.4/.5 = 0 (referenced/synchronized measuring system 1/2)
It is recommended that PRESETON only be used for axes that do not require a reference point.
To restore the original machine coordinate system, the measuring system of the machine axis
must be referenced again, e.g. through active referencing from the part program (G74).
CAUTION
Loss of the referencing status
By setting a new actual value in the machine coordinate system with PRESETON, the
referencing status of the machine axis is reset to "not referenced/synchronized".
Programming
Syntax
PRESETON(<axis_1>, <value_1> [, <axis_2>, <value_2>, ... <axis_8>,
<value_8>])
Meaning
PRESETON:
<axis_x>:
<value_x>:
Actual value setting with loss of the referencing status
Preprocessing
Yes
stop:
Alone in the block: Yes
Machine axis name
Type:
AXIS
Range of values: Machine axis names defined in the channel
New actual value of the machine axis in the machine coordinate system
(MCS)
The input is made in the current valid system of units (inch/metric)
An active diameter programming (DIAMON) is taken into account
Type:
REAL
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10.4 Coordinate systems
System variable
$AC_PRESET
The axis-specific system variable $AC_PRESET provides the vector from the zero point of the
currently offset MCS' to the zero point of the original MCS0 after the referencing of the machine
axis.
$AC_PRESET<axis> = $AC_PRESET<axis> + "current actual position of the axis in the MCS"
- "PRESETON actual position"
The work offset can be undone with the system variables:
PRESETON(<axis>, $VA_IM + $AC_PRESET[<axis>]) ; "current actual
position of the axis in the MCS'" + "offsets"
Example
Program code
N10 G1 X10 F5000
N20 PRESETON(X, $AA_IM[X]+70) ; Actual value = 10 + 70 = 80 => $AC_PRESET
= $AC_PRESET - 70
Supplementary conditions
Axes for which PRESETON must not be used
Traversing positioning axes
Traversing command axes in spindle mode
Traversing concurrent positioning axes (FC18)
Axes involved in a transformation
Traversing path axes
Reciprocating axes
Axes on which one or more of the following safety functions (Safety Integrated) are active
Enable safe limit switch
MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bit 1 = 1
Enable safe cam, pair 1 ... 4, cam +/MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bits 8 ... 15 = 1
Hirth axes
Synchronized axes of a gantry grouping
Axes for which the reference point approach from the part program (G74) is active
Slave axis of a speed/torque coupling (master-slave)
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10.4 Coordinate systems
Geometry axes
PRESETON can be used on a stationary geometry axis when a further geometry axis is not
being traversed in the channel at the same time.
PRESETON can be used on a stationary geometry axis even when a further geometry axis
is being traversed in the channel at the same time, but this axis is in the "neutral axis" state
or traversing as a command axis.
Example: A further geometry (X) is traversing at the same time in the "neutral axis" state
Program code
Comment
N10 G0 X0 Y0
; X, Y: Geometry axes
N15 RELEASE(Y)
; Neutral axis
N20 PRESETON(Y,20)
; Actual position Y in the MCS
= 20
N30 G0 X40
; Geometry axis X traverses
N40 M30
Example: A further geometry (X) is traversing at the same time as command axis
Program code
Comment
N10 G0 X0 Y0
; X, Y: Geometry axes
N20 POS[X]=40 FA[X]=1000
; X command axis
N30 DO PRESETON(Y,20)
; Actual position Y in the MCS
= 20
N40 M30
PLC-controlled axes
PRESETON can be used on PLC-controlled axes according to their current type.
Spindle states
The following table shows the reactions that occur when PRESETON is used on a spindle in a
synchronized action:
PRESETON in the NC program
Spindle mode
Speed control mode
Positioning mode SPOS
Traversing sta
tus
Assigned to the NC
program
Main axis
In motion
Alarm 22324
Alarm 22324
Stationary
In motion
Stationary
Positioning across block bounda
ries SPOSA
In motion
Alarm 10610
Axis mode
In motion
Stationary
+: Possible
-: Not possible
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10.4 Coordinate systems
Axis couplings
Leading axes: The sudden change of the leading axis position caused by PRESETON is not
traversed in the following axes. The coupling is not changed.
Following axes: Only the overlaid position component of the following axis is affected by
PRESETON.
Gantry grouping
If PRESETON is used on the guide axis of a gantry grouping, the work offset is also performed
in all synchronized axes of the gantry grouping.
Indexing axes
PRESETON can be used on indexing axes.
Software limit switches, operating range limit, protection areas
If the axis position is outside the specified limits after a work offset by PRESETON, an alarm
is not displayed until an attempt is made to traverse the axis.
Block search with calculation
PRESETON commands are collected during the block search and executed with the NC start
to continue the NC program.
Position-dependent NC/PLC interface signals
The status of the position-dependent NC/PLC interface signals is redetermined based on
the new actual position.
Example: Fixed point positions
Parameterized fixed point positions: MD30600 $MA_FIX_POINT_POS[0...3] = <fixed
point position 1...4>
NC/PLC interface signals DB31, ... DBX75.3 ... 5 (JOG approach fixed point reached)
If the axis is at a fixed point position with the exact stop tolerance, the associated NC/PLC
interface signal is set. The NC/PLC interface signal is reset when the actual value is set by
PRESETON to a different value outside the exact stop tolerance around the fixed point
position.
DRF offset
A DRF offset of the axis is deleted by PRESETON.
Overlaid movement $AA_OFF
An overlaid movement from a synchronized action with $AA_OFF is not affected by
PRESETON.
Online tool offset FTOC
An active online tool offset from a synchronized action with FTOC remains active even after
PRESETON.
Axis-specific compensations
Axis-specific compensations remain active after PRESETON.
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10.4 Coordinate systems
JOG mode
PRESETON must only be used on a stationary axis.
JOG mode, REF machine function
PRESETON must not be used.
10.4.2.2
Actual value setting without loss of the referencing status (PRESETONS)
Function
The PRESETONS() procedure sets a new actual value for one or more axes in the machine
coordinate system (MCS). This corresponds to work offset of the axis MCS. The axis is not
traversed.
A preprocessing stop with synchronization is triggered by PRESETONS. The actual position is
not assigned until the axis is at standstill.
If the axis is not assigned to the channel at PRESETONS, the further procedure depends on the
axis-specific configuration of the axis interchange behavior:
MD30552 $MA_AUTO_GET_TYPE
Referencing status
By setting a new actual value in the machine coordinate system (MCS) with PRESETONS, the
referencing status of the machine axis is not changed.
Requirements
Encoder type
PRESETONS is only possible with the following encoder types of the active measuring
system:
MD30240 $MA_ENC_TYPE[<measuring system>] = 0 (simulated encoder)
MD30240 $MA_ENC_TYPE[<measuring system>] = 1 (raw signal encoder)
Referencing mode
PRESETONS is only possible with the following referencing mode of the active measuring
system:
MD34200 $MA_ENC_REFP_MODE[<measuring system>] = 0 (no reference point
approach possible)
MD34200 $MA_ENC_REFP_MODE[<measuring system>] = 1 (referencing of
incremental, rotary or linear measuring systems: zero pulse on the encoder track)
Commissioning
Axis-specific machine data
Actual value setting without loss of the referencing status (PRESETONS) must be set axisspecifically:
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10.4 Coordinate systems
MD30455 $MA_MISC_FUNCTION_MASK, bit 9 = 1
Note
PRESETON deactivated
Activation of the "Actual value setting without loss of the referencing status PRESETONS"
function deactivates the "Actual value setting with loss of the referencing status PRESETON"
function. The options mutually exclude each other.
Programming
Syntax
PRESETONS(<axis_1>, <value_1> [, <axis_2>, <value_2>, ... <axis_8>,
<value_8>])
Meaning
PRESETONS:
<axis_x>:
<value_x>:
Actual value setting with loss of the referencing status
Preprocessing
Yes
stop:
Alone in the block: Yes
Machine axis name
Type:
AXIS
Range of values: Machine axis names defined in the channel
New current actual value of the machine axis in the machine coordinate
system (MCS)
The input is made in the active system of units (inch/metric)
An active diameter programming (DIAMON) is taken into account
Type:
REAL
System variable
$AC_PRESET
The axis-specific system variable $AC_PRESET provides the vector from the zero point of the
currently offset MCS' to the zero point of the original MCS0 after the referencing of the machine
axis.
$AC_PRESET<axis> = $AC_PRESET<axis> + "current actual position of the axis in the MCS"
- "PRESETONS actual position"
The work offset can be undone with the system variables:
PRESETONS(<axis>, $VA_IM + $AC_PRESET[<axis>]) ; "current actual
position of the axis in the MCS'" + "offsets"
Example
Work offset of the X axis MCS by 70 units.
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The programmed end position of the X axis (command axis) is transformed to the new MCS
with PRESETONS.
Program code
N10 G1 X10 F5000
N20 PRESETONS(X, $AA_IM[X]+70) ; Actual value = 10 + 70 = 80 => $AC_PRESET
= $AC_PRESET - 70
Supplementary conditions
Axes for which PRESETONS must not be used
Traversing positioning axes
Traversing command axes in spindle mode
Traversing concurrent positioning axes (FC18)
Axes involved in a transformation
Traversing path axes
Reciprocating axes
Axes on which one or more of the following safety functions (Safety Integrated) are active
Enable safe limit switch
MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bit 1 = 1
Enable safe cam, pair 1 ... 4, cam +/MD36901 $MA_SAFE_FUNCTION_ENABLE[<safe axis>], bits 8 ... 15 = 1
Hirth axes
Synchronized axes of a gantry grouping
Axes for which the reference point approach from the part program (G74) is active
Slave axis of a speed/torque coupling (master-slave)
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10.4 Coordinate systems
Geometry axes
PRESETONS can be used on a stationary geometry axis when a further geometry axis is
not being traversed in the channel at the same time.
PRESETONS can be used on a stationary geometry axis even when a further geometry axis
is being traversed in the channel at the same time, but this axis is in the "neutral axis" state
or traversing as a command axis.
Example: A further geometry (X) is traversing at the same time in the "neutral axis" state
Program code
Comment
N10 G0 X0 Y0
N15 RELEASE(Y)
; X, Y: Geometry axes
1)
; Neutral axis
N20 PRESETONS(Y,20)
; Actual position Y in the MCS
= 20
N30 G0 X40
; Geometry axis X traverses
N40 M30
1) Note
The release of an axis in the action part of a synchronized action does not ensure that the release
is on time.
N20 ID=1 WHEN 20.0 < $AA_IM[X] DO RELEASE(Y) PRESETONS(Y,20) ; NOT
recommended!
Example: A further geometry (X) is traversing at the same time as command axis
Program code
Comment
N10 G0 X0 Y0
; X, Y: Geometry axes
N20 POS[X]=40 FA[X]=1000
; X command axis
N30 PRESETONS(Y,20)
; Actual position Y in the MCS
= 20
N40 M30
PLC-controlled axes
PRESETONS can be used on PLC-controlled axes according to their current type.
Spindle states
The following table shows the reactions that occur when PRESETONS is used on a spindle in
a synchronized action:
PRESETONS in the NC program
Spindle mode
Speed control mode
Positioning mode SPOS
Positioning across block bounda
ries SPOSA
694
Traversing sta
tus
Assigned to the NC
program
Main axis
In motion
Alarm 22324
Alarm 22324
Stationary
In motion
Stationary
In motion
Alarm 10610
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10.4 Coordinate systems
PRESETONS in the NC program
Spindle mode
Axis mode
Traversing sta
tus
Assigned to the NC
program
Main axis
In motion
Stationary
+: Possible
-: Not possible
Axis couplings
Leading axes: The sudden change of the leading axis position caused by PRESETONS is
not traversed in the following axes. The coupling is not changed.
Following axes: Only the overlaid position component of the following axis is affected by
PRESETONS.
Gantry grouping
If PRESETONS is used on the guide axis of a gantry grouping, the work offset is also
performed in all synchronized axes of the gantry grouping.
Indexing axes
PRESETONS can be used on indexing axes.
Software limit switches, operating range limit, protection areas
If the axis position is outside the specified limits after a work offset by PRESETONS, an alarm
is not displayed until an attempt is made to traverse the axis.
Block search with calculation
PRESETONS commands are collected during the block search and executed with the NC start
to continue the NC program.
Position-dependent NC/PLC interface signals
The status of the position-dependent NC/PLC interface signals is redetermined based on
the new actual position.
Example: Fixed point positions
Parameterized fixed point positions: MD30600 $MA_FIX_POINT_POS[0...3] = <fixed
point position 1...4>
NC/PLC interface signals DB31, ... DBX75.3 ... 5 (JOG approach fixed point reached)
If the axis is at a fixed point position with the exact stop tolerance, the associated NC/PLC
interface signal is set. The NC/PLC interface signal is reset when the actual value is set by
PRESETONS to a different value outside the exact stop tolerance around the fixed point
position.
DRF offset
A DRF offset of the axis is deleted by PRESETONS.
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10.4 Coordinate systems
Overlaid movement $AA_OFF
An overlaid movement from a synchronized action with $AA_OFF is not affected by
PRESETONS.
Online tool offset FTOC
An active online tool offset from a synchronized action with FTOC remains active even after
PRESETONS.
Axis-specific compensations
Axis-specific compensations remain active after PRESETONS.
JOG mode
PRESETONS must only be used on a stationary axis.
JOG mode, REF machine function
PRESETONS must not be used.
10.4.3
Basic coordinate system (BCS)
Basic coordinate system (BCS)
The basic coordinate system (BCS) consists of three mutually perpendicular axes (geometry
axes) as well as other special axes, which are not interrelated geometrically.
Machine tools without kinematic transformation
BCS and MCS always coincide when the BCS can be mapped onto the MCS withouth
kinematic transformation (e.g. TRANSMIT / face transformation, 5-axis transformation and up
to three machine axes).
On such machines, machine axes and geometry axes can have the same names.
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10.4 Coordinate systems
Machine tools with kinematic transformation
The BCS and MCS do not coincide when the BCS is mapped onto the MCS with kinematic
transformation (e.g. TRANSMIT / face transformation, 5-axis transformation or more than three
axes).
On such machines the machine axes and geometry axes must have different names.
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Figure 10-15 Kinematic transformation between the MCS and BCS
Machine kinematics
The workpiece is always programmed in a two- or three-dimensional, right-angled coordinate
system (WCS). However, such workpieces are being programmed ever more frequently on
machine tools with rotary axes or linear axes not perpendicular to one another. Kinematic
transformation is used to represent coordinates programmed in the workpiece coordinate
system (rectangular) in real machine movements.
References:
Function Manual, Special Functions; 3- to 5-Axis Transformation (F2)
Function Manual, Extended Functions; Kinematic Transformation (M1)
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10.4 Coordinate systems
10.4.4
Additive offsets
External work offsets
The external work offset is a linear offset between the basic coordinate system (BCS) and the
basic zero system (BZS).
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The external work offset $AA_ETRANS is effective in two ways depending on the machine
data parameterization:
1. The $AA_ETRANS system variable has a direct effect as offset value after activation by
the NC/PLC interface signal.
2. The value of the $AA_ETRANS system variable is taken into the system frame
$P:EXTFRAME and the data management frame $P_EXTFR after activation by the NC/
PLC interface signal. The active complete frame $P_ACTFRAME is then recalculated.
Machine data
In conjunction with the $AA_ETRANS system variable, a distinction is made between two
procedures which are selected via the following machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit1 = <value>
<value>
0
Meaning
Function: Direct writing of $AA_ETRANS[<axis>] by the PLC, HMI or NC program.
Enable to traverse the work offset of $AA_ETRANS[<axis>] in the next possible traversing block: DB31, ...
DBX3.0
Function: Activation of the active system frame $P:EXTFRAME and the data management frame $P_EXTFR
Enable to traverse the work offset of $AA_ETRANS[<axis>] through: DB31, ... DBX3.0. Then in the channel:
Stop of all traversing movements in the channel (except command and PLC axes)
Preprocessing stop with subsequent reorganization (STOPRE)
Coarse offset of the active frame $P_EXTFRAME[<axis>] = $AA_ETRANS[<axis>]
Coarse offset of the data management frame $P_EXTFR[<axis>] = $AA_ETRANS[<axis>]
Recalculation of the active complete frame $P_ACTFRAME
Traversing of the offset in the programmed axes.
Continuation of the interrupted traversing movement or the NC program
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10.4 Coordinate systems
Programming
Syntax
$AA_ETRANS[<axis>] = <value>
Meaning
$AA_ETRANS:
System variable to buffer the external work offset
<axis>:
Channel axis
<value>:
Offset value
NC/PLC interface signal
DB31, ... DBX3.0 = 0 1 $P_EXTFRAME[<axis>] = $P_EXTFR[<axis>] =
$AA_ETRANS[<axis>]
DRF offset
The DRF offset enables the adjustment of an additive incremental work offset for geometry
and additional axes in the basic coordinate system through handwheel.
The DRF offset can be read via the axis-specific system variable:
$AC_DRF[<Axis>]
References:
Function Manual, Extended Functions; Manual and Handwheel Travel (H1),
Section: DRF offset
Overlaid movements
The "Overlaid movement" for the programmed axis can only be accessed from synchronized
actions via the system variable $AA_OFF[axis].
RESET response
Channel reset / end of program reset
The activated values remain active after RESET and program end.
Reset response of channel-specific system fames as follows:
The system frame for the "external work offset" is active after RESET with the following
machine data setting:
MD24006 $MC_CHSFRAME_RESET_MASK, bit 1 = 1
The "external work offset" in the active system frame is deleted in the data management
through the following machine data setting:
MD24006 $MC_CHSFRAME_RESET_MASK, bit 1 = 0
The following frames are active after RESET:
System frame for:
MD24006 $MC_CHSFRAME_RESET_MASK, Bit 4 = 1 (workpiece reference point)
MD24006 $MC_CHSFRAME_RESET_MASK, Bit 5 = 1 (cycles)
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10.4 Coordinate systems
Power On
After control run-up (Power On), the last used offset values of the external work offset are
stored and do not become effective again until there is a renewed activation signal.
System frames are retained during Power ON, depending on the following machine data:
MD24008 $MC_CHSFRAME_POWERON_MASK (reset system frames after Power On)
Suppression: External work offset
The SUPA command suppresses the external work offset while the block is being processed.
Active external work offsets are suppressed for the duration of the reference point approach
through the G74 command (reference point approach) and the equivalent operator actions
in the reference point approach mode.
With G74, i.e. "Automatic" or "MDA" mode, the previously active external work offset
automatically becomes active again with the next traversing movement in the block.
After a mode change from the reference point approach mode, the NC/PLC interface signal
for the referenced axes must be set for reactivation.
10.4.5
Basic zero system (BZS)
Basic zero system (BZS)
The basic zero system (BZS) is the basic coordinate system with a basic offset.
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10.4 Coordinate systems
Basic offset
The basic offset describes the coordinate transformation between BCS and BZS. It can be
used, for example, to define the palette window zero.
The basic offset comprises:
Zero offset external
DRF offset
Superimposed motion
Chained system frames
Chained basic frames
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The following settings apply:
The user can change the basic offset from the part program by means of an operator action
and from the PLC.
If the basic offset is to take effect immediately, an ASUB can be started via the PLC using
FC9 in order to execute the appropriate G code.
Note
Recommendation to the machine manufacturer
Use the 3rd basic offset onwards for your own applications.
The 1st and 2nd basic offset are reserved for PRESET and the "Zero offset external".
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10.4 Coordinate systems
10.4.6
Settable zero system (SZS)
Settable zero system (SZS)
The "settable zero system" (SZS) is the workpiece coordinate system WCS with a
programmable frame (viewed from the perspective of the WCS). The workpiece zero is defined
by the settable FRAMES G54 to G599.
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Figure 10-18 Settable FRAME G54 ... G599 between BNS and ENS
Programmable offsets act on the "settable zero system". All programmable offsets refer to the
"settable zero system".
WCS actual-value display in WCS or SZS
The actual values of the axes in the machine coordinate system (MCS) or the WCS can be
displayed on the HMI operator interface. For displays in WCS, the actual values can also be
displayed in relation to the SZS. The corresponding parameterization takes place through the
machine data:
MD9424 $MM_MA_COORDINATE_SYSTEM (coordinate system for actual value display)
702
Value
Significance
Actual-value display in relation to the WCS
Actual-value display in relation to the SZS
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10.4 Coordinate systems
Note
Display of the current coordinate system
When "Actual-value display in relation to the SZS" is active, the WCS is still displayed on the
HMI operator interface as the coordinate system to which the actual-value display relates.
Example
Actual-value display in relation to the WCS or SZS
Code (excerpt)
10.4.7
Actual value display:
Actual value display:
Axis X (WCS)
Axis X (SZS)
N10 X100
100
100
N20 X0
N30 $P_PFRAME = CTRANS(X,10)
10
N40 X100
100
110
Workpiece coordinate system (WCS)
Workpiece coordinate system (WCS)
The workpiece coordinate system (WCS) is the programming basis.
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10.5 Frames
10.5
Frames
10.5.1
Frame types
A frame is a data structure that contains values for offset (TRANS), fine offset (FINE), rotation
(ROT), mirroring (MIRROR) and scaling (SCALE) for axes.
When activating the frame, using the frame values, a static coordinate transformation for the
axes contained in the frame is performed using a defined algorithm.
Axial frame
An axial frame contains the frame values of an axis.
Example of the data structure of an axial frame for axis X:
Axis
X
TRANS
FINE
ROT
MIRROR
SCALE
10.0
0.1
0.0
Channel-specific frame
A channel-specific frame contains frame values for all channel axes (geometry, special and
machine axes).
Rotations (ROT) are only included in the calculation for geometry axes.
A channel-specific frame is only active in the channel in which the frame is defined.
Example of the data structure of a channel-specific frame:
Geometry axes: X, Y, Z
Special axes: A
Machine axes: AX1
Axis
TRANS
FINE
ROT
MIRROR
SCALE
10.0
0.1
0.0
0.0
0.0
0.0
0.0
0.0
45.0
2.0
0.1
0.0
AX1
0.0
0.0
0.0
Global frame
A global frame contains the frame values for all machine axes.
A global frame is active in all channels of the NC.
Example of the data structure of a channel-specific frame:
Machine axes: AX1, ... AX5
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10.5 Frames
Axis
TRANS
FINE
ROT
MIRROR
SCALE
AX1
10.0
0.1
AX2
0.0
0.0
AX3
0.0
0.0
AX4
2.0
0.1
AX5
0.0
0.0
10.5.2
Frame components
10.5.2.1
Translation
Programming
The programming of the translation or coarse offset can be performed via the following
commands:
Example of data management frames $P_UIFR
Complete frame: $P_UIFR[<n>] = CTRANS(<K1>,<V1>[,<K2>,<V2>]
[,<K3>,<V3>])
with Km = coordinate x, y or z and Vm = offset m
Frame component: $P_UIFR[<n>,<k>,TR] = <V>
with K = coordinate x, y or z and V = offset
Example of programmable frame
TRANS <K1> <V1> [<K2> <V2>][<K3> <V3>]
with Km = coordinate x, y or z and Vm = offset m
Programs examples:
Program code
Remark
$P_UIFR[1] = CTRANS(X,10,Y,10)
Complete frame
$P_UIFR[1,X,TR] = 10
Frame components
TRANS X=10 Y=10
Programmable frame
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10.5 Frames
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10.5.2.2
Fine offset
Parameterization
The fine offset is enabled via the machine data:
MD18600 $MN_MM_FRAME_FINE_TRANS = <value>
Value
Meaning
The fine offset cannot be entered or programmed.
Fine offset is possible for settable frames, basic frames and the programmable frame via
command or program.
Programming
The programming of the translation or coarse offset can be performed via the following
commands:
Example of data management frames $P_UIFR
Complete frame: $P_UIFR[<n>] = CFINE(<K1>,<V1>[,<K2>,<V2>]
[,<K3>,<V3>])
with Km = coordinate x, y or z and Vm = offset m
Frame component: $P_UIFR[<n>,<K>,FI] = <V>
with K = coordinate x, y or z and V = offset
Example of programmable frame
TRANS <K1> <V1> [<K2> <V2>][<K3> <V3>]
with Km = coordinate x, y or z and Vm = offset m
Programming examples:
706
Program code
Remark
$P_UIFR[1] = CTRANS(X,10,Y,10)
Complete frame
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10.5 Frames
10.5.2.3
Program code
Remark
$P_UIFR[1,X,TR] = 10
Frame components
TRANS X=10 Y=10
Programmable frame
Rotation Overview (geometry axes only)
Function
The direction of rotation around the coordinate axes is determined by means of a right-hand,
rectangular coordinate system with axes x, y and z. If the rotary motion is in a clockwise
direction when looking in the positive direction of the coordinate axis, the direction of rotation
is positive. A, B and C designate rotations whose axes are parallel to the coordinate axes.
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rotation around z with = -45
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Parameterization of the rotation sequence
The following machine data is used to set around which coordinate axes and in which order
the rotations are performed when more than one angle of rotation is programmed:
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10.5 Frames
MD10600 $MN_FRAME_ANGLE_INPUT_MODE = <value>
Value
Meaning
Euler angles in zy'x'' convention (RPY angles)
Euler angles in zx'z" convention
Note
For historical reasons, Euler angles in zx'z" convention can be used. However, it is strongly
recommended that only Euler angles in zy'x" convention (RPY angles) be used (see Section
Rotation with a Euler angles: ZY'X" convention (RPY angles) (Page 708)).
10.5.2.4
Rotation with a Euler angles: ZY'X" convention (RPY angles)
Euler angles in zy'x" convention are also called RPY angles. RPY is derived from:
R: Roll rotation around x
P: Pitch rotation around y'
Y: Yaw rotation around z''
With RPY angles, the rotations are in the order z, y', x".
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Rotary axis
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Geometry axis in channel
x''
1st geometry axis
y'
2nd geometry axis
3rd geometry axis
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10.5 Frames
Value range
With RPY angles, programmed values can only be unambiguously calculated back within the
following value ranges:
-180
-90
-180
<=
<
<=
x
y
z
<=
<
<=
180
90
180
Programming of the complete frame
When programming the complete frame, all rotation components of the frame are always
written. Non-programmed components are implicitly assigned the value 0.
Syntax
<Frame> = CROT([<1st GAx>,<angle>,][<2nd GAx>,<angle>,][<3rd
GAx>,<angle>])
ROT [<1st GAx><angle>] [<2nd GAx><angle>] [<3rd GAx><angle>]
AROT [<1st GAx><angle>] [<2nd GAx><angle>] [<3rd GAx><angle>]
Meaning
CROT:
<Frame>:
ROT:
AROT:
<nth GAx>:
<angle>:
Absolute rotation,
reference frame: Arbitrary programmed frame
Arbitrary active or data management frame
Absolute rotation,
reference frame: Programmable frame $P_PFRAME,
reference point: Zero point of the current workpiece coordinate sys
tem set with G54 ... G57, G505 ... G599
Additive rotation,
reference frame: Programmable frame $P_PFRAME,
reference point: Zero point of the current workpiece coordinate sys
tem set with G54 ... G57, G505 ... G599
Name of the nth geometry axis around which rotation is to be per
formed with the specified angle. The value 0 is implicitly set as angle
of rotation for a geometry axis that has not been programmed.
Assignment of geometry axis to rotary axis:
Geometry axis
Rotary axis
1st geometry axis
x''
2nd geometry axis
y'
3rd geometry axis
z
Angle specification in degrees.
Programming a frame component
When programming a frame component, only the programmed component of the frame is
written. The components that are not programmed remain unchanged.
Syntax
<frame>[<index>,<GAx>,RT] = <angle>
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10.5 Frames
Meaning
Arbitrary active or data management frame
Array index of the frame, e.g. $P_UIFR[0 ... n]
Name of the geometry axis around which rotation is to be performed
with the specified angle.
Keyword for rotation "RoTation"
Angle specification in degrees.
<Frame>:
<Index>:
<GAx>:
RT:
<Angle>
Reading back the rotation components
In general, the same values are obtained when reading back the rotation components of a
frame as those that were programmed:
Programmed
<Frame>=CROT(X,45,Y,30,Z,-20)
Saved rotation components 1)
x, RT
y, RT
z, RT
45
30
-20
1) The values of the saved rotation components are obtained when reading back
Values outside the value range
Programmed values outside a value range are mapped on the range limits:
Programmed
<Frame>=CROT(X,190,Y,0,Z,-200)
Saved rotation components 1)
x, RT
y, RT
z, RT
-170
160
1) The values of the saved rotation components are obtained when reading back
Note
It is recommended that when writing the rotation components of the frame, the specified value
ranges are observed so that the same values are obtained when reading back the rotation
components.
Gimbal lock
Gimbal lock designates a geometric problem in which the rotation components can no longer
be unambiguously calculated back from the position vector. Gimbal lock occurs in RPY angles
with an angular position of the rotation component y = 90. In this case, the rotation components
are converted by the controller after being written so that the following applies:
Rotation component z = rotation component z - rotation component x
Rotation component x = 0
Rotation component y = 90
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10.5 Frames
Programmed
<Frame>=CROT(X,30,Y,90,Z,40)
Saved rotation components
x, RT
y, RT
z, RT
90
40 - 30 = 10
CAUTION
Different values for reading back the rotation component z
Because of the different conversion times after writing the complete frame or the writing of
individual rotation components of a data management frame and the writing of individual
rotation components of an active frame, different values can be read back for rotation
component z.
Differences when writing the complete frame and frame components
Two cases must be distinguished when writing the rotation components of a frame:
1. Writing the complete frame: <Frame>=CROT(X,a,Y,b,Z,c)
When writing the complete frame, the conversion is immediately at the time of writing.
2. Writing individual rotation components, e.g. rotation around X: <Frame>[0,X,RT]=a
When writing individual rotation components, the conversion depends on the storage
location of the frame:
Data management frames
With data management frames, the conversion is at the time of activation of the frame
based on the rotation components written by this time. With regard to the conversion of
a data management frame, a data management frame therefore behaves in the same
way after writing individual rotation components as when writing the complete frame.
Active frames
In the case of active frames, the conversion is immediately at time of writing of the
rotation component.
Examples: Writing the complete frame
The conversion is made in each block after the complete frame has been written.
Programmed
Saved rotation components
x, RT
y, RT
z, RT
N10 <Frame>=CROT(X,0,Y,90,Z,90)
90
90
N20 <Frame>=CROT(X,90,Y,90)
90
-90 1)
N30 <Frame>=CROT(X,90,Y,90,Z,90)
90
0 1)
1) Different values compared to the writing of individual rotation components of an active frame
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10.5 Frames
Examples: Writing individual rotation components of a data management frame
A conversion is performed on the activation of the data management frame. In the example,
at any time after N30.
Programmed
N10 <data management frame>[0,X,RT]=0
Saved rotation components
x, RT
y, RT
z, RT
90
90
90
-90 1)
90
0 1)
N20 <data management
frame>[0,Y,RT]=90
N30 <data management
frame>[0,Z,RT]=90
N10 <data management
frame>[0,X,RT]=90
N20 <data management
frame>[0,Y,RT]=90
N30 <data management frame>[0,Z,RT]=0
N10 <data management
frame>[0,X,RT]=90
N20 <data management
frame>[0,Y,RT]=90
N30 <data management
frame>[0,Z,RT]=90
1) Different values compared to the writing of individual rotation components of an active frame
Examples: Write individual rotation components of an active frame
Any required conversion is performed immediately on writing the rotation component. The
stored initial values of the frame are: x = 0, y = 0, z = 0.
Programmed
N10 <active frame>[0,X,RT]=0
Saved rotation components
x, RT
y, RT
z, RT
90
90
90
0 1)
90
90 1)
N20 <active frame>[0,Y,RT]=90
N30 <active frame>[0,Z,RT]=90
N10 <active frame>[0,X,RT]=90
N20 <active frame>[0,Y,RT]=90
N30 <active frame>[0,Z,RT]=0
N10 <active frame>[0,X,RT]=90
N20 <active frame>[0,Y,RT]=90
N30 <active frame>[0,Z,RT]=90
1) Different values compared to the writing of the complete frame or the writing of individual rotation
components of a data management frame
712
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
10.5.2.5
Rotation with a Euler angles: ZX'Z" convention
With Euler angles, the rotations are in the order z, x', z".
Note
Recommended use
For historical reasons, Euler angles in zx'z" convention can be used. However, it is strongly
recommended that only Euler angles in zy'x" convention (RPY angles) be used (see Section
Rotation with a Euler angles: ZY'X" convention (RPY angles) (Page 708)).
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Assignment of rotary axis to geometry axis
Rotary axis
Geometry axis in channel
z''
3rd geometry axis
x'
1st geometry axis
3rd geometry axis
Range of values
Data from Euler angles can only be unambiguously calculated back within the following value
ranges:
0
-180
-180
<=
<=
<=
x
y
z
<
<=
<=
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180
180
180
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
For data outside the specified value ranges, a modulo conversion is made referred to the value
of the particular range limit.
Note
It is recommended that when writing the rotation components of the frame, the specified value
ranges are observed so that the same values are obtained when reading back the rotation
components.
10.5.2.6
Rotation in any plane
CRPL - Constant Rotation Plane
The predefined function "Constant Rotation Plane" enables a rotation to be programmed for
a frame in an arbitrary plane (G17, G18, G19) without specifying the name of a geometry axis.
This enables rotations to be programmed in the third plane when only two geometry axes are
present in the channel due to the specific machine constellation.
Syntax
CRPL(<rotary axis>,<angle of rotation>)
Meaning
CRPL:
Rotation in any plane
<rotary axis>:Axis around which the rotation is performed
Type:
INT
Value
Meaning
0
Rotation in the active plane
1
Rotation around Z
2
Rotation around Y
3
Rotation around X
<angle of
Angle in degrees through which the rotation is performed
rotation>:
Type:
REAL
It is strongly recommended to observe the specified angular ranges. If the
limits are not observed, then an unambiguous reverse calculation is not
possible. Angles outside the limits are not rejected.
RPY angle:
X
-180 <= <angle of rotation> <= 180
Y
-90 <= <angle of rotation> <= 90
Z
-180 <= <angle of rotation> <= 180
ZX'Z" convention:
X
-180 <= <angle of rotation> <= 180
Y
0 <= <angle of rotation> <= 180
Z
-180 <= <angle of rotation> <= 180
714
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Chaining with frames
CRPL() can be chained with frames and known frame functions such as CTRANS(), CROT(),
CMIRROR(), CSCALE(), CFINE() etc.
Examples:
$P_PFRAME = $P_PFRAME : CRPL(0,30.0)
$P_PFRAME = CTRANS(X,10) : CRPL(1,30.0)
$P_PFRAME = CROT(X,10) : CRPL(2,30.0)
$P_PFRAME = CRPL(3,30.0) : CMIRROR(Y)
10.5.2.7
Scaling
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Programming
The program commands below are used to program the scaling:
$P_UIFR[1] = CSCALE(x,1,y,1)
SCALE x = 1y = 1
$P_UIFR[1,x,sc] = 1
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10.5 Frames
10.5.2.8
Mirroring
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Programming
The program commands below are used to program a mirroring:
$P_UIFR[1] = CMIRROR(x,1,y,1)
MIRROR x = 1y = 1
$P_UIFR[1,x,mi] = 1
10.5.2.9
Chain operator
Frame components or complete frames can be combined into a complete frame using the
chain operator ( : ).
10.5.2.10
Programmable axis name
Geometry, channel and machine axis names can be used in the frame commands. The
programmed axis must be known to the channel-specific frames in the channel.
SPI
When programming frame commands, the SPI(<spindle number>) axis function can be
used in place of an axis name.
SPI(<spindle number>) forms the reference of the spindle to the channel axis.
refer to MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ ] (assignment of spindle to machine
axis)
The following frame commands can be programmed with SPI(spino):
CTRANS()
CFINE()
CMIRROR()
716
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10.5 Frames
CSCALE()
A spindle can only be assigned to one rotary axis at a time. The CROT(..) function can
therefore not be programmed withSPI(), as only geometry axes are permitted forCROT().
The channel axis name or machine axis name of the axis belonging to the spindle is always
output when decompiling frames, even when axis names have been programmed in the part
program with SPI(..).
If the spindle is assigned e.g., to the Channel Axis A then the programming:
N10 $P_UIFR[1] = CTRANS(SPI(1),33.33,X,1):CSCALE(SPI(1),
33.33):CMIRROR(SPI(1))
during recompilation:
$P_UIFR[1]=CTRANS(X,1,A,33.33):CSCALE(A,33.33):CMIRROR(A)
If a spindle and an assigned axis are programmed in a frame command, then Alarm 16420
"Axis % multiply programmed" is output.
Example:
$P_UIFR[1] = CTRANS(SPI(1),33.33,X,1,A,44)
(The spindle is assigned to Axis A.)
Programming examples
$P_PFRAME[SPI(1),TR]=22.22
$P_PFRAME=CTRANS(X, axis value,Y,axis value,SPI(1),axis value)
$P_PFRAME=CSCALE(X,Scale,Y,scale,SPI(2),scale)
$P_PFRAME=CMIRROR(S1,Y,Z)
$P_UBFR=CTRANS(A,10):CFINE(SPI(1),0.1)
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10.5 Frames
10.5.2.11
Coordinate transformation
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The formulae below are used to discover the coordinate transformation for geometry axes:
:&6%&6
Y 5 6 0 YW
%&6:&6
Y
LQY 0
LQY 6
LQY 5 YW
V:
Position vector in BCS
V':
Position vector in WCS
10.5.3
Data management frames and active frames
10.5.3.1
Overview
Frame types
The following frame types are available:
System frames ($P_PARTFR, ... see figure)
Basic frames ($P_NCBFR[<n>], $P_CHBFR[<n>])
Grinding frames ($P_GFR[<n>])
Settable frames ($P_UIFR[<n>])
Programmable frame ($P_PFRAME)
718
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
For all frame types except the programmable frame, one or more frames exist in the data
management (data management frames) in addition to the frame active in the channel. For
the programmable frame, only the frame active in the channel exists.
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Writing frames
Data management frames and active frames can be written from the part program. Only data
management frames can be written via the user interface.
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Archiving frames
Only data management frames can be archived.
10.5.3.2
Activating data management frames
Data management frames become active frames as a result of the following actions:
"Settable frames" G group: G54 ... G57, G500, G505 ... G599
"Grinding frames" G group: GFRAME0 ... GFRAME100
RESET and MD20110 $MC_RESET_MODE_MASK, bit14 == 1 (the current setting of the
basic frame is retained)
Transformation changeover
Changing the geometry axis assignment GEOAX
From the HMI with PI service "_N_SETUDT"
Activation from the HMI
The activation of a data management frame from the HMI with PI service "_N_SETUDT" only
becomes active in the channel after a hot restart for the current part program.
The activation is effective in the reset state if the following machine data is set:
MD9440 $MM_ACTIVATE_SEL_USER_DATA (set active offset immediately)
Activating system frames
System frames are activated by:
Programming the corresponding system function in the part program
Operator control at SINUMERIK Operate
Note
Modifying system frames of the data management
In principle, system frames of the data management can be modified by the cycle
programmer and activated using a G500, G54...G599 command. However, this option
should only be used with reservation.
Activating data management frames
The behavior when activating data management frames is set using the following machine
data:
720
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
MD24050 $MC_FRAME_SAA_MODE (save and activate data management frames)
Bit
Val
ue
Meaning
@@@
Data management frames are only activated by programming the system variables
$P_CHBFRMASK, $P_NCBFRMASK and $P_CHSFRMASK.
G500...G599 activates the appropriate settable frame.
Data management frames are implicitly described by functions, such as TOROT, PAROT,
external work offset and transformations.
Data management frames are not implicitly described by functions, such as TOROT,
PAROT,external work offset and transformations.
Activation of system frames via system variable $P_CHSFRMASK
The system frames of the data management can be activated using system variable
$P_CHSFRMASK. The value of the variables is specified as bit coded according to the
machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK (system frames of the data management)
The corresponding system frame of the data management in the channel is activated by setting
a bit of system variable $P_CHSFRMASK to 1. For a value of 0, the currently active system
frame in the channel remains active.
Activating system frames after RESET
After RESET, the system frames in the channel are activated whose bits are set in the following
machine data:
MD24006 $MC_CHSFRAME_RESET_MASK (active system frames after Reset)
Activating system frames for TCARR, PAROT and TOROT, TOFRAME
The system frames for TCARR, PAROT and TOROT, TOFRAME are activated according to the
setting in the following machine data:
MD20150 $MC_GCODE_RESET_VALUES (initial setting of the G groups)
When changing over geometry axes using transformation selection/deselection or the GEOAX
command, the actual total frame $P_ACTFRAME is either deleted or is re-calculated using the
new geometry axis constellation and activated. The system frames and all other frames are
conditioned again in relation to the geometry axes.
10.5.3.3
NCU-global and channel-specific frames
Settable frames and grinding frames can only be configured as NCU-global or channelspecific frames.
Basic frames can be configured as NCU-global and channel-specific frames.
An NCU-global frame has the same effect in all channels of the NCU.
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10.5 Frames
All channels of an NCU can read and write NCU-global frames equally.
As the assignment of machine axes to channel axes and, in particular, to geometry axes,
can be different in all channels, there is consequently no unique cross-channel geometric
relationship between the channel axes. Therefore, only offset, scaling and mirroring is
possible for NCU-global frames. Rotations are not possible.
Note
Program coordination
The coordination of channel-specific accesses to NCU-global frames is the sole responsibility
of the user. It is recommended that the commands for the program coordination be used.
References
Programming Manual, Job Planning; Section "Flexible NC programming" > "Program
coordination (INIT, START, WAITM, WAITMC, WAITE, SETM, CLEARM)"
10.5.4
Frame chain and coordinate systems
10.5.4.1
Overview
The figure below shows the frame chain for the current complete frame. The frame chain is
located between the basic coordinate system (BCS) and the workpiece coordinate system
(WCS).
The settable zero system (SZS) corresponds to the WCS transformed by the programmable
frame. The basic zero system (BZS) still includes the current settable frame. The system frame
for the external work offset exists only if it has been configured. Otherwise, the external work
offset is traversed as overlaid movement of the axis.
722
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
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WCS:
Workpiece Coordinate System
SZS:
Settable Zero System
BZS:
Basic Zero System
BCS:
Basic Coordinate System
MCS:
Machine Coordinate System
Complete frame
The current complete frame $P_ACTFRAME results from the chaining of all active frames of
the frame chain:
$P_ACTFRAME =
10.5.4.2
$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :
$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :
$P_ACTBFRAME : $P_IFRAME : $P_GFRAME :
$P_TOOLFRAME :$P_WPFRAME : $P_TRAFRAME :
$P_PFRAME :$P_ISO4FRAME : $P_CYCFRAME
Relative coordinate systems
Relative coordinate systems display the current setpoint positions of the axes which lie relative
to a specified reference point in the active displayed coordinate system. No programming can
be done regarding the relative coordinate systems. Only the axis positions in these systems
can be read via the system variables.
The new display coordinate systems lie relative to WCS and ENS coordinate system and result
through transformation of the WCS or ENS axis positions with the active system frame
$P_RELFRAME. The relative coordinate systems can not only be displaced linearly, but also
rotated, mirrored, compressed or expanded.
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10.5 Frames
The position indicator for axis setpoints is done in WCS or in ENS. The configuring is done via
HMI machine data. Always only one display-coordinate system is active in the channel. For
this reason only one relative frame is provided which generates both relative coordinate
systems in the same ratio. The HMI displays the relative coordinates according to the
configuration.
6 5(/
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The data maintenance frame $P_RELFR can be written in the part program and via BTSS. All
the frame components can be modified.
The active system frame $P_RELFRAME can be written in the part program and via BTSS.
The configuring of the system frame $P_RELFR is done via the following machine data:
Machine data
Bit
Meaning
MD28082 $MC_MM_SYSTEM_FRAME_MASK
11
Creation of $P_RELFR; with this, relative coordi
nate systems become existent.
MD28083 $MC_MM_SYSTEM_DATAFRAME_MASK
11
Data maintenance frame $P_RELFR
MD24006 $MC_CHSFRAME_RESET_MASK.
11
$P_RELFR becomes active at Reset
MD24007 $MC_CHSFRAME_RESET_CLEAR_MASK
11
$P_RELFR is deleted at Reset
MD24008 $MC_CHSFRAME_POWERON_MASK
11
$P_RELFR is deleted at PowerOn
The axis position in the relative coordinate system WCSRel can be read via the variable
$AA_PCS_REL[ax]. The variable can be read in part program, BTSS and via synchronized
actions.
The axis position in the relative coordinate system ENSRel can be read via the variable
$AA_ACS_REL[ax]. The variable can be read in part program, BTSS and via synchronized
actions.
724
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
The setting of a relative reference point via the operator panel is done via the general command
interface for the workpiece and tool measuring. The system frame $P_RELFR for relative
coordinate systems is calculated and activated as follows:
$AC_MEAS_TYPE = 14
PI-services _N_SETUDT(6, 7)
An example of setting the relative axis positions can be found in:
References:
Function Manual, Extended functions; Measurement (M5),
Section "Measurement of geometry and special axes (meas. type 14, 15)"
10.5.4.3
Selectable SZS
Within a cycle, machining is performed in a cycle-specific workpiece coordinate system (WCS).
The cycle-specific WCS results from SZS transformed by the programmable frame
$P_PFRAME and/or cycle frame $P_CYCFRAME programmed for the cycle.
If a cycle is interrupted by a machine operator, e.g. through an NC stop, traversing should then
be performed in the original coordinate system (SZS) valid before the activation of the cycle.
Machine data
The specification how the SZS is to be calculated from the cycle-specific WCS is set via the
following machine data.
MD24030 $MC_FRAME_ACS_SET = <value>
<value> Meaning
0
SZS = WCS transformed with $P_TRAFRAME, $P_PFRAME, $P_ISO4FRAME and $P_CY
CFRAME
SZS = WCS transformed only with $P_CYCFRAME
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CFRAME
SZS = WCS transformed only with $P_CYCFRAME
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10.5 Frames
Effects
The reconfiguration of the SZS has an effect on:
SZS-related actual values: Actual-value displays, system variables, e.g. $AA_IEN, etc.
Manual traversing (JOG) of geometry axes in the SZS
10.5.4.4
Manual traversing of geometry axes either in the WCS or in the SZS ($AC_JOG_COORD)
Previously, geometry axes have been traversed manually in JOG mode in the WCS. In
addition, there is also the option to carry out this manual operation in the SZS coordinate
system. The $AC_JOG_COORD variable enables the user to switch between manual
traversing in the WCS and SZS. The user can now select if he wants to traverse in the SZS
or the WCS.
During manual traversing in the JOG mode, the geometry axes can be traversed either in the
workpiece coordinate system (WCS) or in the settable zero system (SZS).
System variables
During manual traversing in the JOG mode, the geometry axes can be traversed either in the
workpiece coordinate system (WCS) or in the settable zero system (SZS). The selection is
made via the system variable $AC_JOG_COORD:
$AC_JOG_COORD = <value>
<value> Meaning
726
Workpiece coordinate system (WCS)
Settable zero system (SZS)
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
10.5.4.5
Suppression of frames
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Suppression of frames is performed channel-specifically via the commands G53, G135 and
SUPA described in the following. Activation of the frame suppression results in jumps in the
position display (HMI) as well as in the position values in system variables that refer to the
WCS, SZS or BZS. The behavior can be set via machine data.
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Machine data
The behavior of position displays (HMI) and position values in system variables is specified
via the following machine data:
MD24020 $MC_FRAME_SUPPRESS_MODE, bit<n> = <value> (positions during frame
suppression)
Bit
Val
ue
Meaning
Position values (OPI) with frame suppression 1)
Position values (OPI) without frame suppression 2)
Basic Functions
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10.5 Frames
Bit
Val
ue
Meaning
Position values in system variables with frame suppression 1)
Position values in system variables without frame suppression 2)
1) Jump of the position value
2) No jump of the position value
Programming
Com
mand
Meaning
G53:
Nonmodal suppression of the following frames:
$P_TRAFRAME : $P_PFRAME : $P_ISO4FRAME : $P_CYCFRAME
$P_IFRAME : $P_GFRAME : $P_TOOLFRAME : $P_WPFRAME :
G153:
Non-modal suppression of the frames as for G53 plus following frames:
$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_ACTBFRAME
$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :
SUPA:
Implicit preprocessing stop and non-modal suppression of the frames as for G53 and
G135 plus following frames:
Handwheel offsets (DRF)
Overlaid movement
External work offset
G500:
Modal activation of the G500 frame. The G500 frame should normally be a zero frame.
DRFOF:
Deactivation (deletion) of the handwheel offsets (DRF)
10.5.5
Frames of the frame chain
10.5.5.1
Overview
The following frames are available:
Settable frames (G500, G54 ... G57, G505 ... G599)
Grinding frames (GFRAME0 ... GFRAME100)
Basic frames
Programmable frame
System frames
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10.5 Frames
10.5.5.2
Settable frames ($P_UIFR[<n>])
Machine data
Channel-specific settable frames
The number of channel-specific settable frames is set with the following machine data:
MD28080 $MC_MM_NUM_USER_FRAMES = <number>
System variable index n = 0, 1, 2, ... <number> - 1
NCU-global settable frames
The number of NCU-global settable frames is set with the following machine data:
MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES = <number>
System variable index n = 0, 1, 2, ... <number> - 1
If the machine data has a value > 0, there are no channel-specific settable frames. The machine
data to set the channel-specific settable frames is then not evaluated.
System variables
$P_UIFR[<n>] (settable frames of the data management)
System variable $P_UIFR[<n>] can be used to read and write the settable frames of the data
management. The new values are not immediately active in the channel when writing a settable
frame of the data management. The activation in the channel only takes effect with the
programming of a work offset G500, G54...G599.
For NCU-global frames, the changed settable frame of the data management is active in each
channel of the NCU which executes a G500, G54..G599 command.
The settable frames in the data management are also stored during a data backup.
$P_IFRAME (active settable frame)
System variable $P_IFRAME can be used to read and write the settable frame active in the
channel. The new values are immediately active in the channel when writing the settable frame.
In the case of NCU-global settable frames, the changed active frame acts only in the channel
in which the new values were programmed. If the changed NCU-global settable frame is to be
active in all channels of the NCU, the settable frame active in the channel and the
corresponding settable frame of the data management must be written together:
$P_UIFR[<n>] = $P_IFRAME = <new value>
$P_UIFR[<n>] (settable frame in the data management)
$P_IFRAME (settable frame active in the channel)
For the changed settable frame to take effect in another channel, it must be activated in this
channel with the appropriate command, e.g. G54.
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10.5 Frames
$P_UIFRNUM (number of active settable frame)
System variable $P_UIFRNUM can be used to read the index <n> of the settable frame of the
data management active in the channel:
Settable frame active in the channel $P_IFRAME == $P_UIFR[ $P_UIFRNUM ]
$P_UIFRNUM
$P_IFRAME == $P_UIFR[<n>], where n =
...
...
99
99
Programming
A channel-specific settable frame of the data management $P_UIFR[<n>] becomes the
settable frame $P_IFRAME active in the channel through the appropriate command (G54 ...
G57, G505 ... G599 and G500).
Command
Activation of the settable frame of the data man
agement
G500
$P_UIFR[0]
G54
$P_UIFR[1]
G55
$P_UIFR[2]
G56
$P_UIFR[3]
G57
$P_UIFR[4]
G505
$P_UIFR[5]
...
...
G599
$P_UIFR[99]
Supplementary conditions
Writing of settable frames through HMI/PLC
Only the settable frames of the data management can be written from the HMI or the PLC user
program.
10.5.5.3
Grinding frames $P_GFR[<n>]
Grinding frames are additional work offsets or "fit-dependent corrections" available particularly
for the grinding technology. They have an additive effect on the work offsets of the settable
frames (Page 729).
Machine data
Channel-specific grinding frames
The number of channel-specific grinding frames is set with the following machine data:
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10.5 Frames
MD28079 $MN_MM_NUM_G_FRAMES = <number>
System variable index n = 0, 1, 2, ... <number> - 1
NCU-global grinding frames
The number of NCU-global grinding frames is set with the following machine data:
MD18603 $MN_MM_NUM_GLOBAL_G_FRAMES = <number>
System variable index n = 0, 1, 2, ... <number> - 1
If the machine data has a value > 0, there are no channel-specific grinding frames. The machine
data to set the channel-specific grinding frames is then not evaluated.
System variables
$P_GFR[<n>] (grinding frames of the data management)
System variable $P_GFR[n] can be used to read and write the grinding frames of the data
management. The new values are not immediately active in the channel when writing a grinding
frame. The activation in the channel only takes effect with the programming of the appropriate
command GFRAME0...GFRAME100. For NCU-global frames, the changed frame only becomes
active in those channels of the NCU, which execute a GFRAME0 ... GFRAME100 command.
The grinding frames in the data management are also stored during a data backup.
$P_GFRAME (active grinding frame)
System variable $P_GFRAME can be used to read and write the grinding frame active in the
channel. The new values are immediately active in the channel when writing the active grinding
frame.
In the case of NCU-global settable frames, the changed frame acts only in the channel in which
the new frame values were programmed.
If the changed NCU-global settable frame is to be active in all channels of the NCU starting
from one channel, the settable frame active in the channel and the settable frame in the data
management must be written together:
$P_GFR[<n>] = $P_GFRAME = <new value>
$P_GFR[<n>] (grinding frame of the data management)
$P_GFRAME (grinding frame active in the channel)
For the changed grinding frame to take effect in another channel, it must be activated in this
channel with the appropriate command GFRAME<n>.
$P_GFRNUM (number of the active grinding frame)
System variable $P_GFRNUM can be used to read the index <n> of the grinding frame of the
data management active in the channel:
Grinding frame active in the channel $P_GFRAME == $P_GFR[ $P_GFRNUM ]
$P_GFRNUM
$P_GFRAME == $P_GFR[<n>], where n =
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10.5 Frames
$P_GFRNUM
$P_GFRAME == $P_GFR[<n>], where n =
...
...
99
99
Programming
A channel-specific grinding frame of the data management $P_GFR[<n>] becomes the
grinding frame $P_GFRAME active in the channel through the appropriate command
(GFRAME0 ... GFRAME100).
Command
Activation of the grinding frame of the data man
agement
GFRAME0
$P_GFR[ 0 ]
GFRAME1
$P_GFR[ 1 ]
...
...
GFRAME100
$P_GFR[ 99 ]
Supplementary conditions
Writing of grinding frames through HMI/PLC
Only the grinding frames of the data management can be written from the HMI or the PLC user
program.
10.5.5.4
Channel-specific basic frames[<n>]
Machine data
Number of channel-specific basic frames
The number of channel-specific basic frames is set with the following machine data:
MD28081 $MC_MM_NUM_BASE_FRAMES = <number>
System variable index n = 0, 1, 2, ... <number> - 1
System variables
$P_CHBFR[<n>] (channel-specific basic frames of the data management)
System variable $P_CHBFR[<n>] can be used to read and write the channel-specific basic
frames of the data management. The new values are not immediately active in the channel
when writing a channel-specific basic frame. The activation in the channel only takes effect
with the programming of the appropriate command G500, G54...G599.
The channel-specific basic frames in the data management are also stored during a data
backup.
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10.5 Frames
$P_CHBFRAME[<n>] (active channel-specific basic frames)
System variable $P_CHBFRAME[<n>] can be used to read and write the active channelspecific basic frames. When writing an active channel-specific basic frame, the new values
take effect immediately through the recalculation of the active complete basic frame
$P_ACTBFRAME.
System variables for compatibility reasons
$P_UBFR (first channel-specific basic frames of the data management)
The system variable is retained for reasons of compatibility, although it is redundant for the
$P_CHBFR[0] variables.
The basic frame with field device 0 is not activated simultaneously when writing to the
predefined $P_UBFR variable, but rather activation only takes place on execution of a G500,
G54,.G599 command. For NCU-global frames, the changed frame only becomes active in
those channels of the NCU, which execute a G500, G54..G599 command. The variable is
used primarily for storing write operations to the basic frame on HMI or PLC. The variable can
also be read and written in the program.
$P_UBFR is identical to $P_CHBFR[0]. One basic frame always exists in the channel by
default, so that the system variable is compatible with older versions. If there is no channelspecific basic frame, an alarm is issued at read/write: "Frame: Statement not permitted" is
output on a read or write access.
$P_BFRAME (first active channel-specific basic frame)
The system variable is retained for reasons of compatibility, although it is redundant for the
$P_CHBFRAME[0] variables.
The predefined frame variable $P_BFRAME can be used to read and write the current basic
frame with the array index 0, which is valid in the channel, in the part program. The written
basic frame is immediately included in the calculation. In the case of NCU-global settable
frames, the modified frame acts only in the channel in which the frame was programmed. If
the frame is to be modified for all channels of an NCU, $P_UBFR and $P_BFRAME must be
written simultaneously. The other channels must then activate the corresponding frame, e.g.
with G54.
$P_BFRAME is identical to $P_CHBFRAME[0]. The system variable always has a valid default
value. If there is no channel-specific basic frame, an alarm is issued at read/write: "Frame:
Statement not permitted" is output on a read or write access.
Supplementary conditions
Writing of grinding frames through HMI/PLC
Only the grinding frames of the data management can be written from the HMI or the PLC user
program.
Basic frames can be read and written via part programs, via the OPI (only data management
frames and from the PLC.
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10.5 Frames
10.5.5.5
NCU-global basic frames $P_NCBFR[<n>]
Machine data
Number of NCU-global basic frames
The number of NCU-global basic frames is set with the following machine data:
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES = <number>
System variable index n = 0, 1, 2, ... <number> - 1
System variables
$P_NCBFR[<n>] (NCU-global basic frames of the data management)
System variable $P_NCBFR[<n>] can be used to read and write the NCU-global basic frames
of the data management. The new values are not immediately active in the channel when
writing an NCU-global basic frame. The activation in the channel only takes effect with the
programming of the appropriate command G500, G54...G599.
The NCU-global basic frames in the data management are also stored during a data backup.
$P_NCBFRAME[<n>] (current NCU-global basic frames)
System variable $P_NCBFRAME[<n>] can be used to read and write the active NCU-global
basic frames. When writing an active NCU-global basic frame, the new values take effect
immediately through the recalculation of the active complete basic frame $P_ACTBFRAME.
If the changed NCU-global basic frame is to be active in all channels of the NCU starting from
one channel, the NCU-global basic frame active in the channel and the NCU-global frame in
the data management must be written together:
$P_NCBFR[<n>] = $P_NCBFRAME = <new value>
$P_NCBFR[<n>] (NCU-global basic frame of the data management)
$P_NCBFRAME (NCU-global basic frame active in the channel)
For the changed NCU-global frame to take effect in another channel, it must be activated in
this channel with the appropriate command G500, G54..G599.
Programming
A channel-specific settable frame of the data management $P_UIFR[<n>] becomes the
settable frame $P_IFRAME active in the channel through the appropriate command (G54 ...
G57, G505 ... G599 and G500).
734
Command
Activation of the NCU-global and channel-specific
basic frames of the data management
G500
$P_CHBFR[ 0 ] : $P_NCBFR[0]
G54
$P_CHBFR[ 1 ] : $P_NCBFR[1]
G55
$P_CHBFR[ 2 ] : $P_NCBFR[2]
G56
$P_CHBFR[ 3 ] : $P_NCBFR[3]
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10.5 Frames
10.5.5.6
Command
Activation of the NCU-global and channel-specific
basic frames of the data management
G57
$P_CHBFR[ 4 ] : $P_NCBFR[4]
G505
$P_CHBFR[ 5 ] : $P_NCBFR[5]
...
...
G599
$P_CHBFR[ 99 ] : $P_NCBFR[99]
Active complete basic frame $P_ACTBFRAME
Function
All active NCU-global and channel-specific basic frames are combined into the complete basic
frame $P_ACTBFRAME:
$P_ACTBFRAME = $P_NCBFRAME[0] : ... : $P_NCBFRAME[<n>] :
$P_CHBFRAME[0] : ... : $P_CHBFRAME[<n>]
%16
7%
)5
$0
3B&+%)5$0(> Q!@
3
B$
&
3B&+%)5$0(>@
3B1&%)5$0(> Q!@
3B1&%)5$0(>@
%.6
Figure 10-22 Complete basic frame
Machine data
Reset response
Which basic frames are active after a reset (channel reset, end of program reset or Power On)
is set via the machine data:
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10.5 Frames
MD20110 $MC_RESET_MODE_MASK, bit0 = 1 and bit14 = 1
Bit 1 = 0: Default value reset behavior corresponding to the setting of the further bits
Bit14 = 0: The basic frames are completely deselected with reset.
Bit14 = 1: With reset, the machine data settings are taken over in the system variables and
the basic frames selected therein become active:
$P_NCBFRMASK = MD10613 $MN_NCBFRAME_RESET_MASK
$P_CHBFRMASK = MD24002 $MC_CHBFRAME_RESET_MASK
Example
Machine data setting
Active basic frames
$P_NCBFRMASK = MD10613 $MN_NCBFRAME_RE
SET_MASK = 'H81'
$P_NCBFRAME[0] :
$P_NCBFRAME[7]
Programming
Basic frame masks
The basic frames that are linked to form the complete basic frame are selected via the basic
frame masks $P_NCBFRMASK and $P_CHBFRMASK.
The appropriate basic frame is selected by setting a bit in the basic frame mask:
$P_NCBFRMASK, bit 0, 1, 2, ... n $P_NCBFRAME[0, 1, 2, ... n]
$P_CHBFRMASK, bit 0, 1, 2, ... n $P_NCHFRAME[0, 1, 2, ... n]
The basic frame masks $P_NCBFRMASK and $P_CHBFRMASK can only be read/written in the
NC program. The basic frame masks can be read via the OPI.
After writing a basic frame mask, the active complete basic frame $P_ACTBFRAME and
complete frame $P_ACTFRAME are recalculated.
Example
10.5.5.7
Program code
Comment
$P_NCBFRMASK = 'H81'
; Active NCU-global basic frames: $P_NCBFRAME[0] :
$P_NCBFRAME[7]
Programmable frame $P_PFRAME
Programmable frames are available only as active frames.
This frame is reserved for the programmer.
The programmable frame remains at RESET, if:
MD24010 $MC_PFRAME_RESET_MODE (reset mode for programmable frame) = 1
This functionality is especially important after a RESET if one still wants to retract out of an
oblique hole.
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10.5 Frames
MIRROR
Mirrorings of a geometry axis were previously (up to SW-P4) related to a defined reference
axis only using the machine data:
MD10610 $MN_MIRROR_REF_AX
(reference axis for the mirroring).
From the user's point of view, this definition is difficult to understand. When mirroring the z
axis, the display showed that the x axis was mirrored and the y axis had been rotated through
180 degrees. When mirroring two axes this became even more complex and it was no longer
easy to understand, which axes had been mirrored and, which had not.
As of SW P5, there is the option to clearly display the mirroring of an axis. Mirroring is then
not mapped to mirroring of a reference axis and rotations of other axes.
This setting can be configured using:
MD10610 $MN_MIRROR_REF_AX = 0
MIRROR and AMIRROR are used to expand the programming of the programmable frame.
Previously, the specified value of the coordinate axis, e.g. the value 0 for MIRROR X0 was not
evaluated, but rather the AMIRROR had a toggle function, i.e. MIRROR X0 activates mirroring
and an additional AMIRROR X0 deactivates it. MIRROR always has an absolute effect and
AMIRROR an additive effect.
The
MD10612 $MN_MIRROR_TOGGLE = 0 ("Mirror Toggle")
machine data setting can be used to define that the programmed values are evaluated.
A value of 0, as inAMIRROR X0, deactivates the mirroring of the axis, and values not equal
to 0 cause the axis to be mirrored if it is not already mirrored.
Reading or writing mirroring component-by-component is independent of the machine data:
MD10612 $MN_MIRROR_TOGGLE
A value = 0 means that the axis is not mirrored and a value = 1 means that the axis will always
be mirrored, irrespective of whether it has already been mirrored or not.
$P_NCBFR[0,x,mi]=1
; x axis is always mirrored.
$P_NCBFR[0,x,mi]=0
; x axis mirroring is OFF.
Axis-specific replacement G58, G59 (only 840D sl)
The translation component of the programmable frame is split into an absolute component and
a component for the total of all additively programmed translations. The absolute component
can be changed using TRANS, CTRANS or by writing the translation components, in which the
additive component is set to zero. G58 changes only the absolute translation component for
the specified axis; the total of additively programmed translations is retained.
G58 X... Y... Z... A... ...
G59 is used for axis-specific overwriting of the additively programmed translations for the
specified axes which were programmed with ATRANS.
G59 X... Y... Z... A... ...
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10.5 Frames
Example
TRANS X10 Y10 Z10
ATRANS X5 Y5
; Total translations X15 Y15 Z10
G58 X20
; Total translations X25 Y15 Z10
G59 X10 Y10
; Total translations X30 Y20 Z10
G58 and G59 can only be used if:
MD24000 $MC_FRAME_ADD_COMPONENTS (frame components for G58 / G59) == TRUE
The table below shows the effect of various program commands on the absolute and additive
translation.
Coarse or absolute offset
10.5.5.8
Fine or additive offset
TRANS X10
10
ATRANS X10
Unchanged
alt_fine + 10
CTRANS(X,10)
10
CTRANS()
CFINE(X,10)
10
$P_PFRAME[X,TR] = 10
10
Unchanged
$P_PFRAME[X,FI] = 10
Unchanged
10
G58 X10
10
Unchanged
G59 X10
Unchanged
10
Channelspecific system frames
Channel-specific system frames are only written by system functions, such as actual value
setting, scratching, external work offset and inclined machining.
Machine data
Parameterization of the channel-specific system frames
Only channel-specific system frames whose system functions are actually used should be
configured for memory space reasons.
Per channel, each system frame occupies approx. 1 KB static and approx. 6 KB dynamic
memory.
The channel-specific system frames are parameterized in the following machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit<n>
Bit
738
Value System frame available:
$P_SETFR: Actual value setting and scratching
$P_EXTFR: External work offset via system frames
$P_PARTFR: TCARR and PAROT with an orientable toolholder
$P_TOOLFR: TOROT and TOFRAME
$P_WPFR: Frame for workpiece reference points
$P_CYCFR: Frame for cycles
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10.5 Frames
Bit
Value System frame available:
$P_TRAFR: Frame for selection and deselection of transformations
$P_ISO1FRAME : Frame for G51.1 mirroring (ISO)
$P_ISO2FRAME : Frame for G68 2DROT (ISO)
$P_ISO3FRAME : Frame for G68 3DROT (ISO)
10
$P_ISO4FRAME: Frame for G51 scale (ISO)
11
$P_RELFR: Frame for relative coordinate systems
Parameterization of the SZS (ACS) coordinate system
The following machine data is used to specify which system frames form the SZS (ACS)
coordinate system
MD24030 $MC_FRAME_ACS_SET = <value>
<value> Meaning: The SZS (ACS) coordinate system comprises
0
$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :$P_ISO1FRAME : $P_ISO2FRAME :
$P_ISO3FRAME :$P_ACTBFRAME : $P_IFRAME :$P_TOOLFRAME : $P_WPFRAME
$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :$P_ISO1FRAME : $P_ISO2FRAME :
$P_ISO3FRAME :$P_ACTBFRAME : $P_IFRAME :$P_TOOLFRAME : $P_WPFRAME :
$P_TRAFRAME :$P_PFRAME : $P_ISO4FRAME
System variables
Channel-specific system frames of the data management
The channel-specific system frames of the data management can be read and written via the
following frame variables:
System variable
Meaning: System frame of the data management for
$P_SETFR
Actual value setting and scratching (Set Frame)
$P_EXTFR
External work offset (Ext Frame)
$P_PARTFR
TCARR and PAROT for orientable toolholder (Part Frame)
$P_TOOLFR
TOROT and TOFRAME (Tool Frame)
$P_WPFR
Workpiece reference points (WorkPiece Frame)
$P_CYCFR
Cycles (Cycle Frame)
$P_TRAFRAME
Transformations (Transformation Frame)
$P_ISO1FR
G51.1 mirroring (ISO)
$P_ISO2FR
G68 2DROT (ISO)
$P_ISO3FR
G68 3DROT (ISO)
$P_ISO4FR
G51 scale (ISO)
$P_RELFR
Relative coordinate systems
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10.5 Frames
Note
Cycle programming
The frame variables of the system frames are only for the cycle programming. Therefore, in
NC programs the system frames should not be written directly by the user, but rather only via
system functions such as TOROT, PAROT, etc.
Channelspecific active system frames
System variables of the active channel-specific system frames:
System variable
Meaning: Active system frame for
$P_SETFRAME
Actual value setting and scratching (Set Frame)
$P_EXTFRAME
External work offset (Ext Frame)
$P_PARTFRAME
TCARR and PAROT for orientable toolholder (Part Frame)
$P_TOOLFRAME
TOROT and TOFRAME (Tool Frame)
$P_WPFRAME
Workpiece reference points (WorkPiece Frame)
$P_CYCFRAME
Cycles (Cycle Frame)
$P_TRAFRAME
Transformations (Transformation Frame)
$P_ISO1FRAME
G51.1 mirroring (ISO)
$P_ISO2FRAME
G68 2DROT (ISO)
$P_ISO3FRAME
G68 3DROT (ISO)
$P_ISO4FRAME
G51 scale (ISO)
$P_RELFRAME
Relative coordinate systems
If a channel-specific system frame of the data management is not parameterized, the following
applies for the corresponding active system frame: $P_<system frame> == zero frame.
Channel-specific active SZS (ACS) complete frame
The system variable $P_ACSFRAME is used to read which system frames form the SZS (ACS)
coordinate system. The specification is made via the machine data described above. See
Subsection "Machine data" > "Parameterization of the SZS (ACS) coordinate system"
10.5.6
Implicit frame changes
10.5.6.1
Frames and switchover of geometry axes
In the channel, the geometry axis configuration can be changed by switching a transformation
on and off and with the GEOAX() command (R3).
Machine data
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE
can be used to configure, for all channels of the system, whether the current complete frame
is calculated again on the basis of the new geometry axes or whether the complete frame is
deleted.
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10.5 Frames
Four modes can be set via machine data:
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 0
The current complete frame is deleted when geometry axes are switched over, when
transformations are selected and deselected, and on GEOAX().
The modified geometry axis configuration is not used until a new frame is activated.
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
The current complete frame is calculated again when the geometry axes are switched over,
and the translations, scalings and mirrorings of the new geometry axes are effective. The
rotations of the geometry axes which were programmed before the switchover remain
effective for the new geometry axes.
For TRANSMIT, TRACYL and TRAANG, see Section "Frame for selection and deselection of
transformations (Page 743)".
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
The current complete frame is calculated again when the geometry axes are switched over,
and the translations, scalings and mirrorings of the new geometry axes are effective. If
rotations are active in the current basic frames, the current settable frame or the
programmable frame before the switchover, it is aborted with the alarm "Frame: Geometry
axis switchover not allowed".
For TRANSMIT, TRACYL and TRAANG, see Section "Frame for selection and deselection of
transformations (Page 743)".
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 3
The current frame is deleted when selecting and deselecting transformations.
With GEOAX(), the current complete frame is calculated again and the translations, scalings
and mirrorings of the new geometry axes come into effect.
The rotations of the geometry axes which were programmed before the switchover remain
effective for the new geometry axes.
The workpiece geometry is described by a coordinate system that is formed by the geometry
axes. A channel axis is assigned to each geometry axis and a machine axis is assigned to
each channel axis. An axial frame exists for each machine axis and for each frame (system
frame, basic frame, settable frame, programmable frame). When a new machine axis is
assigned to a geometry axis, the axial frame components of the machine axis, such as
translations (coarse and fine), scaling and mirroring of the appropriate frame, are also applied.
The new geometry in the channel is then generated by the new contour frames resulting from
the new geometry axes (up to three in number).
The current valid frames are calculated again on the geometry axis switchover and a resulting
complete frame is generated. The data management frames are not included unless they are
activated.
Example:
The channel axis is to become a geometry axis x through geo axis substitution. The
substitution is to give the programmable frame a translation component of 10 in the x axis. The
current settable frame is to be retained.
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
Program code
Comment
$P_UIFR[1] = CROT(x,10,y,20,z,30)
; Frame is retained after geo axis substitution.
G54
; Settable frame becomes active.
TRANS a10
; Axial offset of a is also substituted.
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Program code
Comment
GEOAX(1, a)
; a becomes x axis;
$P_ACTFRAME=CROT(x,10, y,20,z,30):CTRANS(x10).
Several channel axes can become geometry axes on a transformation change.
Example:
Channel axes 4, 5 and 6 become the geometry axes of a 5axis transformation. The geometry
axes are thus all substituted before the transformation. The current frames are changed when
the transformation is activated. The axial frame components of the channel axes which become
geometry axes are taken into account when calculating the new WCS. Rotations programmed
before the transformation are retained. The old WCS is restored when the transformation is
deactivated. The most common application will be that the geometry axes do not change before
and after the transformation and that the frames are to stay as they were before the
transformation.
Machine data:
$MN_FRAME_GEOAX_CHANGE_MODE = 1
$MC_AXCONF_CHANAX_NAME_TAB[0] = "CAX"
$MC_AXCONF_CHANAX_NAME_TAB[1] = "CAY"
$MC_AXCONF_CHANAX_NAME_TAB[2] = "CAZ"
$MC_AXCONF_CHANAX_NAME_TAB[3] = "A"
$MC_AXCONF_CHANAX_NAME_TAB[4] = "B"
$MC_AXCONF_CHANAX_NAME_TAB[5] = "C"
$MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
$MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 2
$MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3
$MC_AXCONF_GEOAX_NAME_TAB[0] = "X"
$MC_AXCONF_GEOAX_NAME_TAB[1]="Y"
$MC_AXCONF_GEOAX_NAME_TAB[2] = "Z"
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=6
$MC_TRAFO_AXES_IN_1[0] = 4
$MC_TRAFO_AXES_IN_1[1] = 5
$MC_TRAFO_AXES_IN_1[2] = 6
$MC_TRAFO_AXES_IN_1[3] = 1
$MC_TRAFO_AXES_IN_1[4] = 2
742
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Program:
Program code
$P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
$P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)
Program code
Comment
TRAORI
; Transformation sets GeoAx(4,5,6)
; $P_NCBFRAME[0] = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3)
; $P_ACTBFRAME =ctrans(x,8,y,10,z,12,cax,2,cay,4,caz,6)
; $P_PFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(x,10,y,
20,z,30)
; $P_IFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(z,45)
TRAFOOF
; Deactivation of the transformation sets GeoAx(1,2,3)
; $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
; $P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,
30)
10.5.6.2
Frame for selection and deselection of transformations
This function is available with NCK 51.00.00 and higher. Transformations TRANSMIT,
TRACYL and TRAANG are supported.
As a rule, the assignment of geometry axes to channel axes changes when selecting and
deselecting transformations. It is not possible to uniquely assign axial frame components to
geometric contour frame components when carrying out transformations, in which rotary axes
become linear axes and vice versa. The contour frame must be conditioned using special
treatment for such non-linear transformations.
The mode, set with MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1 and 2, is
expanded in such a way as to take the above transformations into account.
When selecting transformations, the contour frame is connected to the axial frames. With
transformations TRANSMIT, TRACYL and TRAANG, the virtual geometry axis is subject to
special treatment.
Note
Transformations with virtual axes
When selecting TRANSMIT or TRACYL, offsets, scaling and mirroring of the real Y axis are
not transferred and accepted in the virtual Y axis. Offsets, scaling and mirroring of the virtual
Y axis are deleted for TRAFOOF.
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
TRANSMIT
\
&
Transmit expansions:
The machine data below can be used to take the axial complete frame of the TRANSMIT rotary
axis, i.e., the translation, fine offset, mirroring and scaling, into account in the transformation:
MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 1
MD24955 $MC_TRANSMIT_ROT_AX_FRAME_2 = 1
A rotary axis offset can, for example, be entered by compensating the oblique position of a
workpiece in a frame within a frame chain. As a rule, this offset can also be included in the
transformation as an offset in the rotary axis. A c axis offset, as in the figure above, then leads
to corresponding x and y values.
MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 2
MD24955 $MC_TRANSMIT_ROT_AX_FRAME_2 = 2
With this setting, the axial offset of the rotary axis is taken account of in the transformation up
to the SZS. The axial offsets of the rotary axis included in the SZS frames are entered into the
transformation frame as rotation. This setting is only effective if the transformation frame has
been configured.
Frame expansions:
The expansions described below are only valid for the following machine data settings:
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
The selection of transformation TRANSMIT produces a virtual geometry axis, coupled by way
of the rotary axis, which is merely included in the contour frame but does not have a reference
to an axial frame. The geometric value results from the rotation of a rotary axis. All other
geometry axes accept their axial components when the transformation is selected.
Translations:
744
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
When selecting TRANSMIT, translations of the virtual axis are deleted. Translations of the
rotary axis can be taken into account in the transformation.
Rotations:
Rotation before the transformation is taken over.
Mirroring:
Mirroring of the virtual axis is deleted. Mirroring of the rotary axis can be taken into account in
the transformation.
Scaling:
Scaling of the virtual axis is deleted. Scaling of the rotary axis can be taken into account in the
transformation.
Example:
Machine data for TRANSMIT
; FRAME configurations
$MC_MM_SYSTEM_FRAME_MASK='H41'
; TRAFRAME, SETFRAME
$MC_CHSFRAME_RESET_MASK='H41'
; Frames are active after Reset.
$MC_CHSFRAME_POWERON_MASK='H41'
; Frames are deleted for Power On.
$MN_FRAME_GEOAX_CHANGE_MODE=1
; Frames are calculated after switchover
of the geo axis.
$MC_RESET_MODE_MASK='H4041'
; Basic frame is not deselected after RESET.
;$MC_RESET_MODE_MASK='H41'
; Basic frame is deselected after RESET.
;$MC_GCODE_RESET_VALUES[7]=2
; G54 is the default setting.
$MC_GCODE_RESET_VALUES[7]=1
; G500 is the default setting.
$MN_MM_NUM_GLOBAL_USER_FRAMES=0
$MN_MM_NUM_GLOBAL_BASE_FRAMES=3
$MC_MM_NUM_USER_FRAMES=10
; from 5 to 100
$MC_MM_NUM_BASE_FRAMES=3
; from 0 to 8
$MN_NCBFRAME_RESET_MASK='HFF'
$MC_CHBFRAME_RESET_MASK='HFF'
$MN_MIRROR_REF_AX=0
; No scaling when mirroring.
$MN_MIRROR_TOGGLE=0
$MN_MM_FRAME_FINE_TRANS=1
; Fine offset
$MC_FRAME_ADD_COMPONENTS=TRUE
; G58, G59 is possible.
; TRANSMIT is 1st transformer
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10.5 Frames
$MC_TRAFO_TYPE_1=256
$MC_TRAFO_AXES_IN_1[0]=1
$MC_TRAFO_AXES_IN_1[1]=6
$MC_TRAFO_AXES_IN_1[2]=3
$MC_TRAFO_AXES_IN_1[3]=0
$MC_TRAFO_AXES_IN_1[4]=0
$MA_ROT_IS_MODULO[AX6]=TRUE;
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=6
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
$MC_TRANSMIT_BASE_TOOL_1[0]=0.0
$MC_TRANSMIT_BASE_TOOL_1[1]=0.0
$MC_TRANSMIT_BASE_TOOL_1[2]=0.0
$MC_TRANSMIT_ROT_AX_OFFSET_1=0.0
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_1=TRUE
$MC_TRANSMIT_ROT_AX_FRAME_1=1
; TRANSMIT is 2nd transformer
$MC_TRAFO_TYPE_2=256
$MC_TRAFO_AXES_IN_2[0]=1
$MC_TRAFO_AXES_IN_2[1]=6
$MC_TRAFO_AXES_IN_2[2]=2
$MC_TRAFO_AXES_IN_2[3]=0
$MC_TRAFO_AXES_IN_2[4]=0
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[1]=6
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[2]=2
$MC_TRANSMIT_BASE_TOOL_2[0]=4.0
$MC_TRANSMIT_BASE_TOOL_2[1]=0.0
$MC_TRANSMIT_BASE_TOOL_2[2]=0.0
$MC_TRANSMIT_ROT_AX_OFFSET_2=19.0
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_2=TRUE
746
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
$MC_TRANSMIT_ROT_AX_FRAME_2=1
Part program:
; Frame settings
N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,c,4)
N830 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N840 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,c)
N850
N860 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,c,15)
N870
; Tool selection, clamping compensation, plane selection
N890 T2 D1 G54 G17 G90 F5000 G64 SOFT
N900
; Approach start position
N920 G0 X20 Z10
N930
N940 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,C,15)
N950 setal(61000)
N960 endif
N970 if $P_BFRAME <> $P_CHBFR[0]
N980 setal(61000)
N990 endif
N1000 if $P_IFRAME <>
CTRANS(X,1,Y,2,Z,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1010 setal(61000)
N1020 endif
N1030 if $P_IFRAME <> $P_UIFR[1]
N1040 setal(61000)
N1050 endif
N1060 if $P_ACTFRAME <>
CTRANS(X,11,Y,22,Z,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1070 setal(61000)
N1080 endif
N1090
N1100 TRANSMIT(2)
N1110
N1120 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,20,CAZ,30,C,15)
N1130 setal(61000)
N1140 endif
N1180 if $P_IFRAME <>
CTRANS(X,1,Y,0,Z,2,CAZ,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1190 setal(61000)
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
N1200 endif
N1240 if $P_ACTFRAME <>
CTRANS(X,11,Y,0,Z,22,CAZ,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1250 setal(61001)
N1260 endif
N1270
N1280
N1290 $P_UIFR[1,x,tr] = 11
N1300 $P_UIFR[1,y,tr] = 14
N1310
N1320 g54
N1330
; Set frame
N1350 ROT RPL=-45
N1360 ATRANS X-2 Y10
N1370
; Four-edge roughing
N1390 G1 X10 Y-10 G41 OFFN=1; allowance 1 mm
N1400 X-10
N1410 Y10
N1420 X10
N1430 Y-10
N1440
; Tool change
N1460 G0 Z20 G40 OFFN=0
N1470 T3 D1 X15 Y-15
N1480 Z10 G41
N1490
; Four-edge finishing
N1510 G1 X10 Y-10
N1520 X-10
N1530 Y10
N1540 X10
N1550 Y-10
N1560
; Deselect frame
N2950 m30 N1580 Z20 G40
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
N1590 TRANS
N1600
N1610 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,20,CAZ,30,C,15)
N1620 setal(61000)
N1630 endif
N1640 if $P_BFRAME <> $P_CHBFR[0]
N1650 setal(61000)
N1660 endif
N1670 if $P_IFRAME <>
TRANS(X,11,Y,0,Z,2,CAZ,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1680 setal(61000)
N1690 endif
N1730 if $P_ACTFRAME <>
TRANS(X,21,Y,0,Z,22,CAZ,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1740 setal(61001)
N1750 endif
N1760
N1770 TRAFOOF
N1780
N1790 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,C,15)
N1800 setal(61000)
N1810 endif
N1820 if $P_BFRAME <> $P_CHBFR[0]
N1830 setal(61000)
N1840 endif
N1850 if $P_IFRAME <>
TRANS(X,11,Y,2,Z,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1860 setal(61000)
N1870 endif
N1880 if $P_IFRAME <> $P_UIFR[1]
N1890 setal(61000)
N1900 endif
N1910 if $P_ACTFRAME <>
TRANS(X,21,Y,22,Z,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1920 setal(61002)
N1930 endif
N1940
N2010 $P_UIFR[1] = ctrans()
N2011 $P_CHBFR[0] = ctrans()
N2020 $P_UIFR[1] = ctrans(x,1,y,2,z,3,c,0)
N2021 G54
N2021 G0 X20 Y0 Z10 C0
N2030 TRANSMIT(1)
N2040 TRANS x10 y20 z30
N2041 ATRANS y200
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
N2050 G0 X20 Y0 Z10
N2051 if $P_IFRAME <> CTRANS(X,1,Y,0,Z,3,CAY,2)
N2052 setal(61000)
N2053 endif
N2054 if $P_ACTFRAME <> CTRANS(X,11,Y,20,Z,33,CAY,2):CFINE(Y,200)
N2055 setal(61002)
N2056 endif
N2060 TRAFOOF
N2061 if $P_IFRAME <> $P_UIFR[1]
N2062 setal(61000)
N2063 endif
N2064 if $P_ACTFRAME <> CTRANS(X,11,Y,2,Z,33):CFINE(Y,0)
N2065 setal(61002)
N2066 endif
TRACYL
&
[
'LDPHWHUG
TRACYL expansions:
The machine data below can be used to take the axial complete frame of the TRACYL rotary
axis, i.e., the translation, fine offset, mirroring and scaling, into account in the transformation:
MD24805 $MC_TRACYL_ROT_AX_FRAME_1 = 1
MD24855 $MC_TRACYL_ROT_AX_FRAME_2 = 1
A rotary axis offset can, for example, be entered by compensating the oblique position of a
workpiece in a frame within a frame chain. As a rule, this offset can also be included in the
transformation as an offset in the rotary axis or as a y offset. A c axis offset, as in the figure
above, then leads to corresponding x and y values.
MD24805 $MC_TRACYL_ROT_AX_FRAME_1 = 2
750
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
MD24855 $MC_TRACYL_ROT_AX_FRAME_2 = 2
With this setting, the axial offset of the rotary axis is taken account of in the transformation up
to the SZS. The axial offsets of the rotary axis included in the SZS frames are entered into the
transformation frame as offsets on the peripheral surface. This setting is only effective if the
transformation frame has been configured.
Frame expansions:
The expansions described below are only valid for the following machine data settings:
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
The selection of transformation TRACYL produces a virtual geometry axis on the peripheral
surface, coupled via the rotary axis, which is only taken into account in the contour frame but
does not have a reference to an axial frame. All components of the virtual geometry axis are
deleted. All other geometry axes accept their axial components when the transformation is
selected.
Translations:
When selecting TRACYL, translations of the virtual axis are deleted. Translations of the rotary
axis can be taken into account in the transformation.
Rotations:
Rotation before the transformation is taken over.
Mirroring:
Mirroring of the virtual axis is deleted. Mirroring of the rotary axis can be taken into account in
the transformation.
Scaling:
Scaling of the virtual axis is deleted. Scaling of the rotary axis can be taken into account in the
transformation.
Example:
Machine data for TRACYL:
; FRAME configurations
$MC_MM_SYSTEM_FRAME_MASK = 'H41'
; TRAFRAME, SETFRAME
$MC_CHSFRAME_RESET_MASK = 'H41'
; Frames are active after Reset.
$MC_CHSFRAME_POWERON_MASK = 'H41'
; Frames are deleted for Power On.
$MN_FRAME_GEOAX_CHANGE_MODE = 1
; Frames are calculated after switchover
of the geo axis.
$MC_RESET_MODE_MASK = 'H4041'
; Basic frame is not deselected after Reset.
;$MC_RESET_MODE_MASK = 'H41'
; Basic frame is deselected after Reset.
;$MC_GCODE_RESET_VALUES[7] = 2
; G54 is the default setting.
$MC_GCODE_RESET_VALUES[7] = 1
; G500 is the default setting.
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10.5 Frames
$MN_MM_NUM_GLOBAL_USER_FRAMES = 0
$MN_MM_NUM_GLOBAL_BASE_FRAMES = 3
$MC_MM_NUM_USER_FRAMES = 10
; from 5 to 100
$MC_MM_NUM_BASE_FRAMES = 3
; from 0 to 8
$MN_NCBFRAME_RESET_MASK = 'HFF'
$MC_CHBFRAME_RESET_MASK = 'HFF'
$MN_MIRROR_REF_AX = 0
; No scaling when mirroring.
$MN_MIRROR_TOGGLE = 0
$MN_MM_FRAME_FINE_TRANS = 1
; Fine offset
$MC_FRAME_ADD_COMPONENTS = TRUE
; G58, G59 is possible
; TRACYL with groove side offset is 3rd transformer
$MC_TRAFO_TYPE_3 = 513; TRACYL
$MC_TRAFO_AXES_IN_3[0] = 1
$MC_TRAFO_AXES_IN_3[1] = 5
$MC_TRAFO_AXES_IN_3[2] = 3
$MC_TRAFO_AXES_IN_3[3] = 2
$MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] = 1
$MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] = 5
$MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] = 3
$MC_TRACYL_BASE_TOOL_1[0] = 0.0
$MC_TRACYL_BASE_TOOL_1[1] = 0.0
$MC_TRACYL_BASE_TOOL_1[2] = 0.0
$MC_TRACYL_ROT_AX_OFFSET_1 = 0.0
$MC_TRACYL_ROT_SIGN_IS_PLUS_1 = TRUE
$MC_TRACYL_ROT_AX_FRAME_1 = 1
Part program:
;Simple traversing test with groove side offset
N450 G603
N460
; Frame settings
N500 $P_UIFR[1] = ctrans(x,1,y,2,z,3,b,4)
752
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K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
N510 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N520 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,b)
N530
N540 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,b,15)
N550
N560 G54
N570
; Continuous-path mode with selected smoothing
N590 G0 x0 y0 z-10 b0 G90 F50000 T1 D1 G19 G641 ADIS=1 ADISPOS=5
N600
N610 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,15)
N620 setal(61000)
N630 endif
N640 if $P_BFRAME <> $P_CHBFR[0]
N650 setal(61000)
N660 endif
N670 if $P_IFRAME <>
TRANS(X,1,Y,2,Z,3,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N680 setal(61000)
N690 endif
N700 if $P_IFRAME <> $P_UIFR[1]
N710 setal(61000)
N720 endif
N730 if $P_ACTFRAME <>
TRANS(X,11,Y,22,Z,33,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N740 setal(61000)
N750 endif
N760
; Transformation ON
N780 TRACYL(40.)
N790
N800 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15)
N810 setal(61000)
N820 endif
N830 if $P_CHBFR[0] <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15)
N840 setal(61000)
N850 endif
N860 if $P_IFRAME <>
TRANS(X,1,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N870 setal(61000)
N880 endif
N890 if $P_UIFR[1] <>
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TRANS(X,1,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N900 setal(61000)
N910 endif
N920 if $P_ACTFRAME <>
TRANS(X,11,Y,0,Z,33,CAY,22,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N930 setal(61001)
N940 endif
N950
N960 $P_UIFR[1,x,tr] = 11
N970 $P_UIFR[1,y,tr] = 14
N980
N990 g54
N1000
N1010 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15)
N1020 setal(61000)
N1030 endif
N1040 if $P_BFRAME <> $P_CHBFR[0]
N1050 setal(61000)
N1060 endif
N1070 if $P_IFRAME <>
TRANS(X,11,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1080 setal(61000)
N1090 endif
N1100 if $P_IFRAME <> $P_UIFR[1]
N1110 setal(61000)
N1120 endif
N1130 if $P_ACTFRAME <>
TRANS(X,21,Y,0,Z,33,CAY,22,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1140 setal(61001)
N1150 endif
N1160
; Transformation off
N1180 TRAFOOF
N1190
N1200 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,15)
N1210 setal(61000)
N1220 endif
N1230 if $P_BFRAME <> $P_CHBFR[0]
N1240 setal(61000)
N1250 endif
N1260 if $P_IFRAME <>
TRANS(X,11,Y,2,Z,3,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1270 setal(61000)
N1280 endif
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N1290 if $P_IFRAME <> $P_UIFR[1]
N1300 setal(61000)
N1310 endif
N1320 if $P_ACTFRAME <>
TRANS(X,21,Y,22,Z,33,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B)
N1330 setal(61002)
N1340 endif
N1350
N1360 G00 x0 y0 z0 G90
N1370
N1380 m30
TRAANG
Frame expansions:
The expansions described below are only valid for the following machine data settings:
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2
Translations:
When selecting TRAANG, translations of the virtual axis are deleted.
Rotations:
Rotation before the transformation is taken over.
Mirroring:
Mirrorings of the virtual axis are taken over.
Scaling:
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Scalings of the virtual axis are taken over.
Example:
Machine data for TRAANG:
; FRAME configurations
$MC_MM_SYSTEM_FRAME_MASK = 'H1'
; SETFRAME
$MC_CHSFRAME_RESET_MASK = 'H41'
; Frames are active after RESET.
$MC_CHSFRAME_POWERON_MASK = 'H41'
; Frames are deleted for "Power On".
$MN_FRAME_GEOAX_CHANGE_MODE = 1
; Frames are calculated after switchover
of the geo axis.
$MC_RESET_MODE_MASK = 'H4041'
; Basic frame is not deselected after RESET.
;$MC_RESET_MODE_MASK = 'H41'
; Basic frame is deselected after RESET.
;$MC_GCODE_RESET_VALUES[7] = 2
; G54 is the default setting.
$MC_GCODE_RESET_VALUES[7] = 1
; G500 is the default setting.
$MN_MM_NUM_GLOBAL_USER_FRAMES = 0
$MN_MM_NUM_GLOBAL_BASE_FRAMES = 3
$MC_MM_NUM_USER_FRAMES = 10
; from 5 to 100
$MC_MM_NUM_BASE_FRAMES = 3
; from 0 to 8
$MN_NCBFRAME_RESET_MASK = 'HFF'
$MC_CHBFRAME_RESET_MASK = 'HFF'
$MN_MIRROR_REF_AX = 0
; No scaling when mirroring.
$MN_MIRROR_TOGGLE = 0
$MN_MM_FRAME_FINE_TRANS = 1
; Fine offset
$MC_FRAME_ADD_COMPONENTS = TRUE
; G58, G59 is possible.
; TRAANG is 1st transformer
$MC_TRAFO_TYPE_1 = 1024
$MC_TRAFO_AXES_IN_1[0] = 4
; Inclined axis
$MC_TRAFO_AXES_IN_1[1] = 3
; Axis is parallel to z
$MC_TRAFO_AXES_IN_1[2] = 2
$MC_TRAFO_AXES_IN_1[3] = 0
$MC_TRAFO_AXES_IN_1[4] = 0
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4
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$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2] = 3
$MC_TRAANG_ANGLE_1 = 85.
$MC_TRAANG_PARALLEL_VELO_RES_1 = 0.
$MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.
$MC_TRAANG_BASE_TOOL_1[0] = 0.0
$MC_TRAANG_BASE_TOOL_1[1] = 0.0
$MC_TRAANG_BASE_TOOL_1[2] = 0.0
; TRAANG is 2nd transformer
$MC_TRAFO_TYPE_2 = 1024
$MC_TRAFO_AXES_IN_2[0] = 4
$MC_TRAFO_AXES_IN_2[1] = 3
$MC_TRAFO_AXES_IN_2[2] = 0
$MC_TRAFO_AXES_IN_2[3] = 0
$MC_TRAFO_AXES_IN_2[4] = 0
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] = 4
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] = 0
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] = 3
$MC_TRAANG_ANGLE_2 = -85.
$MC_TRAANG_PARALLEL_VELO_RES_2 = 0.2
$MC_TRAANG_PARALLEL_ACCEL_RES_2 = 0.2
$MC_TRAANG_BASE_TOOL_2[0] = 0.0
$MC_TRAANG_BASE_TOOL_2[1] = 0.0
$MC_TRAANG_BASE_TOOL_2[2] = 0.0
Part program:
; Frame settings
N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,b,4,c,5)
N830 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N840 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,c)
N850
N860 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,b,40,c,15)
N870
; Tool selection, clamping compensation, plane selection
N890 T2 D1 G54 G17 G90 F5000 G64 SOFT
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N900
; Approach start position
N920 G0 X20 Z10
N930
N940 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,40,C,15)
N950 setal(61000)
N960 endif
N970 if $P_BFRAME <> $P_CHBFR[0]
N980 setal(61000)
N990 endif
N1000 if $P_IFRAME <>
TRANS(X,1,Y,2,Z,3,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1010 setal(61000)
N1020 endif
N1030 if $P_IFRAME <> $P_UIFR[1]
N1040 setal(61000)
N1050 endif
N1060 if $P_ACTFRAME <>
TRANS(X,11,Y,22,Z,33,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1070 setal(61000)
N1080 endif
N1090
N1100 TRAANG(,1)
N1110
N1120 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,CAX,10,B,40,C,15)
N1130 setal(61000)
N1140 endif
N1150 if $P_BFRAME <> $P_CHBFR[0]
N1160 setal(61000)
N1170 endif
N1180 if $P_IFRAME <>
CTRANS(X,1,Y,2,Z,3,CAX,1,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1190 setal(61000)
N1200 endif
N1210 if $P_IFRAME <> $P_UIFR[1]
N1220 setal(61000)
N1230 endif
N1240 if $P_ACTFRAME <>
TRANS(X,11,Y,22,Z,33,CAX,11,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1250 setal(61001)
N1260 endif
N1270
N1280
N1290 $P_UIFR[1,x,tr] = 11
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10.5 Frames
N1300 $P_UIFR[1,y,tr] = 14
N1310
N1320 g54
N1330
; Set frame
N1350 ROT RPL=-45
N1360 ATRANS X-2 Y10
N1370
; Four-edge roughing
N1390 G1 X10 Y-10 G41 OFFN=1; allowance 1 mm
N1400 X-10
N1410 Y10
N1420 X10
N1430 Y-10
N1440
; Tool change
N1460 G0 Z20 G40 OFFN=0
N1470 T3 D1 X15 Y-15
N1480 Z10 G41
N1490
; Four-edge finishing
N1510 G1 X10 Y-10
N1520 X-10
N1530 Y10
N1540 X10
N1550 Y-10
N1560
; Deselect frame
N1580 Z20 G40
N1590 TRANS
N1600
N1610 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,CAX,10,B,40,C,15)
N1620 setal(61000)
N1630 endif
N1640 if $P_BFRAME <> $P_CHBFR[0]
N1650 setal(61000)
N1660 endif
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N1670 if $P_IFRAME <>
TRANS(X,11,Y,14,Z,3,CAX,1,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1680 setal(61000)
N1690 endif
N1700 if $P_IFRAME <> $P_UIFR[1]
N1710 setal(61000)
N1720 endif
N1730 if $P_ACTFRAME <>
TRANS(X,21,Y,34,Z,33,CAX,11,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C)
N1740 setal(61001)
N1750 endif
N1760
N1770 TRAFOOF
N1780
N1790 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,40,C,15)
N1800 setal(61000)
N1810 endif
N1820 if $P_BFRAME <> $P_CHBFR[0]
N1830 setal(61000)
N1840 endif
N1850 if $P_IFRAME <>
TRANS(X,1,Y,14,Z,3,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1860 setal(61000)
N1870 endif
N1880 if $P_IFRAME <> $P_UIFR[1]
N1890 setal(61000)
N1900 endif
N1910 if $P_ACTFRAME <>
TRANS(X,11,Y,34,Z,33,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1920 setal(61002)
N1930 endif
N1940
N1950 m30
10.5.6.3
Adapting active frames
The geometry axis configuration can change during program execution or on RESET. The
number of available geometry axes can vary from zero to three. With unavailable geometry
axes, components in the active frames (e.g., rotations) can lead to the active frames for this
axis configuration becoming invalid. This is indicated by the alarms below:
Channel %1 block %2 rotation programmed for non-existent geometry axis
This alarm remains present until the frames have been changed accordingly.
The machine data below can be used to switch on the automatic adaptation of active frames,
thus preventing alarm 16440:
MD24040 $MC_FRAME_ADAPT_MODE
760
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10.5 Frames
Bitmask for adapting the active frames with reference to the axis constellation.
The following settings apply:
Bit 0:
Bit 1:
Bit 2:
Rotations in active frames, which rotate coordinate axes with no geometry axes,
are deleted from the active frames.
Shear angles in the active frames are orthogonalized.
Scalings of all geometry axes in the active frames are set to value 1.
With machine data setting
MD24040 $MC_FRAME_ADAPT_MODE = 1
, all rotations in the active frames, which could produce coordinate axis movements for nonexistent geometry axes, are deleted.
The data management frames are not changed. Only the possible rotations are applied when
the data management frames are activated.
Example:
No y axis exists:
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 0
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3
$P_UIFR[1] = crot(x,45,y,45,z,45)
N390 G54 G0 X10 z10 f10000
if $P_IFRAME <> crot(y,45)
; Only the rotation about y is taken over.
setal(61000)
endif
10.5.6.4
Mapped Frames
Overview
The "mapped frames" function supports the cross-channel consistent change of axial frames
inside channel-specific or global data management frames. Using axial machine data, it is
defined between which axes mapping is realized.
If frame mapping is, e.g. active for machine axes AX1 and AX4, and the axial frame of axis
AX1 is changed in a channel-specific data management frame (e.g. basic frame $P_CHBFR[x])
(translation, fine translation, scaling, mirroring), then this frame data for AX1 and AX4 is
transferred to all channel-specific data management frames (e.g. basic frame $P_CHBFR[x])
in all channels in which they are parameterized as channel axes.
Frame mapping is not realized when changing the axial frame data for the rotation.
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10.5 Frames
Preconditions
The following requirements must be fulfilled for frame mapping:
The data management frames used for mapping must be configured:
MD28083 $MC_MM_SYSTEM_DATAFRAME_MASK (system frames)
Channel-specific data management frames must be explicitly enabled for mapping:
MD10616 $MN_MAPPED_FRAME_MASK (enable frame mapping)
Note
For global data management frames, mapping is always carried out. An enable is not
required.
Parameterization
The parameterization of the mapping relationships is realized in the axis-specific machine data:
MD32075 $MA_MAPPED_FRAME[<AXn>] = "AXm"
AXn, AXm: Machine axis name with n, m = 1, 2, ... max. number of machine axes
Mapping rules
The following rules apply for frame mapping:
The mapping is bidirectional.
An axial frame can be written for AXn or AXm. The frame data is always accepted and
taken for the other axis.
All parameterized mapping relationships are always evaluated.
When writing an axial frame of axes AXn, all mapping relationships are evaluated and the
frame data accepted for all directly and indirectly involved axes.
The mapping is global across all channels.
When writing an axial frame of axis AXn or AXm for a channel-specific frame, the frame
data is accepted for all channels in which AXn or AXm are parameterized as channel axes.
When writing an axial frame using geometry or special axis name, the mapping relationships
are evaluated via the machine axes currently assigned to the geometry or special axis.
Mapping is frame-specific.
When writing an axial frame, the frame data is only mapped within the same channelspecific or global data management frame.
Note
Data consistency
The user / machine manufacturer is solely responsible for ensuring that after a frame is
written, consistent frame data is available in all channels, e.g. by using channel
synchronization.
762
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10.5 Frames
&KDQQHO
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VSHFLDOD[LV
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D[LV
$;
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$;
$;
$;
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$;
$;
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<
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Description
Simple mapping relationship:
$;
([SOLFLWPDSSLQJ
,PSOLFLWPDSSLQJ
Parameterization: $MA_
MAPPED_FRAME[<AX1>] = "AX4"
AX1(K1) AX4(K2)
Chained mapping relationships:
AX1(K1) AX4(K2) AX7(K3)
Mapping relationship to itself, with AX1 as chan
nel axis of channels 1, 2 and 3:
MAPPED_FRAME[<AX1>] = "AX4"
MAPPED_FRAME[<AX4>] = "AX7"
MAPPED_FRAME[<AX1>] = "AX1"
AX1(K1+K2+K3)
Mapping relationship between two axes, the
channel axes in two channels are:
MAPPED_FRAME[<AX1>] = "AX4"
AX1(K1+K2) AX4(K3+K4)
Chained mapping relationships where multiple
MAPPED_FRAME[<AX4>] = "AX7"
channel axes can be written in the same channel: MAPPED_FRAME[<AX7>] = "AX8"
MAPPED_FRAME[<AX8>] = "AX5"
AX4(K1) AX7(K2) AX8(K2) AX5(K1)
Figure 10-23 Mapping examples
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10.5 Frames
Activating the data management frame
Data management frames can be written in the part program and via the user interface of
SINUMERIK Operate. The following should be noted when activating the data management
frames in the channels written directly and via frame mapping:
Writing in the part program
The data management frames must be explicitly activated in each channel (G500, G54 ...
G599)
Writing via user interface
Data management frames are written via the user interface, e.g. by entering new zero
offsets. A modified data management frame is immediately active in all of the involved
channels if none of these channels is in the "Channel active" state. The data management
frame is not active in any channel if one of the channels involved is in the "Channel active"
state. The activation must then be explicitly programmed in each channel in the part
program (G500, G54 ... G599). Or, the next time that the channel state changes, it becomes
active after "Channel reset".
Example
The following channels and channel axes are parameterized at a control:
Channel 1
Z: Geometry axis
AX1: Machine axis of geometry axis Z
Channel 2
Z: Geometry axis
AX4: Machine axis of geometry axis Z
The zero point of the Z axis should always be the same in both channels:
Mapping relationship: $MA_MAPPED_FRAME[AX1] = "AX4"
Programming in the part program
Channel 1
Channel 2
...
...
N100 WAIT (10,1,2)
N200 WAIT (10,1,2)
N110 $P_UIFR[1] = CTRANS(Z, 10)
N120 WAIT (20,1,2)
N220 WAIT (20,1,2)
N130 G54
N230 G54
N140 IF ($P_IFRAME[0, Z, TR] <> 10)
N230 IF ($P_IFRAME[0, Z, TR] <> 10)
N150
N250
SETAL(61000)
SETAL(61000)
N160 ENDIF
N260 ENDIF
...
...
Description:
N100 / N200
764
Channel synchronization for consistent writing and mapping of frame data
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10.5 Frames
N110
N120 / N220
N130 / N230
N140 / N240
Writing of the settable data management frame $P_UIFR[1]:
Moving the zero point of the Z axis to 10 mm
Mapping the axial frame data:
Channel 1: Z AX1 channel 2: Z AX4
Channel synchronization for consistent activation of new frame data
Activating the new frame data
Checking the zero point of the Z axis for: 10 mm
10.5.7
Predefined frame functions
10.5.7.1
Inverse frame
To round off the frame arithmetic, the part program provides a function which calculates the
inverse frame from another frame. The chaining between a frame and its inverse frame always
produces a zero frame.
FRAME INVFRAME( FRAME ) zero frame
Frame inversion is an aid for coordinate transformations. Measuring frames are usually
calculated in the WCS. If you should wish to transform this calculated frame into another
coordinate system, i.e. the calculated frame should be entered into any desired frame within
the frame chain, then the calculations below should be used.
The new complete frame is a chain of the old complete frame and the calculated frame.
$P_ACTFRAME = $P_ACTFRAME : $AC_MEAS_FRAME
The new frame in the frame chain is therefore:
Target frame is $P_SETFRAME:
$P_SETFRAME = $P_ACTFRAME : $AC_MEAS_FRAME : INVFRAME($P_ACTFRAME) :
$P_SETFRAME
The target frame is the nth channel basic frame $P_CHBFRAME[n]:
n = 0: TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_NCBFRAME[0..k]
n <> 0: TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_NCBFRAME[0..k] :
$P_CHBFRAME[0..n-1]
k = $MN_MM_NUM_GLOBAL_BASE_FRAMES
$P_CHBFRAME[n] = INVFRAME(TMP) : $P_ACTFRAME : $AC_MEAS_FRAME :
INVFRAME($P_ACTFRAME) : TMP : $P_CHBFRAME[n]
The target frame is $P_IFRAME:
TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_BFRAME
$P_IFRAME = INVFRAME(TMP) : $P_ACTFRAME : $AC_MEAS_FRAME :
INVFRAME($P_ACTFRAME) : TMP : $P_IFRAME
Application example:
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10.5 Frames
A frame calculated, for example, via a measuring function, must be entered in the current
SETFRAME such that the new complete frame is a chain of the old complete frame and the
measurement frame. The SETFRAME is calculated accordingly by means of frame inversions.
Program code
Comment
DEF INT RETVAL
DEF FRAME TMP
$TC_DP1[1,1]=120
; Type
$TC_DP2[1,1]=20.
; 0
$TC_DP3[1,1]= 10.
; (z) length correction vector
$TC_DP4[1,1]= 0.
; (y)
$TC_DP5[1,1]= 0.
; (x)
$TC_DP6[1,1]= 2.
; Radius
T1 D1
g0 x0 y0 z0 f10000
G54
$P_CHBFRAME[0] = CROT(Z,45)
$P_IFRAME[X,TR] = -SIN(45)
$P_IFRAME[Y,TR] = -SIN(45)
$P_PFRAME[Z,TR] = -45
$AC_MEAS_VALID = 0
; Measure corner with four measuring
points
G1 X-1 Y-3
; 1. Approach measuring point
$AC_MEAS_LATCH[0] = 1
; 1. Store measuring point
G1 X5 Y-3
; 2. Approach measuring point
$AC_MEAS_LATCH[1] = 1
; 2. Store measuring point
G1 X-4 Y4
; 3. Approach measuring point
$AC_MEAS_LATCH[2] = 1
; 3. Store measuring point
G1 X-4 Y1
; 4. Approach measuring point
$AC_MEAS_LATCH[3] = 1
; 4. Store measuring point
$AA_MEAS_SETPOINT[X] = 0
; Set position setpoint of the corner
$AA_MEAS_SETPOINT[Y] = 0
$AA_MEAS_SETPOINT[Z] = 0
$AC_MEAS_CORNER_SETANGLE = 90
; Define setpoint angle of intersection
$AC_MEAS_WP_SETANGLE = 30
$AC_MEAS_ACT_PLANE = 0
; Measuring plane is G17
$AC_MEAS_T_NUMBER = 1
; Select tool
$AC_MEAS_D_NUMBER = 1
$AC_MEAS_TYPE = 4
; Set measuring type on corner 1
RETVAL = MEASURE()
; Start measuring process
IF RETVAL <> 0
SETAL(61000 + RETVAL)
ENDIF
IF $AC_MEAS_WP_ANGLE <> 30
SETAL(61000 + $AC_MEAS_WP_ANGLE)
ENDIF
766
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10.5 Frames
Program code
Comment
IF $AC_MEAS_CORNER_ANGLE <> 90
SETAL(61000 + $AC_MEAS_CORNER_ANGLE)
ENDIF
; Transform measured frame and write to $P_SETFRAME so that a complete frame is created,
; which linked from the old total frame results in the measurement frame.
$P_SETFRAME = $P_ACTFRAME : $AC_MEAS_FRAME : INVFRAME($P_ACTFRAME) : $P_SETFRAME
$P_SETFR = $P_SETFRAME
; Describe system frames in data management
G1 X0 Y0
; Approach the corner
G1 X10
; Retract the rectangle rotated about 30
degrees
Y10
X0
Y0
M30
10.5.7.2
Additive frame in frame chain
Measurements on the workpiece or calculations in the part program and cycles generally
produce a frame that is applied additively to the current complete frame. The WCS and thus
the programming zero must, therefore, be displaced and possibly rotated. This measured
frame is available as a temporary frame and not yet actively included in the frame chain. This
function is used to calculate and possible activate this frame:
INT ADDFRAME(FRAME,STRING)
Programming
Parameter 1:
Type: FRAME
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Parameter 2:
Type: STRING
Strings for current frames:
"$P_CYCFRAME", "$P_ISO4FRAME",
"$P_PFRAME", "$P_WPFRAME",
"$P_TOOLFRAME", "$P_IFRAME",
"$P_CHBFRAME[0..16]", "$P_NCBFRAME[0..16]",
"$P_ISO1FRAME", "$P_ISO2FRAME",
"$P_ISO3FRAME",
"$P_EXTFRAME", "$P_SETFRAME"
"$P_PARTFRAME"
Strings for data management frames:
"$P_CYCFR", "$P_ISO4FR, "$P_TRAFR", "$P_WPFR",
"$P_TOOLFR", "$P_UIFR[0..99]",
"$P_CHBFR[0..16]", "$P_NCBFR[0..16]",
"$P_ISO1FR, "$P_ISO2FR, "$P_ISO3FR,
"$P_EXTFR", "$P_SETFR", "$P_PARTFR"
Function value:
Type: INT
Value:
0
1
2
3
Significance:
OK
Specified target (string) is wrong
Target frame is not configured
Rotation in frame is not permitted
The ADDFRAME() function calculates the target frame, which is specified by the STRING. The
target frame is calculated in such a way that the new complete frame appears as a chain of
the old complete frame and the transferred frame, e.g.:
ERG = ADDFRAME(TMPFRAME,"$P_SETFRAME")
The new complete frame is calculated to be:
$P_ACTFRAMEnew = $P_ACTFRAMEold : TMPFRAME
If a current frame has been specified as a target frame, then the new complete frame becomes
active at the preprocessing stage. If the target frame is a data management frame, then the
frame is not operative until it is explicitly activated in the part program.
The function does not set any alarms, but returns the error codes via the return value. The
cycle can react according to the error codes.
10.5.8
Functions
10.5.8.1
Setting zeros, workpiece measuring and tool measuring
PRESET is achieved using HMI operator actions or measuring cycles. The calculated frame
can be written to system frame SETFRAME. The position setpoint of an axis in the WCS can
be altered when the actual-value memory is preset.
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"Scratching" means workpiece and tool measuring. The position of the workpiece in relation
to an edge, a corner or a hole can be measured. To determine the zero position of the
workpiece or the hole, position setpoints can be added to the measured positions in the WCS.
The resultant offsets can be entered in a selected frame. In tool measuring, the length or radius
of a tool can be measured using a measured reference part.
Measurements can be taken via operator actions or measuring cycles. Communication with
the NCK takes place via predefined system variables. In the NCK, the calculation is made by
using a HMI operator action to activate a PI service, or by using a part-program command from
the measuring cycles. A tool and a plane can be selected as a basis for the calculation. The
calculated frame is entered in the result frame.
10.5.8.2
Zero offset external via system frames
Zero offset via PLC or part program
The amount of the external zero offset can be specified through HMI and PLC via BTSS or
programmed in the part program via the axis-specific system variable $AA_ETRANS [<Axis>]
= <Value>.
Activation
The activation of the external zero offset takes place through the interface signal:
DB31, ... DBX3.0 (accept external zero offset)
Behavior
After the activation the respective specified axis-specific amount of the external zero offset is
traversed outside for each axis with the next possible traversing block.
Next possible means that enough dynamic reserves must be available for the respective axis
for traversing the zero offset. If the axis is traversed in the next traversing block after activation
owing to its programming with the maximum speed, dynamic reserve is no longer available for
traversing the external zero offset.
Together with the continuous path mode G64 the traversing of the offset can stretch over
several part program blocks.
Zero offset via system frame
The external zero offset can then also be managed and activated by the functionality described
above via the system frame $P_EXTFRAME .
configuring
The configuring of the external zero offset is done via the system frame $P_EXTFRAME via
bit1 = 1 in the machine data: MD28082 $MC_MM_SYSTEM_FRAME_MASK = 'B0010'
The amount for the external zero offset can be specified manually via the HMI user interface
and the PLC user program via BTSS or programmed in the part program via the axial system
variable $AA_ETRANS[<Axis>].
Activation
The activation of the external zero offset takes place through the interface signal:
DB31, ... DBX3.0 (accept external zero offset)
Behavior
Upon activation of the external zero offset the traversing movements of all axes, except
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command and PLC axes, are stopped immediately and the advance is reorganized. The rough
offset of the current system frame and of the system frame in data management is set to the
value of the axial system variable $AA_ETRANS[<axis>]. Thereafter, the offset is traversed
first and then the interrupted movement is continued.
Behavior for incremental dimension
In case of active incremental dimension G91 and machine data:
MD42440 $MC_FRAME_OFFSET_INCR_PROG (zero offset in frames) = 0
traversing the offset is done in the scope of the external zero offset via system frame, despite
opposite configuring of the machine data, with the approach block, although it is specified by
a frame.
Note
The external zero offset always acts absolutely.
10.5.8.3
Toolholder
Translations
With kinematics of type "P" and "M", the selection of a toolholder activates an additive frame
(table offset of the orientable toolholder) which takes into account the work offset as a result
of the rotation of the table. The work offset is entered in the system frame $P_PARTFR. In this
case the translatory component of this frame is overwritten. The other frame components are
retained.
The system frame $P_PARTFR must be enabled via the following machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 2 = 1 (system frame for TCARR and
PAROT)
Note
Alternatively, the offset can also parameterized via machine data to record the table offset:
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER = <number of the basic frame>
This option is only for compatibility reasons to older software versions. You are strongly
recommended not to use this procedure any longer.
A frame offset as a result of a toolholder change becomes effective immediately on selection
of TCARR=.... A change in the tool length, on the other hand, only becomes effective
immediately if a tool is active.
A frame rotation is not executed with the activation, or a rotation which is already active is not
changed. As in case T (only the tool can be rotated), the position of the rotary axes used for
the calculation is dependent on the command TCOFR/TCOABS and determined from the rotation
component of an active frame or from the $TC_CARR entries. Activation of a frame changes
the position in the workpiece coordinate system accordingly, without compensating motion by
the machine itself.
The ratios are shown in the figure below:
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Figure 10-24 Frame on activation of a rotary table with TCARR
With kinematics of type M (tool and table are each rotary around one axis), the activation of a
toolholder with TCARR simultaneously produces a corresponding change in the effective tool
length (if a tool is active) and the work offset.
Rotations
Depending on the machining task, it is necessary to take into account not only a work offset
(whether as frame or as tool length) when using a rotary toolholder or table, but also a rotation.
However, the activation of an orientable toolholder never leads directly to a rotation of the
coordinate system.
If only the tool can be rotated, a frame can be defined for it using TOFRAME or TOROT.
With rotary tables (kinematics types P and M), activation with TCARR similarly does not lead
to an immediate rotation of the coordinate system, i.e. even though the zero point of the
coordinate system is offset relative to the machine, while remaining fixed relative to the zero
point of the workpiece, the orientation remains unchanged in space.
If the coordinate system needs to be fixed relative to the workpiece, i.e. not only offset relative
to the original position but also rotated according to the rotation of the table, then PAROT can
be used to activate such a rotation in a similar manner to the situation with a rotary tool.
With PAROT, the translations, scalings and mirroring in the active frame are retained, but the
rotation component is rotated by the rotation component of an orientable toolholder
corresponding to the table. The entire programmable frame including its rotation component
remains unchanged.
The rotation component that describes the rotation of the table is then either entered in the
system frame $PARTFR or in the basic frame parameterized with MD20184
$MC_TOCARR_BASE_FRAME_NUMBER:
$MC_MM_SYSTEM_FRAME_MASK, bit 2 = <value>
Value
Meaning
Rotation component $PARTFR
Rotation component MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
As with the note made in the description of the table offset, the second alternative here is not
recommended for use with new systems.
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The rotation component of the part frame can be deleted with PAROTOF, irrespective of whether
this frame is in a basic or a system frame.
The translation component is deleted when a toolholder which does not produce an offset is
activated or a possibly active orientable toolholder is deselected with TCARR=0.
PAROT or TOROT take into account the overall orientation change in cases where the table or
the tool are oriented with two rotary axes. With mixed kinematics, only the corresponding
component caused by a rotary axis is considered. It is thus possible, for example, when using
TOROT, to rotate a workpiece such that an inclined plane lies parallel to the XY plane fixed in
space, whereby rotation of the tool must be taken into account in machining where any holes
to be drilled, for example, are not perpendicular to this plane.
Example
On a machine, the rotary axis of the table points in the positive Y direction. The table is rotated
by +45 degrees. PAROT defines a frame which similarly describes a rotation of 45 degrees
around the Y axis. The coordinate system is not rotated relative to the actual environment
(marked in the figure with "Position of the coordinate system after TCARR"), but is rotated by
-45 degrees relative to the defined coordinate system (position after PAROT). If this coordinate
system is defined with ROT Y-45, for example, and if the toolholder is then selected with active
TCOFR, an angle of +45 degrees will be determined for the rotary axis of the toolholder.
Language command PAROT is not rejected if no orientable toolholder is active. However, such
a call then produces no frame changes.
Machining in direction of tool orientation
Particularly on machines with tools that can be oriented, traversing should take place in the
tool direction (typically, when drilling) without activating a frame (e.g. using TOFRAME or
TOROT), on which one of the axes points in the direction of the tool. This is also a problem if,
when carrying out inclined machining operations, a frame defining the inclined plane is active,
but the tool cannot be set exactly perpendicularly because an indexed toolholder (Hirth tooth
system) prevents free setting of the tool orientation. In these cases it is then necessary contrary to the motion actually requested perpendicular to the plane - to drill in the tool direction,
as the drill would otherwise not be guided in the direction of its longitudinal axis (tool breaks).
The end point of such a motion is programmed with MOVT= ....
The programmed value is effective incrementally in the tool direction as standard.
The positive direction is defined from the tool tip to the tool adapter. The content of MOVT is
thus generally negative for the infeed motion (when drilling), and positive for the retraction
motion. This corresponds to the situation with normal paraxial machining, e.g. with G91
Z ....
Instead of MOVT= ... it is also possible to write MOVT=IC( ...) if it is to be plainly visible
that MOVT is to function incrementally. There is no functional difference between the two forms.
If the motion is programmed in the form MOVT=AC( ...), MOVT functions absolutely.
In this case a plane is defined which runs through the current zero point, and whose surface
normal vector is parallel to the tool orientation. MOVT then gives the position relative to this
plane (see figure). The reference plane is only used to calculate the end position. Active frames
are not affected by this internal calculation.
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0297 $&
[
Programming with MOVT is independent of the existence of a toolholder that can be oriented.
The direction of the motion is dependent on the active plane.
It runs in the directions of the vertical axes, i.e. with G17 in Z direction, with G18 in Y direction
and with G19 in X direction. This applies when no orientable toolholder is active and for the
case of an orientable toolholder without rotary tool or with a rotary tool in its basic setting.
MOVT acts similarly for active orientation transformation (3-, 4-, 5-axis transformation).
If in a block with MOVT the tool orientation is changed simultaneously (e.g. active 5-axis
transformation by means of simultaneous interpolation of the rotary axes), the orientation at
the start of the block is decisive for the direction of motion of MOVT.
With an active 5-axis transformation, the path of the tool center point (TCP) is not affected by
the change of orientation, i.e. the path remains a straight line and its direction is determined
by the tool orientation at the start of the block.
If MOVT is programmed, linear or spline interpolation must be active (G0,G1, ASPLINE,
BSPLINE, CSPLINE). Otherwise, an alarm is produced.
If a spline interpolation is active, the resultant path is generally not a straight line, since the
end point calculated by MOVT is treated as if it had been programmed explicitly with X, Y, Z.
A block with MOVT must not contain any programming of geometry axes (alarm 14157).
Definition of frame rotations with solid angles
Where a frame is to be defined to describe a rotation around more than one axis, this is
achieved through chaining individual rotations. The next rotation is always performed in the
currently rotated coordinate system. This applies both to programing in one block, e.g. with
ROT X... Y... Z..., and when constructing a frame in several blocks, e.g. in the form:
N10 ROT
Y...
N20 AROT X...
N30 AROT Z...
In workpiece drawings, inclined surfaces are frequently described by way of solid angles, i.e.
the angles which the intersection lines of the inclined plane form with the main planes (X-Y, Y-
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Z, Z-X planes) (see figure). The machine operator is not expected to convert these solid angles
into the angles of rotation of a chaining of individual rotations.
$
&
, ,
Inclined plane
Solid angle
New G17' plane parallel to the inclined plane:
1. Rotation of x around y through the angle
2. Rotation of y around x' through the angle
New G18' plane parallel to the inclined plane:
1. Rotation of z around x through the angle
2. Rotation of x around z' through the angle
New G19' plane parallel to the inclined plane:
1. Rotation of y around z through the angle
2. Rotation of z around y' through the angle
Figure 10-25 Rotation with solid angles
For this reason, the language commands ROTS, AROTS and CROTS are used, with which the
rotations can be immediately described as solid angles.
The orientation of a plane in space is defined unambiguously by specifying two solid angles.
The third solid angle is derived from the first two. Therefore, a maximum of two solid angles
may be programmed, e.g. in the form ROTS X10 Y15. If a third solid angle is specified, an
alarm will be triggered.
It is permissible to specify a single solid angle. The rotations which are performed with ROTS
or AROTS in this case are identical to those for ROT and AROT.
An expansion of the existing functionality arises only in cases where exactly two solid angles
are programmed.
The two programmed axes define a plane, the non-programmed axis defines the related third
axis of a right-hand coordinate system. Which axis is first and which second is then
unambiguously defined for both programmed axes (the definition corresponds to those found
in the plane definition of G17/G18/G19). The angle programmed with the axis letter of an axis
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of the plane then specifies the axis, around which the other axis of the plane must be rotated
in order to move this into the line of intersection, which the rotated plane forms with the plane
surrounded by the other and the third axis. This definition ensures that, in the case that one
of the two programmed angles is towards zero, the defined plane enters the plane, which is
created if only one axis is programmed (e.g. with ROT or AROT).
The diagram shows an example where X and Y are programmed. Y specifies the angle here,
through which the X axis must rotate around the Y axis to bring the X axis to the line of
intersection formed by the inclined plane and the X-Z plane. The same principle applies for
the programmed value of X.
Note
In the shown position of the inclined plane the value of Y is positive, that of X on the other hand
negative.
The specification of the solid angle does not define the orientation of the two-dimensional
coordinate system within the plane (i.e. the angle of rotation around the surface normal vector).
The position of the coordinate system is thus determined so that the rotated first axis lies in
the plane which is formed by the first and third axes of the non-rotated coordinate system.
This means that
When programming X and Y the new X axis lies in the old Z-X plane.
When programming Z and X the new Z axis lies in the old Y-Z plane.
When programming Y and Z the new Y axis lies in the old X-Y plane.
If the required coordinate system does not correspond to this basic setting, then an additional
rotation must be performed with AROT....
The programmed solid angles are converted to the equivalent Euler angles according to the
zy'x" convention (RPY angle) or zx'z" convention when entering depending on the machine
data:
MD10600 $MN_FRAME_ANGLE_INPUT_MODE.
These then appear in the display.
Frame rotation in tool direction
With the language command TOFRAME, which also existed in older software versions, it is
possible to define a frame whose Z axis points in the tool direction.
An already programmed frame is then overwritten by a frame which describes a pure rotation.
Any work offsets, mirrorings or scalings existing in the previously active frame are deleted.
This response is sometimes interfering. It is often particularly practical to retain a work offset,
with which the reference point in the workpiece is defined.
The language command TOROT is then also used. This command overwrites only the rotation
component in the programmed frame and leaves the remaining components unchanged. The
rotation defined with TOROT is the same as that defined with TOFRAME.
TOROT is, like TOFRAME, independent of the availability of an orientable toolholder. This
language command is also especially useful for 5-axis transformations.
The new language command TOROT ensures consistent programming with active orientable
toolholders for each kinematics type.
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TOFRAME or TOROT defines frames whose Z direction points in the tool direction. This definition
is suitable for milling, where G17 is usually active. However, particularly with turning or, more
generally, when G18 or G19 is active, it is desirable that frames which will be aligned on the X
or Y axis, can be defined. For this purpose, the following commands are available in G group
53:
TOFRAMEX, TOFRAMEY, TOFRAMEZ
TOROTX, TOROTY, TOROTZ
The appropriate frames can be defined with these commands. The functions of TOFRAME and
TOFRAMEZ or of TOROT and TOROTZ are identical to one another.
The frames resulting from TOROT or TOFRAME can be written in a separate system frame
($P_TOOLFR). The programmable frame is then retained unchanged.
Requirement: MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 3 = 1
When programming TOROT or TOFRAME, etc. response is identical, with or without a system
frame. Differences occur when the programmable frame is processed further elsewhere.
Note
In new systems, it is recommended that only the intended system frame is used for frames
produced by the commands of G group 53.
Example
TRANS is programmed after TOROT. TRANS without specified parameters deletes the
programmable frame. In the variant without a system frame, this also deletes the frame
component of the programmable frame produced by TOROT, but if the TOROT component is in
the system frame, it is retained.
TOROT or TOFRAME, etc. are disabled with language command TOROTOF. TOROTOF deletes
the entire system frame $P_TOOLFR. If the programmable frame (old variant) and not the
system frame is described by commands TOFRAME, etc. TOROT only deletes the rotation
component and leaves the remaining frame components unchanged.
If a rotating frame is already active before language command TOFRAME or TOROT is activated,
a request is often made that the newly defined frame should deviate as little as possible from
the old frame. This is the case, for example, if a frame definition needs to be modified slightly
because the tool orientation cannot be set freely on account of Hirth-toothed rotary axes. The
language commands uniquely define the Z direction of the new frame.
Frame definition for TOFRAME, TOROT and PAROT
The following machine data can be used to select one of two variants for the position of the X
axis and Y axis. However, in both cases there is no reference to the previously active frame.
MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE (coordinate system for automatic frame
definition)
For this reason, it is recommended that the following setting data be used instead so that the
behavior of TOFRAME and TOROT can be specifically controlled.
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SD42980 $SC_TOFRAME_MODE (frame definition for TOFRAME, TOROT and PAROT)
Value
Meaning
The new X direction is chosen to lie in the X-Z plane of the old coordinate system. In this
setting, the angle difference between the old and new Y axis will be minimal.
The new Y direction is chosen to lie in the Y-Z plane of the old coordinate system. In this setting
the angle difference between the old and new X axis will be minimal.
The value chosen is the mean value of the two settings, which would have been chosen with
1 and 2.
A detailed description of all parameterization options can be found in:
References
Detailed Machine Data Description
Special features and extensions
The behavior for value = 1 and 2 is achieved when starting from an arbitrary position of the X
and Y axes, by rotating the coordinate system around the Z axis until the desired setting is
reached.
The behavior for value = 3 is achieved by executing a rotation whose value is the exact mean
of these two angles. However, this only applies for the case that the old and new Z direction
enclose an angle of less than 90 degrees.
With value = 1, both the old and new X axes form an angle of under 90 degrees, with value =
2 the same is true of the Y axis (the relevant axes point in "approximately" the same direction).
If the two Z directions form an angle of more than 90 degrees, however, the conditions of an
angle < 90 degrees between the old and new axes can no longer be met simultaneously for
both X and Y. In this case, priority is given to the X direction, i.e. a mean value is taken from
the direction for 1 and the negative direction for 2.
If one of the commands TOFRAMEX, TOFRAMEY, TOROTX, TOROTY is programmed in place
of TOFRAME(Z) or TOROT(Z), the descriptions for adapting the axis directions perpendicular
to the main direction are also valid for the cyclically exchanged axes. The assignments in the
table below are then valid:
TOFRAME, TOFRAMEZ
TOFRAMEY
TOFRAMEX
TOROT, TOROTZ
TOROTY
TOROTX
Tool direction
(vertical axis)
Secondary axis
(horizontal axis)
Secondary axis
(ordinate)
Example
N90
$SC_TOFRAME_MODE=1
N100 ROT Z45
N110 TCARR=1 TCOABS T1 D1
N120 TOROT
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N100 describes a rotation by 45 degrees in the X-Y plane. It is assumed that the toolholder
activated in N110 rotates the tool by 30 degrees around the X axis, i.e. the tool lies in the Y-Z
plane and is rotated by 30 degrees relative to the Z axis. As a result the Z axis of the frame
newly defined in N120 also points in this direction (independently of the value in setting data
SD42980 $SC_TOFRAME_MODE in N90).
SD42980 $SC_TOFRAME_MODE == 1:
\
\
[[
The old and new X and X' coordinate axes coincide in the projection in the direction of the old
Z axis. The old and new Y and Y' coordinate axes form an angle of 8.13 degrees (right angles
are generally not retained in the projection).
SD42980 $SC_TOFRAME_MODE == 2:
Y and Y' coincide and X and X' form an angle of 8.13 degrees.
SD42980 $SC_TOFRAME_MODE == 3:
X and X' as well as Y and Y' each form an angle of 4.11 degrees.
Note
The named angles (8.13 and 4.11 degrees) are the angles, which the projections of the axes
form in the X-Y plane. They are not the spatial angles of these axes.
TCARR (request toolholder) and PAROT (align workpiece coordinate system on the workpiece)
TCARR uses the basic frame identified by following machine data:
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER.
A system frame can be created for TCARR and PAROT alone, in order to avoid conflicts with
systems, which already use all the basic frames.
PAROT, TOROT and TOFRAME have previously changed the rotation component of the
programmable frames. In this case, it is not possible to shut down PAROT or TOROT separately.
On RESET, the programmable frame is deleted, which means that after changing the operating
mode to JOG, the rotation component of PAROT and TOROT is no longer available. The user
must also have unrestricted access to the programmable frame. Frames produced by PAROT
and TOROT must be able to be archived and reloaded via data backup.
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The system frame for TCARR and PAROT is configured with:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 2 = 1
The following machine data is then no longer evaluated:
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
If the system frame for TCARR is configured, TCARR and PAROT describe that corresponding
system frame; otherwise the basic frame identified by machine data MD20184 is described.
With kinematics systems of the types P and M, TCARR will enter the table offset of the orientable
toolholder (work offset resulting from the rotation of the table) as a translation into the system
frame. PAROT converts the system frame so that a workpiece-related WCS results.
The system frames are stored retentively and therefore retained after a reset. The system
frames also remain active in the case of a mode change.
For the display, the commands PAROT and TOROT, TOFRAME are each assigned to a separate
G code group.
PAROTOF
PAROTOF is the switch off command for PAROT. This command deletes the rotations in the
system frame for PAROT. In so doing, the rotations in the current $P_PARTFRAME and in the
data management frame $P_PARTFR are deleted. The position of the coordinate system is
then recreated according to TCARR. PAROTOF is in the same G group as PAROT and appears
therefore in the G code display.
TOROT (align Z axis of the WCS by rotating the frame parallel to the tool orientation) and TOFRAME
(ditto.)
The system frame for TOROT and TOFRAME is activated via the following machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 3 = 1
This system frame is located before the programmable frame in the frame chain.
The SZS coordinate system is located before the programmable frame.
TOROTOF
TOROTOF is the switch off command for TOROT and TOFRAME. This command deletes the
corresponding system frame. The current $P_TOOLFRAME and the data management frame
$P_TOOLFR are also deleted. TOROTOF is in the same G group as TOROT and TOFRAME and
appears therefore in the G code display.
Example
Use of an orientable toolholder with resolved kinematics.
N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]= 13
; Tool length 13 mm
; Definition of toolholder 1:
N30 $TC_CARR1[1] = 0
; X component of 1st offset vector
N40 $TC_CARR2[1] = 0
; Y component of 1st offset vector
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N50 $TC_CARR3[1] = 0
; Z component of 1st offset vector
N60 $TC_CARR4[1] = 0
; X component of 2nd offset vector
N70 $TC_CARR5[1] = 0
; Y component of 2nd offset vector
N80 $TC_CARR6[1] = -15
; Z component of 2nd offset vector
N90 $TC_CARR7[1] = 1
; X components of 1st axis
N100 $TC_CARR8[1] = 0
; Y components of 1st axis
N110 $TC_CARR9[1] = 0
; Z components of 1st axis
N120 $TC_CARR10[1] = 0
; X components of 2nd axis
N130 $TC_CARR11[1] = 1
; Y components of 2nd axis
N140 $TC_CARR12[1] = 0
; Z components of 2nd axis
N150 $TC_CARR13[1] = 30
; Angle of rotation of 1st axis
N160 $TC_CARR14[1] = -30
; Angle of rotation of 2nd axis
N170 $TC_CARR15[1] = 0
; X components of 3rd offset vector
N180 $TC_CARR16[1] = 0
; Y component of 3rd offset vector
N190 $TC_CARR17[1] = 0
; Z component of 3rd offset vector
N200 $TC_CARR18[1] = 0
; X component of 4th offset vector
N210 $TC_CARR19[1] = 0
; Y component of 4th offset vector
N220 $TC_CARR20[1] = 15
; Z component of 4th offset vector
N230 $TC_CARR21[1] = A
; Reference for 1st axis
N240 $TC_CARR22[1] = B
; Reference for 2nd axis
N250 $TC_CARR23[1] = "M"
; Toolholder type
N260 X0 Y0 Z0 A0 B45 F2000
N270 TCARR=1 X0 Y10 Z0 T1 TCOABS
; Selection of orient. toolholder
N280 PAROT
; Rotation of table
N290 TOROT
; Rotation of z axis in tool orient.
N290 X0 Y0 Z0
N300 G18 MOVT=AC(20)
; Processing in G18 plane
N310 G17 X10 Y0 Z0
; Processing in G17 plane
N320 MOVT=-10
N330 PAROTOF
; Deactivate rotation of table
N340 TOROTOF
; No longer align WCS with tool
N400 M30
10.5.9
Subprograms with SAVE attribute (SAVE)
For various frames, the behavior regarding subprograms can be set using the SAVE attribute.
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10.5 Frames
Settable frames G54 to G599
The behavior of the adjustable frames can be set using MD10617
$MN_FRAME_SAVE_MASK.BIT0 :
BIT0 = 0
Using the subprogram, if only the values of the active adjustable frame are changed using
the system variable $P_IFRAME, but the G functions are kept, then the change is also kept
after the end of the subprogram.
BIT0 = 1
With the end of the subprogram, the adjustable frame, G function and values, active before
the subprogram call, are reactivated.
Basic frames $P_CHBFR[ ] and $P_NCBFR[ ]
The behavior of the basic frame can be set using MD10617
$MN_FRAME_SAVE_MASK.BIT1:
BIT1 = 0
If the active basic frame is changed by the subprogram, the change remains effective even
after the end of the subprogram.
BIT1 = 1
With the end of the subprogram the basic frame which is active before the subroutine call
is reactivated.
Programmable frame
With the end of the subprogram the programmable frame active before the subroutine call is
reactivated.
System frames
If the system frames are changed by the subprogram, the change remains effective even after
the end of the subprogram.
10.5.10
Data backup
Data block _N_CHANx_UFR is used to archive the system frames.
Machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK
should not have changed between saving and reintroducing the saved system frames. If it
has changed then it is possible that saved system frames could no longer be loaded.
In this case, the loading process triggers an alarm.
Data backup always takes place in accordance with the currently valid geometry axis
assignment, not in accordance with the axis configurations set in the machine data.
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10.5 Frames
The machine data
$MC_MM_SYSTEM_DATAFRAME_MASK
can be used to configure data management frames for the system frames.
If you do not want a data management frame for a system frame, the frame does not have to
be saved. With G500, G54 to G599, the active frame is retained.
A separate data block _N_NC_UFR is used to archive global frames.
The block requested by the HMI is created if the machine data
MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES
or
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES
has a value greater than zero.
Channel-specific frames are saved in data block _N_CHANx_UFR.
In certain circumstances, alarms could be triggered when reintroducing saved data, if the frame
affiliates, be they NCU global or channel-specific, have been changed using machine data.
Data backup always takes place in accordance with the axis configuration set in the machine
data, not in accordance with the currently valid geometry axis assignment.
10.5.11
Positions in the coordinate system
The setpoint positions in the coordinate system can be read via the following system variables.
The actual values can be displayed in the WCS, SZS, BZS or MCS via the PLC. There is a
softkey for actual-value display in MCS/WCS. Machine manufacturers can define on the PLC
side, which coordinate system corresponds to the workpiece coordinate system on their
machines. The HMI requests the appropriate actual values from the NCK.
$AA_IM[axis]
The setpoints in the machine coordinate system can be read for each axis using the variables
$AA_IM[axis].
$AA_IEN[axis]
The setpoints in the settable zero system (SZS) can be read for each axis using the variables
$AA_IEN[axis].
$AA_IBN[axis]
The setpoints in the basic zero system (BZS) can be read using the variable $AA_IBN[axis].
$AA_IW[axis]
The setpoints in the workpiece coordinate system (WCS) can be read using the variable
$AA_IW[axis].
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10.5 Frames
10.5.12
Control system response
10.5.12.1
POWER ON
Frame
Frame conditions after POWER ON
Programmable frame:
$P_PFRAME
Deleted.
Settable frames: $P_IFRAME
Are retained, depending on:
MD24080 $MC_USER_FRAME_POWERON_MASK, bit 0
MD20152 $MC_GCODE_RESET_MODE[7]
Grinding frames: $P_GFRAMES
Are retained, depending on:
MD24080 $MC_USER_FRAME_POWERON_MASK, bit 0
MD20152 $MC_GCODE_RESET_MODE[ @@@ ]
Complete basic frame: $P_ACTB
FRAME
Is retained, depending on:
MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14
Basic frames can be deleted via machine data:
MD10615 $MN_NCBFRAME_POWERON_MASK
MD24004 $MC_CHBFRAME_POWERON_MASK
10.5.12.2
System frames:
Retained
$P_PARTFRAME, $P_SET
FRAME, $P_ISO1FRAME,
$P_ISO2FRAME,
$P_ISO3FRAME, $P_TOOL
FRAME, $P_WPFRAME, $P_TRA
FRAME, $P_ISO4FRAME, $P_RE
LFRAME, $P_CACFRAME
Individual system frames can be deleted via machine data:
MD24008 $MC_CHSFRAME_POWERON_MASK
Deletion of system frame is executed in the data management on
first priority.
External work offset: $P_EX
TFRAME
Is retained, but has to be activated again.
DRF offset
Deleted.
Mode change
System frames
The system frames are retained and remain active.
JOG mode
In JOG mode, the frame components of the current frame are only taken into account for the
geometry axes if a rotation is active. No other axis-specific frames are taken into account.
PLC and command axes
The response for PLC and command axes can be set via machine data:
MD32074 $MA_FRAME_OR_CORRPOS_NOTALLOWED (frame or HL correction is not
permissible)
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10.5 Frames
10.5.12.3
RESET, end of part program
RESET responses of basic frames
The RESET response of basic frames is set via the machine data:
MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET/TPEnd)
RESET responses of system frames
The system frames are retained in the data management after a Reset.
The machine data below can be used to configure the activation of individual system frames:
MD24006 $MC_CHSFRAME_RESET_MASK (active system frames after RESET)
Bit
Meaning
System frame for actual value setting and scratching is active after RESET.
System frame for external work offset is active after RESET.
Is not evaluated.
Is not evaluated.
System frame for workpiece reference point is active after RESET.
System frame for cycles is active after RESET.
Reserved, RESET response depends on MD20110 $MC_RESET_MODE_MASK.
System frame $P_ISO1FR is active after RESET.
System frame $P_ISO2FR is active after RESET.
System frame $P_ISO3FR is active after RESET.
10
System frame $P_ISO4FR is active after RESET.
11
System frame $P_RELFR is active after RESET.
RESET response of the system frames of TCARR, PAROT, TOROT and TOFRAME
The RESET response of the system frames of TCARR, PAROT, TOROT and TOFRAME depends
on the G code RESET setting.
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10.5 Frames
The setting is made with machine data:
MD20110 $MC_RESET_MODE_MASK, bit<n> (definition of initial control setting after
RESET / TP end)
Bit
Value
Meaning
TCARR and PAROT system frames are retained as before the RESET.
MD20152 $MC_GCODE_RESET_MODE[51] = 0
- MD20150 $MC_GCODE_RESET_VALUES[51] = 1
PAROTOF
- MD20150 $MC_GCODE_RESET_VALUES[51] = 2
PAROT
MD20152 $MC_GCODE_RESET_MODE[51] = 1
TCARR and
PAROT are re
tained.
MD20152 $MC_GCODE_RESET_MODE[52] = 0
- MD20150 $MC_GCODE_RESET_VALUES[52] = 1
TOROTOF
- MD20150 $MC_GCODE_RESET_VALUES[52] = 2
TOROT
- MD20150 $MC_GCODE_RESET_VALUES[52] = 3
TOFRAME
MD20152 $MC_GCODE_RESET_MODE[52] = 1
TOROT and
TOFRAME are re
tained.
Description of the further bits for bit 0 == 1
14
Chained complete basic frame is deleted.
The complete basic frame results from the following additional machine data:
MD24002 $MC_CHBFRAME_RESET_MASK, bit<n> = 1
n: nth channel-specific basic frame is calculated into the chained complete
basic frame.
MD10613 $MN_NCBFRAME_RESET_MASK, bit<n> = 1
n: nth NCU-global basic frame is calculated into the chained complete basic
frame.
TCARR and PAROT are two independent functions, which describe the same frame. With
PAROTOF, the component of TCARR is not activated on RESET.
MD20152 $MC_GCODE_RESET_MODE[ ] (RESET response of G groups)
MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups)
Frame conditions after RESET / part program end
Frame
Condition after RESET / part program end
Programmable frame: $P_PFRAME
Deleted.
Settable frames: $P_IFRAME
Are retained, depending on:
MD20110 $MC_RESET_MODE_MASK
MD20152 $MC_GCODE_RESET_MODE[7]
Grinding frames: $P_GFRAMES
Are retained, depending on:
MD20110 $MC_RESET_MODE_MASK
MD20152 $MC_GCODE_RESET_MODE[ @@@ ]
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10.5 Frames
Frame
Condition after RESET / part program end
Complete basic frame: $P_ACTB
FRAME
Is retained, depending on:
MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14
MD10613 $MN_NCBFRAME_RESET_MASK
MD24002 $MC_CHBFRAME_RESET_MASK
System frames:
Are retained, depending on:
$P_PARTFRAME, $P_SETFRAME,
$P_ISO1FRAME, $P_ISO2FRAME,
$P_ISO3FRAME, $P_TOOLFRAME,
$P_WPFRAME, $P_TRAFRAME,
$P_ISO4FRAME, $P_RELFRAME,
$P_CACFRAME
MD24006 $MC_CHSFRAME_RESET_MASK
External work offset: $P_EXTFRAME
Retained
DRF offset
Retained
MD20150 $MC_GCODE_RESET_VALUES[ ]
Deletion of system frames
The system frames in the data management can be deleted during RESET uisng machine
data:
MD24007 $MC_CHSFRAME_RESET_CLEAR_MASK, bit<n> (deletion of system frames
during RESET)
Bit
10.5.12.4
Meaning
System frame for actual value setting and scratching is deleted during RESET.
System frame for external work offset is deleted during RESET.
Reserved, for TCARR and PAROT see MD20150 $MC_GCODE_RESET_VALUES[ ].
Reserved, for TOROT and TOFRAME see MD20150 $MC_GCODE_RESET_VALUES[ ].
System frame for workpiece reference points is deleted during RESET.
System frame for cycles is deleted during RESET.
Reserved, RESET response depends on MD20110 $MC_RESET_MODE_MASK.
System frame for $P_ISO1FR is deleted during RESET.
System frame for $P_ISO2FR is deleted during RESET.
System frame for $P_ISO3FR is deleted during RESET.
10
System frame for $P_ISO4FR is deleted during RESET.
11
System frame $P_RELFR is deleted during RESET.
Part program start
Frame conditions after part program start
786
Frame
Condition after part program start
Programmable frame: $P_PFRAME
Deleted.
Settable frames: $P_IFRAME
Retained depending on:
MD20112 $MC_START_MODE_MASK
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10.5 Frames
Frame
Condition after part program start
Grinding frames: $P_GFRAMES
Retained depending on:
MD20112 $MC_START_MODE_MASK
Complete basic frame: $P_ACTB
FRAME
Retained
System frames:
Retained
$P_PARTFRAME, $P_SETFRAME,
$P_ISO1FRAME, $P_ISO2FRAME,
$P_ISO3FRAME, $P_TOOLFRAME,
$P_WPFRAME, $P_TRAFRAME,
$P_ISO4FRAME, $P_RELFRAME,
$P_CACFRAME
10.5.12.5
External work offset: $P_EXTFRAME
Retained
DRF offset
Retained
Block search
Block search with calculation
Data management frames are also modified when carrying out a block search with calculation.
Cancellation of block search
If a block search is aborted with channel reset, then the following machine data can be used
to set that all data management frames are reset to the value they had before the block search:
MD28560 $MC_MM_SEARCH_RUN_RESTORE_MODE, bit<n>
Bit
Value
Meaning
All frames in the data management are restored.
In case of cascaded block searches, the frames are set to the status of the previous block
search.
SERUPRO
The "SERUPRO" function is not supported.
10.5.12.6
REPOS
There is no special treatment for frames. If a frame is modified in an ASUB, it is retained in the
program. On repositioning with REPOS, a modified frame is included, provided the modification
was activated in the ASUB.
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10.6 Workpiece-related actual value system
10.6
Workpiece-related actual value system
10.6.1
Overview
Definition
The term "workpiece-related actual-value system" designates a series of functions that permit
the user:
To use a workpiece coordinate system defined in machine data after powerup.
Features:
No additional operations are necessary.
Effective in JOG and AUTOMATIC modes
To retain the valid settings for the following after end of program for the next part program:
Active plane
Settable frame (G54-G57)
Kinematic transformation
Active tool offset
To change between work coordinate system and machine coordinate system via the user
interface.
To change the work coordinate system by operator action (e.g., changing the settable frame
or the tool offset).
10.6.2
Use of the workpiece-related actual value system
Requirements, basic settings
The settings described in the previous Section have been made for the system.
The predefined setting after power-up of the HMI software is MCS.
Switchover to WCS
The change to the WCS via the user interface causes the axis positions relative to the origin
of the WCS to be displayed.
Switchover to MCS
The change to the MCS via the user interface causes the axis positions relative to the origin
of the MCS to be displayed.
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10.6 Workpiece-related actual value system
Interrelationships between coordinate systems
The figure below shows the interrelationships between the machine coordinate system (MCS)
and the workpiece coordinate system (WCS).
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Figure 10-26 Interrelationship between coordinate systems
For further information, see "H2: Auxiliary function outputs to PLC (Page 377)" and "W1: Tool
offset (Page 1363)".
References:
Programming Guide Fundamentals
Function Manual, Extended Functions; Kinematic Transformation (M1)
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10.6 Workpiece-related actual value system
Function Manual, Special Functions; Axis Couplings and ESR (M3);
Section: Coupled motion, Section: Master value coupling
Function Manual, Special Functions; Tangential Control (T3)
10.6.3
Special reactions
Overstore
Overstoring in RESET state of:
Frames (zero offsets)
Active plane
Activated transformation
Tool offset
immediately affects the actual-value display of all axes in the channel.
Entry via operator panel front
If operations on the operator panel are used to change the values for
"Active frame" (zero offsets, "Parameters" operating area)
and
"Active tool length compensation" ("Parameters" operating area)
, one of the following actions is used to activate these changes in the display:
Press the RESET key.
Reselect:
Zero offset by the part program
Tool offset by the part program
Reset:
Zero offset by overstoring
Tool offset by overstoring
Part program start
MD9440
If the HMI machine data
MD9440 ACTIVATE_SEL_USER_DATA
for the operator panel front is set, the entered values become active immediately in RESET
state.
When values are entered in the part-program execution stop state, they become effective when
program execution continues.
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10.6 Workpiece-related actual value system
Actual-value reading
If the actual value of $AA_IW is read in the WCS after activation of a frame (zero offset) or a
tool offset, the activated changes are already contained in the result read even if the axes have
not yet been traversed with the activated changes.
The actual values in the settable zero system (SZS) can be read from the part program for
each axis using the variable $AA_IEN[axis].
The actual values in the basic zero system (BZS) can be read from the part program for each
axis using the variable $AA_IBN[axis].
Actual-value display
The programmed contour is always displayed in the WCS.
The following offsets are added to the MCS:
Kinematic transformation
DRF offset/zero offset external
Active frame
Active tool offset of the current tool
Switchover by PLC
The actual values can be displayed in the WCS, SZS, BZS or MCS via the PLC. The PLC can
define, which coordinate system corresponds to the workpiece coordinate system on a
machine.
On MMC power-up the MCS is preset.
With the signal DB19 DBB0.7 "MCS/WCS switchover", it is also possible to switch from the
PLC to the WCS.
Transfer to PLC
Depending on machine data
MD20110 / MD20112, bit 1
, the auxiliary functions (D, T, M) are output to the PLC (or not) on selection of the tool length
compensation.
Note
If the WCS is selected from the PLC, an operator action can still be used to switch between
the WCS and MCS for the relevant mode.
However, when the mode and or area is changed, the WCS selected by the PLC is evaluated
and activated (see Section "K1: Mode group, channel, program operation, reset response
(Page 455)").
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10.8 Examples
10.7
Restrictions
There are no supplementary conditions to note.
10.8
Examples
10.8.1
Axes
Axis configuration for a 3axis milling machine with rotary table
792
1. Machine axis: X1
2. Machine axis: Y1
3. Machine axis: Z1
4. Machine axis: B1
5. Machine axis: W1
6. Machine axis: C1
Linear axis
Linear axis
Linear axis
Rotary table (for turning for multiface machining)
Rotary axis for tool magazine (tool revolver)
(Spindle)
1. Geometry axis: X
2. Geometry axis: Y
3. Geometry axis: Z
1. Special axis: B
2. Special axis: WZM
1. spindle: S1/C
(1. channel)
(1. channel)
(1. channel)
(1. channel)
(1. channel)
(1. channel)
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10.8 Examples
<
6
:=0
%
;
=
Parameterization of the machine data
Machine data
Value
MD10000 AXCONF_MACHAX_NAME_TAB[0]
= X1
MD10000 AXCONF_MACHAX_NAME_TAB[1]
= Y1
MD10000 AXCONF_MACHAX_NAME_TAB[2]
= Z1
MD10000 AXCONF_MACHAX_NAME_TAB[3]
= B1
MD10000 AXCONF_MACHAX_NAME_TAB[4]
= W1
MD10000 AXCONF_MACHAX_NAME_TAB[5]
= C1
MD20050 AXCONF_GEOAX_ASSIGN_TAB[0]
=1
MD20050 AXCONF_GEOAX_ASSIGN_TAB[1]
=2
MD20050 AXCONF_GEOAX_ASSIGN_TAB[2]
=3
MD20060 AXCONF_GEOAX_NAME_TAB[0]
=X
MD20060 AXCONF_GEOAX_NAME_TAB[1]
=Y
MD20060 AXCONF_GEOAX_NAME_TAB[2]
=Z
MD20070 AXCONF_MACHAX_USED[0]
=1
MD20070 AXCONF_MACHAX_USED[1]
=2
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10.8 Examples
10.8.2
Machine data
Value
MD20070 AXCONF_MACHAX_USED[2]
=3
MD20070 AXCONF_MACHAX_USED[3]
=4
MD20070 AXCONF_MACHAX_USED[4]
=5
MD20070 AXCONF_MACHAX_USED[5]
=6
MD20080 AXCONF_CHANAX_NAME_TAB[0]
=X
MD20080 AXCONF_CHANAX_NAME_TAB[1]
=Y
MD20080 AXCONF_CHANAX_NAME_TAB[2]
=Z
MD20080 AXCONF_CHANAX_NAME_TAB[3]
=B
MD20080 AXCONF_CHANAX_NAME_TAB[4]
= WZM
MD20080 AXCONF_CHANAX_NAME_TAB[5]
= S1
MD30300 IS_ROT_AX[3]
=1
MD30300 IS_ROT_AX[4]
=1
MD30300 IS_ROT_AX[5]
=1
MD30310 ROT_IS_MODULO[3]
=1
MD30310 ROT_IS_MODULO[4]
=1
MD30310 ROT_IS_MODULO[5]
=1
MD30320 DISPLAY_IS_MODULO[3]
=1
MD30320 DISPLAY_IS_MODULO[4]
=1
MD20090 SPIND_DEF_MASTER_SPIND
=1
MD35000 SPIND_ASSIGN_TO_MACHAX[AX1]
=0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX2]
=0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX3]
=0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX4]
=0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX5]
=0
MD35000 SPIND_ASSIGN_TO_MACHAX[AX6]
=1
Coordinate systems
Configuring a global basic frame
An NC with 2 channels is required. The following applies:
The global basic frame can then be written by either channel.
The other channel recognizes this change when the global basic frame is reactivated.
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10.8 Examples
The global basic frame can be read by either channel.
Either channel can activate the global basic frame for that channel.
Machine data
Machine data
Value
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[0]
= X1
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[1]
= X2
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[2]
= X3
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[3]
= X4
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[4]
= X5
MD10000 $MN_AXCONF_MACHAX_NAME_TAB[5]
= X6
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES
=1
MD28081 $MC_MM_NUM_BASE_FRAMES
=1
Machine data for channel 1
Value
Machine data for channel 1
Value
$MC_AXCONF_CHANAX_NAME_TAB[0]
=X
$MC_AXCONF_CHANAX_NAME_TAB[0]
=X
$MC_AXCONF_CHANAX_NAME_TAB[1]
=Y
$MC_AXCONF_CHANAX_NAME_TAB[1]
=Y
$MC_AXCONF_CHANAX_NAME_TAB[2]
=Z
$MC_AXCONF_CHANAX_NAME_TAB[2]
=Z
$MC_AXCONF_MACHAX_USED[0]
=1
$MC_AXCONF_MACHAX_USED[0]
=4
$MC_AXCONF_MACHAX_USED[1]
=2
$MC_AXCONF_MACHAX_USED[1]
=5
$MC_AXCONF_MACHAX_USED[2]
=3
$MC_AXCONF_MACHAX_USED[2]
=6
$MC_AXCONF_GEOAX_NAME_TAB[0]
=X
$MC_AXCONF_GEOAX_NAME_TAB[0]
=X
$MC_AXCONF_GEOAX_NAME_TAB[1]
=Y
$MC_AXCONF_GEOAX_NAME_TAB[1]
=Y
$MC_AXCONF_GEOAX_NAME_TAB[2]
=Z
$MC_AXCONF_GEOAX_NAME_TAB[2]
=Z
$MC_AXCONF_GEOAX_ASSIGN_TAB[0]
=1
$MC_AXCONF_GEOAX_ASSIGN_TAB[0]
=4
$MC_AXCONF_GEOAX_ASSIGN_TAB[1]
=2
$MC_AXCONF_GEOAX_ASSIGN_TAB[1]
=5
$MC_AXCONF_GEOAX_ASSIGN_TAB[2]
=3
$MC_AXCONF_GEOAX_ASSIGN_TAB[2]
=6
Part program in first channel
Code (excerpt)
Comment
. . .
N100 $P_NCBFR[0] = CTRANS( x, 10 )
Activation of the NC global basic frame
Activation of the NC global basic frame with rotation =>
alarm 18310, since rotations of NC global frames
are not permitted
. . .
N130 $P_NCBFRAME[0] = CROT(X, 45)
. . .
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10.8 Examples
Part program in second channel
Code (excerpt)
Comment
. . .
N100 $P_NCBFR[0] = CTRANS( x, 10 )
The NCU global basic frame is also active in second channel.
N510 G500 X10
Activate basic frame
N520 $P_CHBFRAME[0] = CTRANS( x, 10 )
Current frame of second channel is activated with an offset.
. . .
. . .
10.8.3
Frames
Example 1
The channel axis is to become a geometry axis through geometry axis substitution.
The substitution is to give the programmable frame a translation component of 10 in the X axis.
The current settable frame is to be retained:
FRAME_GEOX_CHANGE_MODE = 1
$P_UIFR[1] = CROT(x,10,y,20,z,30) ; Frame is retained after geo axis substitution.
G54
; Settable frame becomes active.
TRANS a10
; Axial offset of a is also substituted.
GEOAX(1, a)
; a becomes x axis.
; $P_ACTFRAME= CROT(x,10,y,20,z,30):CTRANS(x10)
Several channel axes can become geometry axes on a transformation change.
Example 2
Channel axes 4, 5 and 6 become the geometry axes of a 5axis orientation transformation. The
geometry axes are thus all substituted before the transformation.
The current frames are changed when the transformation is activated.
The axial frame components of the channel axes, which become geometry axes, are taken
into account when calculating the new WCS. Rotations programmed before the transformation
are retained. The old WCS is restored when the transformation is deactivated.
The most common application will be that the geometry axes do not change before and after
the transformation and that the frames are to stay as they were before the transformation.
Machine data:
$MN_FRAME_GEOAX_CHANGE_MODE = 1
$MC_AXCONF_CHANAX_NAME_TAB[0] = "CAX"
796
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10.8 Examples
$MC_AXCONF_CHANAX_NAME_TAB[1] = "CAY"
$MC_AXCONF_CHANAX_NAME_TAB[2] = "CAZ"
$MC_AXCONF_CHANAX_NAME_TAB[3] = "A"
$MC_AXCONF_CHANAX_NAME_TAB[4] = "B"
$MC_AXCONF_CHANAX_NAME_TAB[5] = "C"
$MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
$MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 2
$MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3
$MC_AXCONF_GEOAX_NAME_TAB[0] = "X"
$MC_AXCONF_GEOAX_NAME_TAB[1]="Y"
$MC_AXCONF_GEOAX_NAME_TAB[2] = "Z"
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=6
$MC_TRAFO_AXES_IN_1[0] = 4
$MC_TRAFO_AXES_IN_1[1] = 5
$MC_TRAFO_AXES_IN_1[2] = 6
$MC_TRAFO_AXES_IN_1[3] = 1
$MC_TRAFO_AXES_IN_1[4] = 2
Program:
$P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
$P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)
TRAORI
; Geo axis (4,5,6) sets transformer
; $P_NCBFRAME[0] = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,
3)
; $P_ACTBFRAME = ctrans(x,8,y,10,z,12,cax,2,cay,4,caz,
6)
; $P_PFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):
; crot(x,10,y,20,z,30)
; $P_IFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,
3):crot(z,45)
TRAFOOF;
; Geo axis (1,2,3) sets transformation deactivation
; $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
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10.9 Data lists
; $P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,
45)
; $P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,
10,y,20,z,30)
10.9
Data lists
10.9.1
Machine data
10.9.1.1
Displaying machine data
Number
Identifier: $MM_
Description
9242
MA_STAT_DISPLAY_BASE
Numerical basis for display of moving
joint STAT
9243
MA_TU_DISPLAY_BASE
Numerical basis for display of rotary
axis position TU
9244
MA_ORIAXES_EULER_ANGLE_NAME
Display of orientation axes as Euler an
gle
9245
MA_PRESET_FRAMEIDX
Value storage scratching and PRESET
9247
USER_CLASS_BASE_ZERO_OFF_PA
Availability of basic offset in "Parame
ters" operating area
9248
USER_CLASS_BASE_ZERO_OFF_MA
Availability of basic offset in Machine
operating area
9424
MA_COORDINATE_SYSTEM
Coordinate system for actualvalue dis
play
9440
ACTIVE_SEL_USER_DATA
Active data (frames) are immediately
operative after editing
9449
WRITE_TOA_LIMIT_MASK
Applicability of MD9203 to edge data
and locationdependent offsets
9450
MM_WRITE_TOA_FINE_LIMIT
Limit value for wear fine
9451
MM_WRITE_ZOA_FINE_LIMIT
Limit value for offset fine
SINUMERIK Operate
10.9.1.2
NC-specific machine data
Number
Identifier: $MN_
Description
10000
AXCONF_MACHAX_NAME_TAB
Machine axis name
10600
FRAME_ANGLE_INPUT_MODE
Sequence of rotation in the frame
10602
FRAME_GEOAX_CHANGE_MODE
Frames and switchover of geometry axes
10610
MIRROR_REF_AX
Reference axis for mirroring
10612
MIRROR_TOGGLE
Change over mirror
798
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K2: Axis Types, Coordinate Systems, Frames
10.9 Data lists
Number
Identifier: $MN_
Description
10613
NCBFRAME_RESET_MASK
ActiveNCU-global basic frame after reset
10615
NCBFRAME_POWERON_MASK
Reset global basic frames after Power On
10617
FRAME_SAVE_MASK
Behavior of frames for SAVE subprograms
10650
IPO_PARAM_NAME_TAB
Name of interpolation parameters
10660
INTERMEDIATE_POINT_NAME_TAB
Name of intermediate point coordinates for G2/G3
11640
ENABLE_CHAN_AX_GAP
Channel axis gaps are allowed
18600
MM_FRAME_FINE_TRANS
Fine offset for FRAME (SRAM)
18601
MM_NUM_GLOBAL_USER_FRAMES
Number of globally predefined user frames (SRAM)
18602
MM_NUM_GLOBAL_BASE_FRAMES
Number of global basic frames (SRAM)
10.9.1.3
Channel-specific machine data
Number
Identifier: $MC_
Description
20050
AXCONF_GEOAX_ASSIGN_TAB
Assignment geometry axis to channel axis
20060
AXCONF_GEOAX_NAME_TAB
Geometry axis name in channel
20070
AXCONF_MACHAX_USED
Machine axis number valid in channel
20080
AXCONF_CHANAX_NAME_TAB
Channel axis name in the channel
20110
RESET_MODE_MASK
Definition of basic control settings after RESET / TP end
20118
GEOAX_CHANGE_RESET
Allow automatic geometry axis change
20126
TOOL_CARRIER_RESET_VALUE
Active toolholder on RESET
20140
TRAFO_RESET_VALUE
Transformation record on power-up (RESET / TP-End)
20150
GCODE_RESET_VALUES
Initial setting of the G groups
20152
GCODE_RESET_MODE
RESET response of the G groups
20184
TOCARR_BASE_FRAME_NUMBER
Number of the basic frame for pickup of the table offset
21015
INVOLUTE_RADIUS_DELTA
End point monitoring for evolvents (involutes)
22532
GEOAX_CHANGE_M_CODE
M code for replacement of geometry axes
22534
TRAFO_CHANGE_M_CODE
M code for transformation change
24000
FRAME_ADD_COMPONENTS
Frame components for G58 and G59
24002
CHBFRAME_RESET_MASK
RESET response of channel-specific basic frames
24004
CHBFRAME_POWERON_MASK
Reset channel-specific basic frames after Power On
24006
CHSFRAME_RESET_MASK
Active system frames after reset
24007
CHSFRAME_RESET_CLEAR_MASK
Clear system frames on RESET
24008
CHSFRAME_POWERON_MASK
Reset system frames after POWER ON
24010
PFRAME_RESET_MODE
RESET mode for programmable frame
24020
FRAME_SUPPRESS_MODE
Positions for frame suppression
24030
FRAME_ACT_SET
SZS coordinate system setting
24040
FRAME_ADAPT_MODE
Adapting active frames
24050
FRAME_SAA_MODE
Saving and activating data management frames
24805
TRACYL_ROT_AX_FRAME_1
Rotary axis offset TRACYL 1
24855
TRACYL_ROT_AX_FRAME_2
Rotary axis offset TRACYL 2
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10.9 Data lists
Number
Identifier: $MC_
Description
24905
TRANSMIT_ROT_AX_FRAME_1
Rotary axis offset TRANSMIT1
24955
TRANSMIT_ROT_AX_FRAME_2
Rotary axis offset TRANSMIT2
28080
MM_NUM_USER_FRAMES
Number of settable Frames (SRAM)
28081
MM_NUM_BASE_FRAMES
Number of basic frames
28082
MM_SYSTEM_FRAME_FRAMES
System frames (SRAM)
28560
MM_SEARCH_RUN_RESTORE_MODE
Restore data after a simulation
10.9.1.4
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
32074
FRAME_OR_CORRPOS_NOTALLOWED
FRAME or HL offset is not permitted
35000
SPIND_ASSIGN_TO_MACHAX
Assignment spindle to machine axis
10.9.2
Setting data
10.9.2.1
Channelspecific setting data
Number
Identifier: $SC_
Description
42440
FRAME_OFFSET_INCR_PROG
Work offsets in frames
42980
TOFRAME_MODE
Frame definition for TOFRAME, TOROT and PAROT
10.9.3
System variables
Identifier
Description
$AA_ETRANS[axis]
External work offset
$AA_IBN[axis]
Actual value in basic zero coordinate system (BZS)
$AA_IEN[axis]
Actual value in settable zero point coordinate system (SZS)
$AA_OFF[axis]
Overlaid motion for programmed axis
$AC_DRF[axis]
Handwheel override of an axis
$AC_JOG_COORD
Coordinate system for manual traversing
$P_ACSFRAME
Active frame between BCS and SZS
$P_ACTBFRAME
Active complete basic frame
$P_ACTFRAME
Active complete frame
$P_BFRAME
1st active basic frame. Corresponds to $P_CHBFRAME[0]
$P_CHBFR[<n>]
Data management frame: Basic frame can be activated via G500, G54...G599
800
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K2: Axis Types, Coordinate Systems, Frames
10.9 Data lists
Identifier
Description
$P_CHBFRAME[<n>]
Active basic frame
$P_CHBFRMASK
Basic frame mask in the channel
$P_CHSFRMASK
System frame mask
$P_CYCFR
Data management frame: System frame for cycles
$P_CYCFRAME
Active system frame for cycles
$P_EXTFR
Data management frame: System frame for work offset external
$P_EXTFRAME
Active system frame for external work offset
$P_IFRAME
Active settable frame
$P_ISO1FR
Data management frame: System frame for ISO G51.1 mirroring
$P_ISO2FR
Data management frame: System frame for ISO G68 2DROT
$P_ISO3FR
Data management frame: System frame for ISO G68 3DROT
$P_ISO4FR
Data management frame: System frame for ISO G51 Scale
$P_ISO1FRAME
Active system frame for ISO G51.1 Mirroring
$P_ISO2FRAME
Active system frame for ISO G68 2DROT
$P_ISO3FRAME
Active system frame for ISO G68 3DROT
$P_ISO4FRAME
Active system frame for ISO G51 Scale
$P_NCBFR[n]
Data management frame: NCU-global basic frame in the data management,
can be activated via G500, G54...G599
$P_NCBFRAME[n]
Active NCU-global basic frame
$P_NCBFRMASK
Global basic frame mask
$P_PARTFR
Data management frame: System frame for TCARR and PAROT
$P_PARTFRAME
Active system frame for TCARR and PAROT with orientable toolholder
$P_PFRAME
Active programmable frame
$P_SETFR
Data management frame: System frame for actual value setting
$P_SETFRAME
Active system frame for actual value setting
$P_TOOLFR
Data management frame: System frame for TOROT and TOFRAME
$P_TOOLFRAME
Active system frame for TOROT and TOFRAME
$P_TRAFRAME
Data management frame: System frame for transformations
$P_TRAFRAME
Active system frame for transformations
$P_UBFR
1st basic frame in the channel in the data management that is activated after
G500, G54...G599. Corresponds to $P_CHBFR[0].
$P_UIFR[n]
Data management frame: Settable frame, can be activated via G500, G54 to
G599
$P_UIFRNUM
Number of active settable frame
$P_WPFR
Data management frame: System frame for the workpiece
$P_WPFRAME
Active system frame for the workpiece
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10.9 Data lists
10.9.4
Signals
10.9.4.1
Signals from channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
T function modification
DB21, ... .DBX61.0-.2
D function modification
DB21, ... .DBX62.0-.2
T function 1
DB21, ... .DBB118-119
DB250x.DBD2000
D function 2
DB21, ... .DBB129
DB250x.DBD5000
Number of active function G group 1 8 (bit int)
DB21, ... .DBB208
DB350x.DBB0
Number of active function G group 2 8 (bit int)
DB21, ... .DBB209
DB350x.DBB1
...
...
Number of active function G group 29 8 (bit int)
DB21, ... .DBB236
DB350x.DBB28
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Accept zero offset external
DB31, ... .DBX3.0
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Spindle/no axis
DB31, ... .DBX60.0
DB390x.DBX0.0
10.9.4.2
10.9.4.3
802
Signals to axis/spindle
Signals from axis/spindle
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N2: Emergency stop
11.1
11
Brief Description
Function
The control system supports the machine manufacturer in implementing an emergency stop
function on the basis of the following functions:
An emergency stop button is installed in a location easily accessible to the machine operator
on all SINUMERIK machine control panels. The functionality of the emergency stop button
includes the positive opening of electrical switching contacts and a mechanical selfactivating latching/locking.
The emergency stop request to the NC is transmitted via the NC/PLC interface on the PLC.
The Emergency Stop function must bring the machine to a standstill according to stop
category 0 or 1 (EN 60204).
In the case of an emergency stop, all machine functions controlled by the PLC can be
brought to a safe state that can be set by the machine manufacturer.
Unlatching the emergency stop button does not cancel the emergency stop state nor does
it initiate a restart.
After the emergency stop state has been canceled, it is not necessary to reference the
machine axes or synchronize the spindles. The actual positions of the machine axes are
continuously tracked during the emergency stop sequence.
11.2
Relevant standards
Relevant standards
Compliance with the following standards is essential for the emergency stop function:
EN ISO 12000-1
EN ISO 12000-2
EN 418
EN 60204
Emergency stop
In accordance with EN 418, an emergency stop is a function that:
Is intended to prevent or diminish developing or existing risks to operating personnel, and
damage to the machine or machined materials.
Is triggered by a single action of a person, if the normal stop function is not suitable for it.
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N2: Emergency stop
11.3 Emergency stop control elements
Hazards
In the terms of EN 418, risks may arise from:
Functional irregularities (machine malfunctions, unacceptable properties of the material to
be machined, human error, etc.).
Normal operation.
Stadard EN ISO 12000-2
In accordance with the basic safety requirement of the EC Machinery Directive regarding
emergency stop, machines must be equipped with an energency stop device.
Exceptions
No emergency stop device is required on machines:
Where an emergency stop device would not reduce the risk, either because the shutdown
time would not be reduced or because the measures to be taken would not be suitable for
controlling the risk.
That are held and operated manually.
Note
The machine manufacturer is expressly directed to comply with the national and
international standards. The SINUMERIK controllers support the machine manufacturer in
the implementation of the emergency stop function according to the specifications in the
following function description. But the responsibility for the emergency stop function (its
triggering, sequence and acknowledgement) rests exclusively with the machine
manufacturer.
11.3
Emergency stop control elements
Emergency stop control elements
In accordance with EN 418, emergency stop control elements must be designed so that they
latch mechanically on their own and are easy for the operator and others to actuate in the
event of an emergency.
The following list includes some possible types of control elements:
Mushroom pushbutton switches
Wires/cables, cords, rods
Puller grips
In special cases: Foot switches without protective covers
804
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N2: Emergency stop
11.4 Emergency stop sequence
Emergency stop button and control
Actuation of the emergency stop button or a signal derived directly from the button must be
routed to the controller (PLC) as a PLC input. In the PLC user program, this PLC input must
be forwarded to the NC on the interface signal:
DB10 DBX56.1 (Emergency stop)
Resetting of the emergency stop button or a signal derived directly from the button must be
routed to the controller (PLC) as a PLC input. In the PLC user program, this PLC input must
be forwarded to the NC on the interface signal:
DB10 DBX56.2 (Acknowledge emergency stop)
Connection conditions
For connecting the emergency stop button see:
References:
Operator Components Manual
11.4
Emergency stop sequence
After actuation of the emergency stop control element, the emergency stop device must
operate in the best possible way to prevent or minimize the danger.
"In the best possible way" means that the most favorable delay rate can be selected and the
correct stop category (defined in EN 60204) can be determined according to a risk assessment.
Emergency stop sequence in the NC
The predefined (in EN 418) sequence of internal functions implemented to obtain the
emergency stop state is as follows in the control system:
1. Part program execution is interrupted.
All machine axes are braked in the relevant axis-specific parameterized time:
MD36610 $MA_AX_EMERGENCY_STOP_TIME (time of braking ramp in event of
errors)
The maximum braking ramp that can be achieved thereby, is defned by the maximum brake
current of the respective drive. The maximum brake current is achieved by setting a setpoint
= 0 (fast braking).
2. Reset interface signal:
DB11 DBX6.3 (Mode group ready)
3. Set the interface signal:
DB10 DBX106.1 (emergency stop active)
4. Alarm 3000 "Emergency stop" is displayed.
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N2: Emergency stop
11.5 Emergency stop acknowledgement
5. After the expiry of a paramaterized delay time, the servo enables of machine axes are reset.
The setting of the delay time is programmed in machine data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (OFF delay of the controller enable)
The following setting rule must be observed: MD36620 MD36610
6. All machine axes are switched in the follow-up mode within the controller.
The machine axes are no longer in position control.
Emergency stop sequence at the machine
The emergency stop sequence on the machine is determined solely by the machine
manufacturer.
Attention should be paid to the following points in connection to the sequence on the NC:
The process in the NC is started using the interface signal:
DB10 DBX56.1 (Emergency stop)
After the machine axes have come to a standstill, the power supply must be interrupted, in
compliance with EN 418.
Note
The responsibility for interrupting the power supply rests with the machine manufacturer.
The digital and analog outputs of the PLC I/O are not influenced by the emergency stop
sequence in the NC.
If individual outputs are required to attain a particular state or voltage level in the event of
an emergency stop, the machine manufacturer must implement this in the PLC user
program.
The fast digital outputs of the NCK I/O system are not influenced by the emergency stop
sequence in the NC.
If individual outputs must assume a specific state in case of emergency stop, the machine
manufacturer must transmit the desired state to the NC in the PLC user program via
interface signals:
DB10 DBB4-7
Note
If the sequence in the NC is not to be executed as described above, then the interface
signal DB10 DBX56.1 (emergency stop) must not be set until an emergency stop state
defined by the machine manufacturer in the PLC user program is reached.
As long as the interface signal is not set and no other alarm is pending, all interface signals
are operative in the NC. Any emergency stop state defined by the manufacturer (including
axis-, spindle- and channel-specific emergency stop states) can therefore be assumed.
11.5
Emergency stop acknowledgement
The emergency stop control element may only be reset as a result of manual manipulation of
the emergency stop control element according to EN 418.
Resetting of the emergency stop control element alone must not trigger a restart command.
806
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N2: Emergency stop
11.5 Emergency stop acknowledgement
A machine restart must be impossible until all of the actuated emergency stop control elements
have been deliberately reset by hand.
Emergency stop acknowledgement
The EMERGENCY STOP state is only reset if the interface signal:DB10 DBX56.2
(acknowledge EMERGENCY STOP) is set followed by the interface signal:DB11, ... DBX0.7
(mode group reset).
Hence it can be noted that the interface signal DB10 DBX56.2 (acknowledge emergency stop)
and the interface signal DB21, ... DBX7.7 (Reset) together are set at least for so long until the
interface signal DB10 DBX106.1(emergency stop active) is reset.
Note
The emergency stop state cannot be reset with the interface signal DB21, ... DBX7.7 (Reset)
alone.
'%'%; (PHUJHQF\VWRS
1
'%'%;
$FNQRZOHGJHHPHUJHQF\VWRS
'%'%; (PHUJHQF\VWRSDFWLYH
2
'%'%; 5(6(7
3
(1)
DB10 DBX56.2 (acknowledge emergency stop) is inoperative
(2)
DB21, ... DBX7.7 (Reset) is inoperative
(3)
DB10 DBX56.2 and DB21, ... DBX7.7 reset DB10 DBX106.1 (emergency stop active)
Figure 11-1
Resetting the emergency stop state
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N2: Emergency stop
11.6 Data lists
Effects
Resetting the emergency stop state has the following effects:
Within the controller for all machine axes:
The servo enables are set.
The follow-up mode is canceled.
The position control is activated.
The following interface signals are set:
DB31, ... DBX60.5 (position control active)
DB11 DBX6.3 (mode group ready)
The following interface signal is reset:
DB10 DBX106.1 (emergency stop active)
Alarm 3000 "Emergency stop" is deleted.
Part program processing is interrupted in all channels of the NC.
PLC and NCK I/Os
The PLC user program must switch the PLC and NCK I/Os back to the state for operation of
the machine.
POWER OFF / ON (supply off / on)
The emergency stop state can also be reset by switching the controller off and back on
(POWER OFF / ON).
Requirement:
During power-up of the controller the interface signal DB10 DBX56.1 (emergency stop) must
not be set.
11.6
Data lists
11.6.1
Machine data
11.6.1.1
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
36610
AX_EMERGENCY_STOP_TIME
Length of the braking ramp for error states
36620
SERVO_DISABLE_DELAY_TIME
Cutout delay servo enable
808
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N2: Emergency stop
11.6 Data lists
11.6.2
Signals
11.6.2.1
Signals to NC
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Emergency stop
DB10.DBX56.1
DB2600.DBX0.1
Acknowledge Emergency Stop
DB10.DBX56.2
DB2600.DBX0.2
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Emergency stop active
DB10.DBX106.1
DB2700.DBX0.1
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Mode group RESET
DB11.DBX0.7
DB3000.DBX0.7
11.6.2.2
11.6.2.3
Signals from NC
Signals to BAG
Basic Functions
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809
N2: Emergency stop
11.6 Data lists
810
Basic Functions
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12
P1: Transverse axes
12.1
Function
Transverse axis
Within the framework of "turning" technology, the transverse axis refers to the machine axis
that travels perpendicular to the axis of symmetry of the spindle, in other words, to longitudinal
axis Z.
;
7UDQVYHUVHD[LV
:
=
/RQJLWXGLQDOD[LV
Figure 12-1
Position of the transverse axis in the machine coordinate system
Geometry axis as transverse axis
Every geometry axis of a channel can be defined as a transverse axis.
For the geometry axis as a transverse axis, the following functions can be simultaneously or
separately permitted and activated:
Programming and display in the diameter
Reference axis for constant cutting speed G96/G961/G962
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P1: Transverse axes
12.1 Function
Several transverse axes in the channel
The introduction several transverse axes in the channel involves a functional decoupling of
diameter programming and reference axis for G96/G961/G962. Diameter programming and
reference axis for G96/G961/G962 can be active for different transverse axes (see table below).
Programming and display
in the diameter
Reference axis for
G96 / G961 / G962
Permissible axis type:
Geometry axis
Selection in the channel:
one
m of 3
Specific effect:
Channel
Axis
Channel
Machine data:
MD20100
MD30460
MD20100
Programming:
DIAM*
SCC[<Axis>]
channel-specific modal
channel-specific modal
G group 29
Reference axis for G96/G961/G962
Acceptance during axis re
placement:
DIAM*A[<Axis>]
Axis-specific non-modal dia
metral/radius programming:
DAC, DIC; RAC, RIC
Linear channel
axes
Geometry axis
m of n
one
one of 3
axis-specific modal
blockwise axis-specific only programming
DIAM*: DIAMOF, DIAMON, DIAM90, DIAMCYCOF
DIAM*A[<Axis>]: DIAMOFA[<Axis>], DIAMONA[<Axis>], DIAM90A[<Axis>], DIACYCOFA[<Axis>], DIAMCHANA[<Axis>]
<Axis>: Axis name for geometry, channel or machine axis name
Note
Rotary axes are not permitted to serve as transverse axes.
Diameter-related data
DIAMON/DIAMONA[<Axis>]
After activation of the diameter programming with DIAMON/DIAMONA[<Axis>] (see
"Programming (Page 817)"), the following data refer to diameter dimensions:
Display data of transverse axis in the workpiece coordinate system:
Setpoint and actual position
Distance-to-go
REPOS offset
"JOG" mode:
Increments for incremental dimension (INC) and handwheel travel (dependent upon
active MD)
812
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P1: Transverse axes
12.1 Function
Part program programming:
End positions, independent of reference mode (G90 / G91)
Interpolation parameters of circular-path programming (G2 / G3) if these are
programmed with part program instruction AC absolute.
Actual values read with reference to the workpiece coordinate system (WCS):
$AA_MW[<transverse axis>]
System variable of the measuring functions MEAS (measuring with delete distance-togo) and MEAW (measuring without delete distance-to-go)
$P_EP[<transverse axis>]
$AA_IW[<transverse axis>]
DIAM90/DIAM90A[<Axis>]
After activation of the reference-mode-dependent diameter programming with DIAM90/
DIAM90A[<Axis>], the following data are always displayed in relation to diameter regardless
of the operating mode (G90 / G91):
Actual value
Actual values read with reference to the workpiece coordinate system (WCS):
$AA_MW[<transverse axis>]
System variable of the measuring functions MEAS (measuring with delete distance-togo) and MEAW (measuring without delete distance-to-go)
$P_EP[<transverse axis>]
$AA_IW[<transverse axis>]
DIAMCYCOF/DIACYCOFA[<Axis>]
With DIAMCYCOF / DIACYCOFA[<Axis>], a changeover to radius programming takes place
within the controller. The diameter programming status that was active before DIAMCYCOF or
DIACYCOFA[AX] continues to be displayed to the HMI.
Permanently radius-related data
For transverse axes, the following data is always entered, programmed and displayed in
relation to radius:
Part program programming
Interpolation parameters of circular-path programming with CIP
Offsets:
Tool offsets
Programmable and configurable frames
External work offset
DRF and preset offset
etc.
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813
P1: Transverse axes
12.2 Parameterization
Working area limitation
Software limit switch
Feed
Display data with reference to the machine coordinate system
Display data of the service images for axis, FSD and MSD
Extended functions for data that is always radius-related:
The following applies for PLC axes, via FC18 or axes controlled exclusively from the PLC:
The dimension for PLC axes in the radius also applies to several transverse axes with
diameter function and is independent of channel-specific or axis-specific diameter
programming.
In the JOG mode (Inc) a PLC axis is subordinate to the channel status. If diameter
programming is active and MD20624 $MC_HANDWH_CHAN_STOP_COND bit 15 = 0,
only half the path of the specified increment is traversed.
12.2
Parameterization
Defining a geometry axis as a transverse axis
Defining a geometry axis as a transverse axis in the channel is realized using machine data:
MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function)
Example:
MD20100 $MC_DIAMETER_AX_DEF="X" ; geometry axis X is the transverse axis in the
channel.
For this axis, diameter programming and assigning a constant cutting speed with G96 / G961 /
G962 are both permitted.
Several transverse axes in the channel
Defining additional transverse axes in the channel, for which the functionality of the axisspecific diameter programming is permitted, is performed using the machine data:
MD30460 BASE_FUNCTION_MASK (axis functions)
Bit
Value
Meaning
Axis-specific diameter programming is not permitted.
Axis-specific diameter programming is permitted.
Note
The setting MD30460 bit 2 = 1 is only possible for linear axes.
814
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P1: Transverse axes
12.2 Parameterization
An axis can be simultaneously defined in MD20100 and in MD30460 (bit 2). For this, the
channel-specific MD20100 has a higher priority than the axis-specific MD30460.
With MD20100, during power up, the transverse axis:
is assigned the function G96/G961/G962.
is assigned the channel-specific diameter programming DIAMON, DIAMOF, DIAM90,
DIAMCYCOF.
After power up, this axis has the axis-specific basic position DIAMCHANA[<Axis>].
With MD30460 bit2, the additional enabling of the axis-specific operations DIAMONA[<Axis>],
DIAMOFA[<Axis>], DIAM90A[<Axis>], DIACYCOFA[<Axis>], DIMCHANA[<Axis>] takes
place.
Dimensions for tool parameters
According to MD20360 $MC_TOOL_PARAMETER_DEF_MASK, for all of the transverse axes
defined in the channel, the following tool parameters can be activated as diameter values:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK
Bit
Value
Meaning
Transverse axis tool length as a diameter
Alarm for wear or tool length as a diameter and plane change
Work offset in frames of the transverse axis as a diameter
The frame stores the work offsets internally as a radius value. There is no conversion
during a change of diameter, to radius programming or vice versa.
Preset value as a diameter
External work offset of the transverse axis as a diameter
There is no conversion during a change of diameter, to radius programming or vice
versa.
Actual values of the transverse axis as a diameter
Display of actual values of the transverse axis as a diameter value
10
Tool portion of an active tool carrier that can be oriented if no tool is active
11
Evaluation of $TC_DP6 as a diameter
12
Evaluation of $TC_DP15 as wear of the tool diameter
15
Incremental values of the transverse axis for cycle masks as diameters
Radius programming from MD20100 $MC_DIAMETER_AX_DEF and MD30460
$MA_BASE_FUNCTION_MASK bit 2 is taken into account as follows based on
MD20360 $MC_TOOL_PARAMETER_DEF_MASK:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK
Bit
Value
Meaning
Work offset $P_EXTFRAME and frames
For transverse axes, work offsets in frames are always calculated as radius values.
External work office (axis overlay)
For transverse axes, the external work offset is always calculated as a radius value.
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815
P1: Transverse axes
12.2 Parameterization
MD20360 $MC_TOOL_PARAMETER_DEF_MASK
Bit
Value
Meaning
Display of remaining path in WCS always as a radius
For all transverse axes, with MD11346 $MN_HANDWH_TRUE_DISTANCE==1
0
half of the path of the specified handwheel increment is traveled, if channelspecific or axis-specific diameter programming is active for this axis.
half of the path of the specified handwheel increment is always traveled.
13
When jogging around circles, the circle center point coordinate is always a radius
value, see SD42690 $SC_JOG_CIRCLE_CENTRE
14
For cycle masks, the absolute values of the transverse axis are in the radius.
Behavior during handwheel travel
Behavior during handwheel travel (MD11346 $MN_HANDWH_TRUE_DISTANCE == 1 or 3)
of a transverse axis while diameter programming is active can be adjusted with the following
machine data:
MD20624 $MC_HANDWH_CHAN_STOP_COND
Bit
Value
Meaning
15
Only the half path of the specified increment is traveled.
The specified increment is traveled completely.
Displaying position values in the diameter
Position values of transverse axes are always displayed as diameter values, if:
MD27100 $MC_ABSBLOCK_FUNCTION_MASK bit 0 = 1
Channel-specific basic position after power up, reset
The channel-specific basic position after power up / reset or the end of the parts program of
G function group 29 (DIAMON, DIAM90, DIAMOF, DIAMCYCOF) is defined through machine
data:
MD20150 $MC_GCODE_RESET_VALUE
Or (for MD20110 $MC_RESET_MODE_MASK bit 0 = 1):
MD20152 $MC_GCODE_RESET_MODE
The user can set the respective desired status via an event-controlled program call (progevent).
If G96/G961/G962 is the basic position after power up, a transverse axis must be defined using
MD20100 $MC_DIAMETER_AX_DEF, otherwise the alarm message 10870 is output.
Reference axis for G96/G961/G962 retained:
MD20110 $MC_RESET_MODE_MASK, bit 18=1 for reset or end of parts program
MD20112 $MC_START_MODE_MASK, bit 18=1 for start of parts program
816
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P1: Transverse axes
12.3 Programming
A reference axis for G96/G961/G962 can also be assigned without the application of a
transverse axis in MD20100 via SCC[AX]. For this scenario, the constant cutting speed cannot
be activated with G96. For more detailed information, see:
References:
Programming Manual Fundamentals, Feedrate Control and Spindle Motion
"Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)
12.3
Programming
Transverse axes can be programmed with respect to both diameter and radius. Generally,
they are diameter-related, i.e. programmed with doubled path dimension so that the
corresponding dimensional information can be transferred to the part program directly from
the technical drawings.
;
7UDQVYHUVHD[LV
' '
=
/RQJLWXGLQDOD[LV
Figure 12-2
Transverse axis with diameter information (D1, D2)
Switching the diameter programming on/off
Channel-specific diameter programming
The activating or deactivating of the diameter programming is done via the modally active parts
program statements of G function group 29:
DIAMON: Diameter programming ON
DIAMOF: Diameter programming OFF, in other words, radius programming ON
DIAM90: Diameter or radius programming depending on the reference mode:
Diameter programming ON in connection with absolute dimensioning G90
Radius programming ON in connection with incremental dimensioning G91
DIAMCYCOF: Radius programming for G90 and G91 ON; for the HMI, the last active G
function of this group remains active
Reference is made exclusively to the transverse axis of the channel.
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P1: Transverse axes
12.4 Supplementary conditions
Axis-specific diameter programming for several transverse axes in one channel
Note
The additionally specified axis must be activated via MD30460
$MA_BASE_FUNCTION_MASK with bit 2 = 1.
The axis specified must be a known axis in the channel. Geometry, channel or machine axes
are permitted.
Programming is not permitted in synchronized actions.
The following axis-specific modal statements can be programmed several times in a parts
program block:
DIAMONA[<Axis>]: Diameter programming for G90, G91, AC and IC ON
DIAMOFA[<Axis>]: Diameter programming OFF, in other words, radius programming ON
DIAM90A[<Axis>]: Diameter or radius programming depending on the reference mode:
Diameter programming ON in connection with absolute dimensioning G90 and AC
Radius programming ON in connection with incremental dimensioning G91 and IC
DIACYCOFA[Axis]: Radius programming for G90 and G91 ON; for the HMI, the last
active G function of this group remains active
DIAMCHANA[Axis]: Acceptance of diameter programming channel status
DIAMCHAN: All axes with MD30460, bit 2 = 1 accept the diameter programming channel
status
Axis-specific modal statements have priority over the channel setting.
12.4
Supplementary conditions
Axis replacement
Due to a GET request from the parts program, the diameter programming status for an
additional transverse axis is accepted in the new channel during axis replacement using
RELEASE[<Axis>].
Axis replacement in synchronized actions
For axis replacement in synchronized actions, a transverse axis takes the status of the axisspecific diameter programming with it into the new channel if:
with MD30460, bit 2 = 1 axis-specific diameter programming is permitted for the transverse
axis.
the transverse axis is not subordinated to the channel-specific diameter programming in
the releasing channel.
The active dimension can be queried via the system variable $AA_DIAM_STAT[<Axis>].
818
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P1: Transverse axes
12.5 Examples
Axis replacement via axis container rotation
By rotating the axis container, the assignment of a channel axis can change to assignment of
a machine axis. The current diameter programming status is retained however for the channel
axis after the rotation. This also applies to the current channel and axis status, because the
status is the same for all axes of the axis container at the time of the machine data "putting
into effect" the status from MD30460 $MA_BASE_FUNCTION_MASK.
12.5
Examples
Example 1
X is a transverse axis defined via MD20100 $MC_DIAMETER_AX_DEF.
Y is a geometry axis and U is an additional axis. These two axes are additional transverse
axes with diameter specifications defined in MD30460 $MA_BASE_FUNCTION_MASK with
bit 2 = 1.
DIAMON is not active after power up.
Program code
Comment
N10 G0 G90 X100 Y50
;no diameter programming is active
N20 DIAMON
;Channel-specific diameter programming, in effect for X
N30 Y200 X200
;Dimensions: X in the diameter, Y in the radius
N40 DIAMONA[Y]
;axis-specific modal diameter programming,
;in effect for Y
N50 Y250 X300
;Dimensions: X and Y in diameter
N60 DIAM90
;Dimensions: X G90/AC in the diameter, G91/IC in the radius
N70 Y200
;Y: continuing, axis-specific modal diameter programming
N75 G91 Y20 U=DIC(40)
;Dimensions: Y in the diameter, U non-modally IC in the
diameter
N80 X50 Y100
;Dimensions: X in the radius (G91), Y in the diameter
N85 G90 X100 U200
;Dimensions: X in the diameter, U in the radius
N90 DIAMCHANA[Y]
;Y accepts the channel status DIAM90
N95 G91 X100 Y100
;Dimensions: X and Y in the radius(G91)
N100 G90 X200 Y200
;Dimensions: X and Y in diameter
Example 2
Transverse axes with diameter specification applied as in the previous example.
X and Y are located in channel 1 and are also known in channel 2; i.e. permitted for axis
replacement.
Program code
Comment
Channel 1
N10 G0 G90 X100 Y50
;no diameter programming is active
N20 DIAMON
;Channel-specific diameter programming for X
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P1: Transverse axes
12.6 Data lists
Program code
Comment
N30 Y200 X200
;Dimensions: X in the diameter, Y in the radius
N40 DIAMONA[Y]
;Y axis-specific modal diameter programming
N50 Y250 X300
;Dimensions: X and Y in diameter
N60 SETM(1)
;Synchronous marker 1
N70 WAIT(1,2)
;wait for synchronous marker 1 in channel 2
Channel 2
...
N50 DIAMOF
;channel 2 no diameter programming active
...
N100 WAIT(1,1)
;wait for synchronous marker 1 in channel 1
N110 GETD(Y)
;Axis replacement direct Y
N120 Y100
;Y is the channel-specific diameter programming
;subordinated in channel 2; i.e. dimension in the radius
12.6
Data lists
12.6.1
Machine data
12.6.1.1
Channelspecific machine data
Number
Identifier: $MC_
Description
20050
AXCONF_GEOAX_ASSIGN_TAB[n]
Assignment of geometry axis to channel axis
20060
AXCONF_GEOAX_NAME_TAB[n]
Geometry axis name in channel
20100
DIAMETER_AX_DEF
Geometry axis with transverse axis function
20110
RESET_MODE_MASK
Definition of control basic setting after powerup and RESET /
part program end
20112
START_MODE_MASK
Definition of the control basic settings for NC start
20150
GCODE_RESET_VALUES[n]
Reset G groups
20152
GCODE_RESET_MODE[n]
G code basic setting at RESET/end of parts program
20360
TOOL_PARAMETER_DEF_MASK
Definition of tool parameters
20624
HANDWH_CHAN_STOP_COND
Definition of the behavior of traveling with handwheel
27100
ABSBLOCK_FUNCTION_MASK
Parameterize block display with absolute values
12.6.1.2
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
30460
BASE_FUNCTION_MASK
Axis functions
820
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13.1
13
Brief description
General
The PLC basic program organizes the exchange of signals and data between the PLC user
program and the NCK (Numerical Control Kernel), HMI (Human Machine Interface) and MCP
(Machine Control Panel). In the case of signals and data, a distinction is made between the
following groups:
Cyclic signal exchange
Event-driven signal exchange
Messages
Cyclic signal exchange
The cyclically-exchanged signals consist primarily of bit arrays.
They contain commands transferred from the PLC to the NCK (such as start or stop) and
status information from the NCK (such as program running, interrupted, etc.).
The bit fields are organized into signals for:
Mode group
Channels
Axes/spindles
General NCK signals
The cyclic exchange of data is performed by the basic program at the start of the PLC cycle
(OB1). This ensures, for example, that the signals from the NCK remain constant throughout
a cycle.
Event-driven signal exchange NCK PLC
PLC functions that have to be executed as a function of the workpiece program are triggered
by auxiliary functions in the workpiece program. If a block with auxiliary functions is executed,
the type of auxiliary function determines whether the NCK has to wait for this function to execute
(e.g. tool change) or whether the function will be executed together with the workpiece
machining process (e.g. tool loading on milling machines with chain magazine).
Data transfer must be as fast and yet as reliable as possible, in order to minimize the effect
on the NCK machining process. Data transfer is, therefore, interrupt- and acknowledgementdriven. The basic program evaluates the signals and data, acknowledges this to the NCK and
transfers the data to the application interface at the start of the cycle. If the data does not
require user acknowledgement, this does not affect NC processing.
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P3: Basic PLC program for SINUMERIK 840D sl
13.1 Brief description
Event-driven signal exchange PLC NCK
An "event driven signal exchange PLC NCK" takes place whenever the PLC transfers a
request to the NCK (e.g. traversal of an auxiliary axis). In this case, data transfer is also
acknowledgement-driven. When performed from the user program, this type of signal
exchange is triggered using a function block (FB) or function call (FC).
The associated FBs (Function Blocks) and FCs (Function Calls) are supplied together with the
basic program.
Messages
User messages are acquired and conditioned by the basic program. The message signals are
transferred to the basic program via a specified bit array. where they are evaluated and, if
message events occur, entered in the PLC's interrupt buffer by means of the ALARM S/SQ
functions. If an HMI (e.g. SINUMERIK Operate) is being used, the messages are transferred
to the HMI and displayed.
PLC/HMI data exchange
In this type of data exchange, the HMI takes the initiative, being referred to as the "client" on
the bus system. The HMI polls or writes data. The PLC processes these requests at the cycle
control point via the operating system. The PLC basic program is not involved in these
exchanges.
Note
The function of the machine is largely determined by the PLC program. Every PLC program
in the RAM can be edited with the programming device.
Know-how protection for user blocks
To protect the know-how contained in the the user blocks (OB, FB and FC), they can be
encoded with the SBP tool (SIMATIC block protection) contained in SIMATIC STEP 7. These
blocks can then no longer be opened, debugged and modified without specifying the password
for the encoding.
When encoding, the automation system on whose PLC-CPU the blocks are to be executed,
must be specified: SIMATIC and/or SINUMERIK PLC-CPU.
The handling of the blocks, e.g. loading to the CPU, is not affected by the encoding.
Requirement
SIMATIC STEP 7 as of Version 5.5 SP3
822
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P3: Basic PLC program for SINUMERIK 840D sl
13.2 Key data of the PLC CPU
13.2
Key data of the PLC CPU
Key data of the PLC CPU
The overview of the key data of the PLC CPU integrated in the SINUMERIK NCU can be found
in:
References
NCU 7x0.3 PN Manual, Section "Technical data"
Note
I/O addresses for integrated drives
The I/O addresses above 4096 are reserved for the integrated drives of the NCU and must
not assigned otherwise.
Functions of the basic PLC program
Scope
Axes/spindles
31
Channels
10
Mode groups
10
Functions
Status/control signals
M decoders (M00-99)
G group decoders
Aux. function distributors
Aux. function transfer, interrupt-driven
M decoding acc. to list
Move axes/spindles from PLC
ASUB interface
Error/operating messages
Transfer MCP and HHU signals
Display control handheld unit
Read/write NCK variables and GUD
PI services
Tool management
Star/delta switchover
m:n
Safety Integrated
Program diagnostics
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13.4 PLC mode selector
13.3
PLC operating system version
The PLC operating system version is displayed at:
User interface of SINUMERIK Operate: "Operating area switchover" > "Diagnostics" >
"Version" version data / system software NCU: Selection "PLC" > "Details" version
data / system software NCU/PLC: The PLC operating system version is displayed in the
first line is at "PLC 3xx".
Note
The displayed version is SINUMERIK-specific. It is not compatible with the basic SIMATIC
CPU.
SIMATIC STEP 7, HW Config: In the properties of the PLC CPU in the SINUMERIK rack:
"Properties - CPU 3xx" > "Order no. / firmware": xxxx / Vx.y.z
Note
The version of the basic SIMATIC CPU is displayed.
13.4
PLC mode selector
The PLC mode selector is located on the front of the NCU module. The following PLC operating
modes can be set via the PLC mode selector:
S 1)
Meaning
Remark
RUN-P
RUN
Only read access operations are possible using a programming device (PG). It
is not possible to make changes to the PLC program until the password has
been set.
STOP
Processing the PLC program is stopped and all PLC outputs are set to substitute
values.
MRES
The PLC is switched into the STOP state followed by a PLC general reset (de
fault data).
The PLC program can be changed without activation of the password
1) Switch position of the PLC mode selector
References
A detailed description of the position of the PLC mode selector on the front of the NCU module,
as well as its use in connection with NCK and PLC general reset can be found in:
CNC Commissioning Manual: NCK, PLC, Drive:
Section "Switch-on/power-up" > "Operator control and display elements for power-up"
Section "Switch-on/power-up" > "NCK and PLC general reset"
Section "General tips" > "Separate NCK and PLC general reset"
824
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13.7 Starting up the PLC program
13.5
Reserve resources (timers, counters, FC, FB, DB, I/O)
Reserve resources (timers, counters, FC, FB, DB, I/O)
The components below are reserved for the basic program:
Timer
No reservation
Counter
No reservation
FC, FB, DB
FC0 to FC29 and FB0 to FB29 are reserved for the basic program. The number range
between 1000 and 1023 is also reserved for FCs and FBs. DB1 to DB62, DB71 to DB80
are reserved for data blocks. The number range 1000 to 1099 is also reserved in addition
for DB. The data blocks of channels, axes/spindles and tool management functions that
are not activated may be assigned as desired by the user.
I/O range
The PLC has an I/O address volume of 8192 bytes each for inputs and outputs. The address
ranges starting at 4096 / 4096 are reserved for/occupied by integrated drives. However,
diagnostic addresses for modules can be assigned to the highest address range as
proposed by STEP 7. Furthermore, the address range between 256 and 287 is assigned
for the NCK, CP and HMI in rack 0 on the SIMATIC 300 station.
13.6
Commissioning hardware configuration of the PLC CPU
The commissioning of the PLC CPU is described in detail in:
References
CNC Commissioning Manual: NCK, PLC, Drive:
Section: "Connect PG/PC to PLC"
Section: "Commissioning PLC"
Section: "Basics" > "PLC program"
Section: "General tips" > "Separate NCK and PLC general reset"
Section: "General tips" > "Integrating PG/PC into the network (NetPro)"
13.7
Starting up the PLC program
13.7.1
Installation of the basic program
The installation of the basic program is described in detail in:
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13.7 Starting up the PLC program
References
CNC Commissioning Manual: NCK, PLC, Drive; Section: "Commissioning PLC" > "Creating a
PLC program"
Note
Installation/update
Before installing the toolbox for SINUMERIK 840D sl, SIMATIC STEP 7 must be installed.
It is recommended that the hardware expansions for STEP 7 be installed again from the toolbox
after an update of STEP 7.
Contents
The OB source programs, including standard parameterization, interface symbols and datablock templates for the handheld unit and M decoding functions are included in the basic
program.
13.7.2
Application of the basic program
A new CPU program (e.g. "Turnma1") must be set up in a project by means of the STEP 7
software for each installation (machine).
Remark
The catalog structures of a project and the procedure for creating projects and user programs
are described in the relevant SIMATIC documentation.
Procedure
The basic program blocks are copied using the SIMATIC Manager and
"File" > "Open" > "Library".
The following components must be copied from the library:
From the block container: FCs, FBs, DBs, OBs, SFC, SFB, UDT
The source_files (from the source container): GPOB840D
Possibly MDECLIST, HHU_DB and others
The symbols table (from the symbols container)
Compatibility with STEP 7
There are no dependencies between the basic program and current STEP 7 versions.
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13.7 Starting up the PLC program
13.7.3
Version codes
Basic program
The version of the basic program is displayed on the Version screen of the user interface along
with the controller type.
The controller type is encoded as follows:
Leftjustified decade of DB17.DBD0 (byte 0)
Controller type
03
SINUMERIK 840D sl (NCU 7x0)
User program
Users can also display their own PLC version codes in the Version screen. For this purpose,
a data of type STRING containing a maximum of 54 characters must be defined in any data
block. The data can contain a text of the user's choice. The parameterization on this string is
done via a pointer on FB1. For this, the data block must be defined symbolically.
See also section "block descriptions" > "FB1: RUN_UP - basic program, start section
(Page 914) ".
13.7.4
Machine program
The machine manufacturer creates the machine program using the library routines supplied
with the basic program. The machine program contains the logic operations and sequences
on the machine. The interface signals to the NC are also controlled in this program. More
complex communication functions with the NCK, e.g. read/write NC data, tool-management
acknowledgments, etc., are activated and executed via blocks FCs and FBs of the basicprogram).
The machine program can be created in various STEP 7 creation languages, e.g. AWL, KOP,
FUP, S7-HIGRAPH, S7GRAPH, SCL. The complete machine program must be generated and
compiled in the correct sequence.
This means that blocks that are called by other blocks must generally be compiled before
these blocks.
If blocks that are called by other blocks are subsequently modified in the interface
(VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT, VAR) as the program is developed, then the call
block and all blocks associated with it must be compiled again. This general procedure applies
analogously to instance data blocks for FBs. If these sequence of operations is not maintained,
time-stamp conflicts occur when the data retranslated into STEP 7. As such, the recompilability
of the blocks is not ensured and with the function "Status of block" unnecesary conflicts can
also appear. It is, moreover, advisable to generate blocks in ASCIISTL by means of the STEP
7 editor when they have been created in Ladder Diagram or in single statements (incremental
mode).
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13.7 Starting up the PLC program
13.7.5
Data backup
The PLC-CPU does not save any symbolic names, but instead only the datatype descriptions
of the block parameters VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT, VAR and the datatypes
of the global data blocks.
Note
No sensible recompilation is possible without the related project for this machine. This
especially affects, for instance the function status of the block or the necessary changes done
in the PLC-CPU programs later. It is, therefore, necessary to keep a backup copy of the STEP
7 project located in the PLC CPU on the machine. This is a great help for the service case and
saves unnecessary consumption of time in restoring the original project.
If the STEP 7 project exists and has been created according to the instructions given above,
then symbols can be processed in the PLCCPU on this machine. It may also be advisable to
store the machine source programs as ".awl" files in case they are required for any future
upgrade.
The source programs of all organization blocks and all instance data blocks should always be
available.
13.7.6
PLC series startup, PLC archive
Once the blocks have been loaded to the PLC CPU, a series archive can be generated via the
HMI user interface to back up data on the machine. To ensure data consistency, this backup
must be created immediately after block loading when the PLC is in the Stop state. It does not
replace the SIMATIC project backup as the series archive saves binary data only. For instance,
no symbolic information is present here. In addition, no CPU DBs (SFC 22 DBs) or SDBs
generated in the CPU are saved.
Selection of the SINUMERIK archiving program
The PLC series archive can be generated directly from the SIMATIC project as an alternative.
Open the "Settings" dialog box in the SIMATIC Manager: Menu bar "Tools" > "Settings"
Open the "Archive" tab
Select the the SINUMERIK archiving program "SINUMERIK (*.arc)" in the "Preferred
archiving program" drop-down list box.
Start of the SINUMERIK archiving program
The SINUMERIK archiving program is started in the SIMATIC Manager via the menu command
"File" > "Archive".
The PLC archive is generated after assigning the archive name. If a project contains several
program paths, the S7 program for which the PLC archive will be created can be selected in
the dialog box. All blocks contained in the selected program path are archived (except data
blocks created with SFC22 (online) in the CPU).
The "SDB archive" function can be activated or deactivated for the archiving program. If "SDB
archive" is activated, a PLC archive is created that only contains the system data blocks (SDB)
of the selected program path.
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13.7 Starting up the PLC program
Automation
The process of generating a series archive can be automated (comparable to the command
interface in STEP 7). In generating this series archive, the command interface is expanded.
The following functions are available for this expansion:
The functions (shown here in VB script) are not available until server instantiations and Magic
have been called:
Const S7BlockContainer = 1138689, S7PlanContainer = 17829889
Const S7SourceContainer = 1122308
set S7 = CreateObject("Simatic.Simatic.1")
instantiate rem command interface of STEP 7
Set S7Ext = CreateObject("SimaticExt.S7ContainerExt")
Call S7Ext.Magic("")
Functions:
Function Magic(bstrVal As String) As Long
Function MakeSerienIB (FileName As String, Option As Long,
Container As S7Container) As Long
Description
Function Magic(bstrVal As String) As Long
The call provides access to certain functions. The function must be called once after server
instantiation. The value of bstrVal can be empty. This initiates a check of the correct STEP 7
version and path name in Autoexec. The functions are enabled with a return parameter of 0.
Return parameter (-1) = incorrect STEP 7 version
Return parameter (-2) = no entry in Autoexec.bat
Function MakeSeriesstart-up(FileName As String, Option As Long, Container As S7Container)
As Long
"Option" parameter:
0:
Normal series startup file with general reset
Bit 0 = 1:
Series startup file without general reset. When project contains SDBs, this option is
inoperative.
A general reset is then always executed
Bit 1 = 1:
Series startup file with PLC restart
Return parameter value:
0
= OK
-1
= Function unavailable, call Magic function beforehand
-2
= File name cannot be generated
-4
= Container parameter invalid or container block empty
-5
= Internal error (memory request rejected by Windows)
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13.7 Starting up the PLC program
-6
= Internal error (problem in STEP 7 project)
-7
= Write error when generating series startup files (e.g. diskette full)
Use in script
Program code
If S7Ext.Magic("") < 0 Then
Wscript.Quit(1)
End If
Set Proj1 = s7.Projects("new")
set S7Prog = Nothing
Set s7prog = Proj1.Programs.Item(1) 'if there is only one program'
For Each cont In s7prog.Next
If (Cont.ConcreteType = S7BlockContainer) Then
' Check block container
Exit For
End if
Cont = Nothing
Next
Error = S7Ext.MakeSerienIB("f:\dh\arc.dir\PLC.arc", 0, Cont)
' Now error analysis
The For Each ... Next block programmed above can be programmed in the Delphi
programming language as follows (the programming for C, C++ programming languages is
similar):
Program code
Var
EnumVar: IEnumVariant;
rgvar: OleVariant;
fetched: Cardinal;
//For Each Next
EnumVar := (S7Prog.Next._NewEnum) as IEnumVariant;
While (EnumVar.Next(1,rgvar,fetched) = S_OK) Do Begin
Cont := IS7Container(IDispatch(rgvar)); // block container
Check sources
If (Cont.ConcreteType = S7BlockContainer) Then Break;
Cont := NIL;
End;
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13.7 Starting up the PLC program
13.7.7
Software upgrade
A general PLC reset should be performed to achieve a defined initial state before the PLC
software is upgraded. In this case, among other things, all user data (program and data blocks)
will be deleted. The PLC general reset is described in:
References:
Commissioning Manual CNC: NCK, PLC, Drive, General Tips,
Section: PLC general reset
Generating a new SIMATIC S7 project
In normal cases, the new PLC basic program is to be linked-in for a new NCU software version.
The basic programs blocks must be loaded into the user project for this purpose. If the following
program and data blocks are already in the user project, then these should not be transferred
with the blocks of the basic PLC program: OB1, OB40, OB82, OB86, OB100, FC12 and DB4.
These have been possibly changed by the user, and should not be overwritten. The new basic
program must be linked with the user program. The following procedure must be taken into
account:
1. Generate the text or source file of all user blocks before copying the basic PLC program.
2. Copy the new basic program blocks into the SIMATIC S7 project (for a description, see
Section "Application of the basic program (Page 826)")
3. All user programs "*.awl" must be recompiled in the correct order! (see also: " Machine
program (Page 827)"):
4. This newly compiled SIMATIC S7 project should then be downloaded with STEP 7 into the
PLC.
However, it is normally sufficient to recompile the organization blocks (OBs) and the instance
data blocks of the S7 project. This means before upgrading, only the sources for the
organization blocks and the instance data blocks have to be generated.
NC variables
The latest NC VAR selector can be used for each NC software version (even earlier versions).
The variables can also be selected from the latest list for earlier NC software versions. The
data content in DB120 (default DB for variables) does not depend on the software status. That
is, variables selected in an older software version need not be reselected when the software
is upgraded.
13.7.8
I/O modules (FM, CP modules)
Additional packages for STEP 7 are generally required for more complex I/O modules (FM,
CP modules). Support blocks (FC/FB) are provided in these additional packets. The blocks
contain specific functions for operating the relevant module. These functions can be
parameterized and called in the user program.
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13.7 Starting up the PLC program
Identical numbers
If handling and basic program blocks have identical numbers, the block numbers of the basic
program must remain unchanged. The block numbers of the handling blocks must be renamed
to free numbers via STEP 7.
13.7.9
Troubleshooting
This section describes problems which may occur, their causes and remedies and should be
read carefully before hardware is replaced.
Errors, cause/description and remedy
832
Serial
no.
error in
forma
tion
Errors
Cause/description
To correct or avoid errors
No connec
tion via MPI to
PLC.
The MPI cable is not plugged in
or is defective. Possibly, the
STEP 7 software is also not cor
rectly configured for the MPI card.
Test: Create a link with the programmer
in the STEP 7 editor by means of con
nection "Direct_PLC". A number of
node addresses must be displayed
here. If they do not appear, the MPI ca
ble is defective/not plugged in.
PLC cannot
be accessed
in spite of PLC
general reset.
A system data block SDB 0 has
been loaded with a modified MPI
address. This has caused an MPI
bus conflict due to dual assign
ment of addresses.
Disconnect all MPI cables to other com
ponents. Create the link "Direct_PLC"
with the programmer. Correct the MPI
address.
All four LEDs
on the PLC
flash (DI dis
aster)
A system error has occurred in
the PLC.
Once the PLC program has been RE
SET or reloaded, the system may re
turn to normal operation. Even in this
case, the content of the diagnostic buf
fer should be sent to the Development
Office.
Measures:
The diagnostic buffer on the PLC
must be read to analyze the sys
tem error in detail. To access the
buffer, the PLC must be stopped
(e.g. set "PLC" switch to position
2). A hardware reset must then be
performed. The diagnostic buffer
can then be read out with STEP
7. Relay the information from the
diagnostic buffer to the Hotline /
Development Service. A general
reset must be carried out if re
quested after the hardware RE
SET. The diagnostic buffer can
then be read with the PLC in the
Stop state.
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13.8 Coupling of the PLC CPU
13.8
Coupling of the PLC CPU
13.8.1
General
A CPU of the S7-300 automation system is used as PLC for the SINUMERIK 840D sl. The
PLC-CPU is integrated into the NCU component as a sub-module. A reference to the
performance data of the PLC CPU can be found in Section "Key data of the PLC CPU
(Page 823)".
13.8.2
Properties of the PLC CPU
The PLC integrated in the SINUMERIK 840D sl generally has the same functionality as the
corresponding SIMATIC S7-300 PLC.
For differences, see reference in Section "Key data of the PLC CPU (Page 823)".
Owing to differences in their memory system as compared to a SIMATIC S7-300 PLC, certain
functions are not available (e.g. save blocks on memory card, save project on memory card).
Note
As with the PLC integrated in SINUMERIK, there is no automatic start of the PLC after power
failure and recovery for a SIMATIC S7-300 PLC when a "PLC stop" is triggered by an operator
action on the programming device. For safety reasons, the PLC remains in the stop state with
an appropriate diagnostic entry. You can start the PLC only by an operator action on the
programming device, "Execute a restart", or via the mode selector "Stop" > "Run" (warm
restart).
13.8.3
Interface with integrated PLC
Physical interfaces
With the SINUMERIK 840D sl, the PLC integrated in the NCU offers the option of exchanging
signals between the NCK and PLC directly via a dual-port RAM.
Data exchange with the operator panel
Data exchange with the operator panel (e.g. TCU/OP) can be performed via Ethernet or
PROFIBUS. With a connection via Ethernet, communication takes place via the integrated
communication processor (CP 840D sl).
Data exchange with the machine control panel (MCP) and handheld unit (HHU) can be
performed via MPI, PROFIBUS or Ethernet.
Programming devices should preferably be connected via Ethernet or via MPI (Multi-Point
Interface) directly to the PLC.
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13.8 Coupling of the PLC CPU
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Interface: NCK/PLC
The data exchange between NCK and PLC is organized by the basic program on the PLC
side. The status information, such as "Program running", stored by the NCK in the NCK/PLC
interface is copied to data blocks by the basic program at the beginning of the cycle (OB1) and
can then be accessed in the user program (user interface). The control signals for the NCK
(e.g. NC start) entered in the interface data block by the user are also written to the internal
DPR and transferred to the NCK at the start of the cycle.
Workpiece-program-specific auxiliary functions transferred to the PLC are first evaluated by
the basic program (interruptdriven) and then transferred to the user interface at the start of OB
1. If the relevant NC block contains auxiliary functions that require that NCK processing is
interrupted (e.g. M06 for tool change), the basic program stops the decoding of the NCK block
initially for one PLC cycle. The user can then use the "read disable" interface signal to halt the
block execution until the tool change has been completed. If, on the other hand, the relevant
NC block only contains auxiliary functions, which do not require interruption of the decoding
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13.8 Coupling of the PLC CPU
(e.g. M08 for cooling medium on), the transfer of these "fast" auxiliary functions is directly
acknowledged in OB40, so that decoding is only insignificantly influenced by the transfer to
the PLC.
The evaluation and enabling of the G functions transferred from the NCK are also alarm-driven,
however they are transferred directly to the user interface. Where a G function is evaluated at
several points in the PLC program, differences in the information of the G function within one
PLC cycle may arise.
In the case of NC actions triggered and assigned with parameters by the PLC (e.g. traverse
concurrent axes), triggering and parameter assignment is performed using FCs and FBs, not
interface data blocks. The FCs and FBs belonging to the actions are supplied together with
the basic program. The FCs and FBs required must be loaded by the user and called in the
PLC program of the machine manufacturer (machine program). For an overview of FC, FB
and data blocks, sorted according to basic and extended functions, please refer to Section
"Start-up of PLC programs".
Interface: HMI/PLC
HMI/PLC data exchange is performed via the integrated CP, whereby the HMI is always the
active partner (client) and the PLC is always the passive partner (server). Data transferred or
requested by the HMI is read from and written to the HMI/PLC interface area by the PLC
operating system (timing: Cycle control point). From the viewpoint of the PLC application, the
data is identical to I/O signals.
Interface: MCP/PLC or HHU/PLC (connection: Ethernet)
MCP/PLC and HHU (HT 2) / PLC data is exchanged via the integrated CP. The CP transfers
the MCP/HHU signals to and fetches them from the PLC's internal DPR (Dual-Port RAM). On
the PLC side, the basic program handles communication with the user interface. The basicprogram parameters (FB1, DB7) define the operand areas (e.g. I/O areas) and the start
addresses.
Interface: MCP/PLC (connection: PROFIBUS)
MCP/PLC data exchange takes place via the PLC's PROFIBUS. The MCP's I/O addresses
are to be set in the PLC's process image area and via HW configuration in STEP 7. The
MCP*In, MCP*Out pointer variables must be set to the same addresses. The selected DP
slave number must be entered in MCP*BusAdr.
Interface: HHU/PLC (connection: MPI)
The HHU/PLC data exchange is performed via the MPI interface on the PLC. The
"Communication with global data (GD)" service is used for this purpose (see also STEP 7 User
Manual). The PLC operating system handles the transfer of signals from and to the user
interface. The STEP 7 "Communication configuration" configuring tool is used to define both
GD parameters as well as operand areas (e.g. I/O areas) and their start addresses.
13.8.4
Diagnostic buffer on PLC
The diagnostic buffer of the PLC (readable using STEP 7) will enter diagnostic information on
the PLC operating system.
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13.9 Interface structure
13.9
Interface structure
Interface DBs
Mapping in interface data blocks is necessary due to the large number of signals exchanged
between the NCK and PLC. These are global data blocks from the viewpoint of the PLC
program. During system start-up, the basic program creates these data blocks from current
NCK machine data (no. of channels, axes, etc.). The advantage of this approach is that the
minimum amount of PLC RAM required for the current machine configuration is used.
13.9.1
PLC/NCK interface
General
The PLC/NCK interface comprises a data interface on one side and a function interface on the
other. The data interface contains status and control signals, auxiliary functions and G
functions, while the function interface is used to transfer jobs from the PLC to the NCK.
Data interface
The data interface is subdivided into the following groups:
NCK-specific signals
Mode-group-specific signals
Channel-specific signals
Axis/spindle/drive-specific signals
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13.9 Interface structure
Function interface
The function interface is formed by FBs and FCs. The figure below illustrates the general
structure of the interface between the PLC and the NCK.
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13.9 Interface structure
Compile-cycle signals
In addition to the standard signals exchanged between the PLC and NCK, an interface data
block for compile cycles is also generated if required (DB9). The associated signals, which are
dependent on the compile cycles, are transmitted cyclically at the start of OB1. The basic
program starts transmission at the lowest address and works up to the highest. First, signals
are transferred from the PLC to the NCK, then from the NCK to the PLC. The user must
synchronize the NCK and PLC as necessary (e.g. using the semaphore technique). Signal
transmission is asynchronous between NCK and PLC. This means, for example, that active
NCK data transmission can be interrupted by the PLC. This can mean that data is not always
consistent.
PLC/NCK signals
The group of signals from the PLC to NCK includes:
Signals for modifying the digital and analog I/O signals of the NCK
Keyswitch and emergency stop signals
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838
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.9 Interface structure
NCK/PLC signals
The group of signals from the NCK to PLC includes:
Actual values of the digital and analog I/O signals of the NCK
Ready and status signals of the NCK
Also output in this group are the HMI handwheel selection signals and the status signals.
The signals for handwheel selection are decoded by the basic program and entered in the
machine/axis-specific interface.
Digital/analog I/Os of the NCK
The following must be noted with respect to the digital and analog I/Os of the NCK:
Inputs:
All input signals or input values of the NCK are also transferred to the PLC.
The transfer of signals to the NC part program can be suppressed by the PLC. Instead, a
signal or value can be specified by the PLC.
The PLC can also transfer a signal or value to the NCK even if there is no hardware for this
channel on the NCK side.
Outputs:
All signals or values to be output are also transferred to the PLC.
The NCK can also transfer signals or values to the PLC even if there is no hardware for
this channel on the NCK side.
The values transferred by the NCK can be overwritten by the PLC.
Signals and values from the PLC can also be output directly via the NCK I/O devices.
Note
When realizing the digital and analog NCK I/Os the information contained in the following
documentation must be taken into account:
References:
Functions Manual Extended Functions; Digital and analog NCK I/Os (A4)
Signals PLC/Mode group
The operating mode signals set by the machine control panel or the HMI are transferred to the
operating mode group (BAG) of the NCK. These apply to all NCK channels. Several mode
groups can be optionally defined in the NCK.
The mode group reports its current status to the PLC.
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.9 Interface structure
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Signals PLC/NCK channels
The signal groups below must be considered on the interface:
Control/status signals
Auxiliary/G functions
Tool management signals
NCK functions
The control/status signals are transmitted cyclically at the start of OB1. The signals entered in
the channel-specific interface by the HMI (HMI signals are entered by the PLC operating
system) are also transferred at this time if they have been defined on the HMI operator panel,
not on the MCP.
Auxiliary functions and G functions are entered in the interface data blocks in two ways. First,
they are entered with the change signals.
The M signals M00 - M99 (they are transferred from the NCK with extended address 0) are
also decoded and the associated interface bits set for the duration of one cycle.
For G functions, only the groups selected via machine data are entered in the interface
data block.
The S values are also entered together with the related M signals (M03, M04, M05) in the
spindle-specific interface. The axis-specific feedrates are also entered in the appropriate
axisspecific interface.
When the tool management (magazine management) function is activated in the NCK, the
assignment of spindle or revolver and the loading/unloading points are entered in separate
interface DBs (DB71-73)
The triggering and parameter assignment of NCK functions is performed by means of PLC
function calls.
The following function calls are available:
Position a linear axis or rotary axis
Position an indexing axis
Start a prepared asynchronous subprogram (ASUB)
Reading/writing of NC variables
Update magazine and tool motion
840
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.9 Interface structure
Some of the above functions are described in their own function documentation.
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PLC/axis, spindle, drive signals
The axis-specific and spindle-specific signals are divided into the following groups:
Shared axis/spindle signals
Axis signals
Spindle signals
Drive signals
The signals are transmitted cyclically at the start of OB1 with the following exceptions:
Exceptions include:
Axial F value
M value
S value
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13.9 Interface structure
An axial F value is entered via the M, S, F distributor of the basic program if it is transferred to
the PLC during the NC machining process.
The M and S value are also entered via the M, S, F distributor of the basic program if one or
both values require processing.
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13.9.2
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Interface between PLC and axes/spindles/drives
Interface PLC/HMI
General
The following groups of functions are required for the PLC/HMI interface:
Control signals
Machine operation
PLC messages
PLC status display
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13.9 Interface structure
Control signals
Some control signals are signal inputs, for example, via the machine control panel, which have
to be taken into account by the HMI. This group of signals includes, for example, display actual
values in MCS or WCS, key disable, etc. These are exchanged with the HMI via a separate
interface data block (DB19).
Machine operation
All operator inputs, which lead to response actions on the machine, are monitored by the PLC.
Operator actions are usually performed on the machine control panel (MCP). However, it is
also possible to perform some operator actions on the HMI, e.g. mode selection.
The PLC operating system enters the operating signals sent by the HMI directly into the
interface data blocks. As standard, the basic program routes these operating signals in such
a way that, provided equivalent operator actions are available, these can be performed either
on the HMI or on the MCP. If required, the user can switch off operation via HMI using an FB1
parameter "MMCToIF".
PLC messages
The signaling functions are based on the system diagnostic functions integrated in the
operating system of the AS 300. These have the following characteristics:
The PLC operating system enters all important system states and state transitions in a
diagnostics status list. Communication events and I/O module diagnostics data (for
modules with diagnostic functions) are also entered.
Diagnostics events, which lead to a system stop, are also entered with a time stamp in a
diagnostic buffer (circular buffer) in the chronological order of their occurrence.
The events entered in the diagnostic buffer are automatically transmitted to human machine
interface systems (OP or HMI) via the bus systems once these have issued a ready signal
(message service). "Transfer to the node ready" is a function of the PLC operating system.
Receipt and interpretation of the messages are executed by the HMI software.
The PLC user program can also use SFCs (System Function Calls) to enter messages in
the diagnostic buffer or ALARM S/ALARM SQ buffer.
The events are entered in the alarm buffer.
The associated message texts must be stored on the OP or HMI.
An FC (FC10) for message acquisition is prepared in conjunction with the basic program. This
FC records events, subdivides them into signal groups and reports them to the HMI via the
alarm buffer.
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13.9 Interface structure
The message acquisition structure is shown in the figure "Acquisition and signaling of PLC
events". The features include:
Bit fields for events related to the NC/PLC interface are combined in a single data block
(DB2) with bit fields for user messages.
Bit fields are evaluated at several levels by FC10.
Evaluation 1; acquisition of group signals
A group signal is generated for each group of signals if at least one bit signal is set to
"1". This signal is generally linked to the disable signal of the NC/PLC interface (on
modules with diagnostic functions). The group signals are acquired completely in cycles.
Evaluation 2; acquisition of alarm messages
A fixed specification exists to define which signals in a group generate an alarm message
when they change from "0" to "1".
Evaluation 3; acquisition of operating signals
A fixed specification exists to define which signals in a group generate an operational
message.
The scope of the user bit fields (user area) is set by default to 10 areas with 8 bytes each,
but the number of areas can also be adjusted to suit the requirements of the machine
manufacturer via basic program parameters in FB1.
Acknowledgement concept
The following acknowledgement procedures are implemented for error and operational
messages:
Operating messages are intended for the display of normal operating states as information for
the user. Acknowledgement signals are, therefore, not required for this type of message. An
entry is made in the diagnostic status list for incoming and outgoing messages. The HMI
maintains an up-to-date log of existing operating messages using the identifiers "operating
message arrived" and "operating message gone".
Alarm messages display error states on the machine, which will usually lead to the machine
being stopped. Where several errors occur in rapid succession, it is important to be able to
distinguish their order of occurrence for troubleshooting purposes. This is indicated, on the
one hand, by the order in which they are entered in the diagnostic buffer and on the other, by
the time stamp, which is assigned to every entry.
If the cause of the error disappears, the associated alarm message is only deleted if the user
has acknowledged it (e.g. by pressing a key on the MCP). In response to this signal, the
"Message acquisition" FC examines which of the reported errors have disappeared and enters
these in the diagnostic buffer with the entry "Alarm gone". This enables the HMI to also maintain
an up-to-date log of pending alarm messages. The time of day indicating the time at which the
error occurred is maintained for messages, which are still pending (in contrast to a received
interrogation).
STEP 7
A tool can be started in the SIMATIC Manager via menu item "Target system" > "CPU
messages". Alarms and messages can be displayed by number using this tool. To do this,
acivate the "Alarm" tab and enter a check mark under "A" in the upper half of the screen.
844
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13.9 Interface structure
User program
The user PLC program merely needs to call the basic program block FC10 with appropriate
parameter settings in the cyclic program section and set or reset the bit fields in DB2. All further
necessary measures are implemented by the basic program and HMI.
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Acquisition and signaling of PLC events
Extensions of the PLC alarms via block FC10
The FB1 parameter "ExtendAlMsg" selects the PLC alarm mechanism.
If "ExtendAlMsg:= FALSE" the earlier process of the FC10 with the DB2 is active as bit array
data block. The known restrictions regarding the number of channels and axes are applicable.
On the other hand, in case of "ExtendAlMsg:= TRUE" the extension of the FC10 becomes
active. DB2 and DB3 are created just as before. The user must set or reset the bits in DB2.
The parameter setting via message and alarm and a parameter setting of the numeric value
of the 2nd decade of the user alarms are contained in DB5.
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13.9 Interface structure
The extensions are:
Support for 10 channels, 31 axes, 64 user areas (the number of user areas should be
entered in the FB1 parameter "MsgUser").
Areas for feed stop, read-in disable, etc. are available without messages. The information
from this area is stored on the interface in DB21, DB31 depending on FC10 parameter
"ToUserIF" together with the related message bits as group signals. As such, the previous
cumbersome handling of the signals is omitted.
The alarms / messages also get the 16-bit integer additional value (%Z parameter in the
alarm text) in addition to the alarm number for the user area 0. The user must write the 16bit integer values in the DB2 in the array variable ZInfo0 parallel to setting an alarm bit. An
integer value is available for each bit in the user area 0, see UDT1002 in the basic program.
The user messages can be parameteized in the second decade of the message number
in the numerical range 0 to 9. The display value of the second decade must be written by
the user in the DB5 in the array variable UserDek2No. A number can be defined for each
user area, see DB5 in the basic program.
The value 0 is set by default for the second decade.
The structuring of the DB2 in UDT1002 can be recognized (basic program). In case of new
alarm functions, the UDT1002 must be assigned symbolically to the DB2.
At the start of DB2 there are bit arrays for signals without alarm generation. This is followed
by an array of size 64 integer values for additional info about the user area 0.
Thereafter follow the areas, which also trigger alams / messages (see List manual) These
areas are extended to 10 channels, 31 axes.
Simple implementation of a user program on the new alarms
The source container of the basic program contains the file "udt2_for_Convert.awl", which has
the following structural element from UDT1002:
ChanA as array of 1 ... 8
AxisA as array of 1 ... 18
UserA as array of 0 ... 63
This UDT2 is to be compiled via the LAD/FBD/STL editor. The UDT2 must be assigned to the
DB2 in the symbol table.
Sources must be generated for components, which have assignments on DB2. Alternatively,
sources can naturally be created for all blocks too. The UDT1002 must now be assigned to
the DB2 in the symbol table. Thereafter, the sources must be recompiled.
Now all the alarm allocations are assigned to the new data areas in the DB2 and now only the
parameter "ExtendAlMsg" at FB1 must be set to True.
After a Power On RESET the alarm behavior is the same as earlier.
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13.9 Interface structure
13.9.3
PLC/MCP/HHU interface
General
There are different connection options for the machine control panel (MCP) and the handheld
unit (HHU). This is in part due to the history of the MCP and HHU. This description focuses
primarily on the connection of the Ethernet components.
On the SINUMERIK 840D sl, the machine control panel (MCP) and handheld unit (HHU) are
connected via the Ethernet bus, which also links the TCU to the NCU. The advantage of this
is that only one bus cable is required to connect the operating unit.
Topology SINUMERIK 840D sl
On the 840 D, the machine control panel and the handheld unit are connected to the CP 840D
sl Ethernet bus (see Figure below). Where the connection of further keys and displays is
required for customized operator panels, an additional keyboard interface (machine control
panel without operating unit) can be used. For each keyboard interface, 64 pushbuttons,
switches, etc. and 64 display elements can be connected via ribbon cable.
The signals sent from the MCP are copied to the PLC's DPR (Dual-Port RAM) by the integrated
Ethernet CP-840D sl. The basic program of the PLC enters the incoming signals in the input
image configured at FB1. The NC-related signals are generally distributed by the basic
program to the NC/PLC interface. If required, the signals can be modified by the user.
The signals from the PLC to the MCP (displays) are transferred in the opposite direction.
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P3: Basic PLC program for SINUMERIK 840D sl
13.9 Interface structure
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Connection of the machine control panel on 840D sl
Bus addresses
On Ethernet components, MAC and IP addresses or logic names are determining factors in
respect of communication. The control system's system programs convert logic names into
MAC or IP addresses. On the PLC, the numeric component of the logic name is used for
communication. This numeric part is specified by the user to the FB1 using parameter
"MCPxBusAdr".
The logical name of an MCP or HHU always begins with "DIP". This is followed by a number
corresponding to the switch position of the MCP component (e.g. DIP192, DIP17).
MCP interface in the PLC
The signals from the machine control panel are routed by default via the I/O interface to the
PLC area. A distinction must be made between NC and machine-specific signals. NC-specific
key signals are distributed to the relevant mode-group-, NCK-, axis- and spindle-specific
interface by FC19 (or FC24, FC25, FC26, depending on the type of MCP) by default. The
reverse applies to the associated status signals which are routed to the MCP interface. For
this purpose, FC19 or the other blocks mentioned above must be called in the user program.
Customized keys, which can be used to trigger a wide range of machine functions, must be
evaluated directly by the user program. The user program also routes the status signals to the
output area for the LEDs.
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13.10
Interface to and from machine control panel
Structure and functions of the basic program
General
The PLC program has a modular structure. The organization blocks (OB) form the interface
between the operating system and the basic and user programs.
Restart (warm restart) with start-up and synchronization (OB100)
Cyclic operation (OB1)
Process alarms (OB40)
Asynchronous errors: Diagnostics alarm (OB82), module failure (OB86)
The calls of the function blocks of the basic and user programs must be programmed by the
user in the organization blocks (OB).
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13.10 Structure and functions of the basic program
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13.10.1
Startup and synchronization of NCK PLC
Loading the basic program
The basic program must be loaded with the S7 tool when the PLC is in the Stop state. This
ensures that all blocks in the basic program will be initiated correctly the next time they are
called. Otherwise, undefined states can occur in the PLC (e.g. blinking of all PLC LEDs).
Startup,
The synchronization of NCK and PLC is performed during startup. The system and user data
blocks are checked for integrity and the most important basic program parameters are verified
for plausibility. In cases of errors, the basic program produces an alarm (visible on HMI) and
switches the PLC to the Stop state.
A warm restart is not provided, i.e. following system initialization, the operating system runs
organization block OB100 and always commences cyclic execution at the start of OB1.
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13.10 Structure and functions of the basic program
Synchronization
The PLC is synchronized with the HMI and NCK and CP during powerup.
Sign-of-life
After a correct initial start and the first complete OB1 cycle (initial setting cycle) the PLC and
NCK continuously exchange sign-of-life signals. If the sign of life from the NCK fails to
materialize, the PLC/NCK interface is initialized and the signal "NCK CPU ready" in DB10 is
set to FALSE.
13.10.2
Cyclic operation (OB1)
General
The NCK PLC interface is processed completely in cyclic mode. From a chronological
viewpoint, the basic program runs ahead of the user program. In order to minimize the
execution time of the basic program, only the control/status signals are transmitted cyclically;
transfer of the auxiliary functions and G functions only takes place on request.
The following functions are performed in the cyclic part of the basic program:
Transmission of the control/status signals
Distribution of the auxiliary functions
M decoding (M00 - M99),
M, S, F distribution
Transfer the MCP signals via NCK
Acquisition and conditioning of the user errors and operating messages.
Control/status signals
A shared feature of the control and status signals is that they are bit fields. The basic program
updates them at the start of OB1.
The signals can be subdivided into the following groups:
General signals
Mode group-specific signals (such as mode types)
Channel-specific signals (such as program and feed modifications)
Axis- and spindle-specific signals (such as feed disable)
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13.10 Structure and functions of the basic program
Auxiliary and G functions
The auxiliary and G functions have the following characteristics:
Transfer to the PLC is block-synchronous (referred to a part program block)
Transfer is acknowledge-driven.
The acknowledgement times have an immediate effect on the execution time of NC blocks
containing auxiliary functions requiring acknowledgement.
The value range is presented in the table below:
Function
Structure
1. Value
G function
Value range
2. Value
1. Value
G function
Data type
2. Value
1. Value
2551)
2. Value
Byte
M word
M group
M word
99
99.999.999
Word
DWord
S word
Spindle no.
S word
Floating
point2)
Word
DWord
T word
Magazine
no.
T word
99
65535
Word
Word
D word
D word
99
255
Byte
Byte
H word
H group
H word
99
Floating
point
Word
DWord
F word
Axis no.
F word
18
Floating
point
Word
DWord
1)
relative number, transferred for each G group
2)
corresponding STEP 7 format (24-bit mantissa, 8-bit exponent)
The M, S, T, H, D and F values sent by the NCK are output together with the accompanying
change signals to the CHANNEL DB interface via the auxiliary/G functions (see List Manual).
The function value and the extended address are transferred to the appropriate data word.
The accompanying modification signal is activated to 1 for one PLC cycle. When the
modification signal is reset, the acknowledgement is passed to the NCK. The
acknowledgement of high-speed auxiliary functions is given by the basic program immediately
the basic program detects the auxiliary function.
In addition to distribution of the auxiliary and G functions, selected signals are processed as
described below.
M decoder
M functions can be used to transfer switching commands and fixed-point values. Decoded
dynamic signals are output to the CHANNEL DB interface for standard M functions (range M00
- M99) signal length = 1 cycle time).
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13.10 Structure and functions of the basic program
G group decoders
In the case of G functions sent by the NCK, the related groups are decoded and the current
G number is entered in the corresponding interface byte of the CHANNEL DB, i.e. all active
G functions are entered in the channel DBs. The entered G functions are retained even after
the NC program has terminated or aborted.
Note
During system startup, all G group bytes are initialized with the value "0".
M, S, F distributor
The M, S, F, distributor is used to enter spindle-specific M words M(1...6)=[3,4,5], S words and
F words for axial feeds in the appropriate spindle and axis data blocks. The criterion for
distribution is the extended address which is passed to the PLC for M words, S words and
axial F words.
MCP signal transmission
Depending on the bus connection, the MCP signals are either transmitted directly to the PLC
or indirectly to the parameterized I/O areas via an internal procedure using the basic program.
User messages
The acquisition and processing of the user error and operational messages is performed by
an FC in the basic program.
13.10.3
Time-interrupt processing (OB35)
The user must program OB35 for time-interrupt processing. The default time base setting of
OB 35 is 100 ms. A different time base can be selected using the STEP7 "HW Config" tools.
However, the OB35 time setting must be at least 3 ms in order to avoid a PLC CPU stop. The
stop is caused by reading of the HMI system state list during powerup of the HMI. This reading
process blocks priority class control for approx. 2 ms. The OB35 with a time base set to a
rather lower value is then no longer processed correctly.
13.10.4
Process-interrupt processing (OB 40)
A process interrupt OB40 (interrupt) can, for example, be triggered by appropriately configured
I/Os or by certain NC functions. Due to the different origin of the interrupt, the PLC user program
must first interpret the cause of the interrupt in OB40. The cause of the interrupt is contained
in the local data of OB40.
References:
SIMATIC STEP 7 Description or Online Help of STEP 7
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P3: Basic PLC program for SINUMERIK 840D sl
13.10 Structure and functions of the basic program
13.10.5
Diagnostic alarm, module failure processing (OB82, OB86)
General
In the event of a diagnostic alarm or failure of an I/O module, organization block OB82 or OB86
is called (components of the basic program). The basic program block FC5 "Diagnostic alarm
and module failure" (Page 994) is called from these blocks.
Bus diagnostics
The DP slave modules of the PROFIBUS connections MPI/DP or DP1 are registered by the
basic program as group message in the form of a ready signal in the interface signal
DB10.DBX92.0 (MPI/DP bus slaves OK)
DB10.DBX92.1 (DP1 bus slaves OK)
DB10.DBX92.2 (PN bus slaves OK)
The group message is derived from the LED status of the respective PROFIBUS (System state
list SZL 0x174).
Alarm Output
If a fault or a failure of a slave is detected, alarm 400551, 400552 or 400553 (fault on the MPI/
DP, DP or PN bus) is also signaled. The alarm is automatically deleted when the error is
removed.
Suppression of the alarm output 400551, 400552, 400553
By setting the individual bits to "TRUE", the output of the group fault message on the HMI is
suppressed:
DB10.DBX92.4 (alarm suppression message 400551) = TRUE
DB10.DBX92.5 (alarm suppression message 400552) = TRUE
DB10.DBX92.6 (alarm suppression message 400553) = TRUE
It is irrelevant whether the bit is set before the error occurs or during and active error.
If removed (reset of the bit to "FALSE"), the appropriate message is displayed on the HMI in
the event of an error.
In addition, bits DBX92.4-6 are reset to "FALSE" during the control power-up, so that the
evaluation of the error messages is always activated after a control restart.
Note
By setting the bit, the fault monitoring for the complete bus line is deactivated!
854
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13.10 Structure and functions of the basic program
13.10.6
Response to NCK failure
General
During cyclic operation, the PLC basic program continuously monitors NCK availability by
polling the signoflife character. If the NCK is no longer reacting, the NCK PLC interface is
initialized, and the NCK CPU ready signal in the area of the signals from NC (DB 10.DBX
104.7) is reset. Furthermore, the signals sent from the NCK to the PLC and vice versa are set
to an initial state.
The PLC itself remains active so that it can continue to control machine functions. However,
it remains the responsibility of the user program to set the machine to a safe state.
NCK PLC signals
The signals sent by the NCK to the PLC are divided into the following groups:
Status signals from the NCK, channels, axes and spindles
Modification signals of the auxiliary functions
Values of the auxiliary functions
Values of the G functions
Status signals:
The status signals from the NCK, channels, axes, and spindles are reset.
Auxiliary-function modification signals:
Auxiliary-function modification signals are also reset.
Auxiliary-function values:
Auxiliary-function values are retained so that it is possible to trace the last functions triggered
by the NCK.
G-function values:
G function values are reset (i.e. initialized with the value 0 respectively).
PLC NCK signals
The signals sent by the PLC to the NCK are divided into control signals and tasks that are
transferred by FCs to the NCK.
Control signals:
The control signals from the PLC to the NCK are frozen; cyclic updating by the basic program
is suspended.
Jobs from PLC to NCK:
The FCs and FBs, which are used to pass jobs to the NCK, must no longer be processed by
the PLC user program, as this could lead to incorrect checkback signals. During powerup of
the control, a job (e.g. read NCK data) must not be activated in the user program until the NCK
CPU ready signal is set.
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13.10 Structure and functions of the basic program
13.10.7
Functions of the basic program called from the user program
General
In addition to the modules of the basic program, which are called at the start of OB1, OB40
and OB100, functions are also provided which have to be called and supplied with parameters
at a suitable point in the user program.
These functions can be used, for example, to pass the following jobs from the PLC to the NCK:
Traversing concurrent axes (FC18)
Start asynchronous subprograms (ASUBs) (FC9),
Select NC programs (FB4)
Control spindle (FC18),
Read and write variables (FB2, FB3)
Note
Checking and diagnostics of a function call of the basic PLC program
To simplify the checking and diagnostics of a function call (FB or FC) of the basic PLC
program that is controlled via a trigger (e.g. via Req, Start parameters) and that provide an
execution acknowledgement as output parameter (e.g. via Done, NDR, Error parameters),
proceed as follows.
A variable compiled of other signals which produce the trigger for the function call should
be set. Start conditions may be reset only as a function of the states of parameters Done,
NDR and Error.
The appropriate control mechanism can be placed in front of or behind the function call. If
the mechanism is placed after the call, the output variables can be defined as local variables
(advantage: Reduction of global variables, markers, data variables and time-related
advantages over data variables).
The trigger parameter must be a global variable (e.g. marker, data variable).
Jobs that are still active must be reset from the user program in OB100 (Req, Start,
parameters,
etc. from TRUE FALSE). A POWER OFF/ON could result in a state in which jobs are still
active.
Concurrent axes
The distinguishing features of concurrent axes are as follows:
They must be defined as such via the NC machine data.
They can be traversed either from the PLC or from the NC by means of the JOG keys.
Starting from the PLC is possible in the NC operating modes MDI and AUTOMATIK via FC.
The start is independent of NC block boundaries.
Function calls are available for positioning axes, indexing axes and spindles (FC18).
856
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13.10 Structure and functions of the basic program
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Figure 13-11 FC18 input/output parameters
Asynchronous subprograms (ASUBs)
An ASUB can be used to activate arbitrary functions in the NCK. Before an asynchronous
subprogram can be started from the PLC, it must be ensured that it is available and prepared
by the NC program or by FB4 PI services (ASUB).
Once prepared in this way, it can be started at any time from the PLC. The NC program running
in one of the parameterized channels of FC9 is interrupted by the asynchronous subprogram.
An ASUB is started by calling FC9 from the user program by setting the start parameter to 1.
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Note
If an asynchronous subprogram has not been prepared by an NC program or by FB4 (ASUB)
(e.g. if no interrupt no. has been assigned), a start error is output (StartErr = TRUE).
Read/Write NC variables
NCK variables can be read with FB GET while values can be entered in NCK variables with
FB PUT. The NCK variables are addressed via identifiers at inputs Addr1 to Addr8. The
identifiers (symbols) point to address data which must be stored in a global DB. To allow
generation of this DB, the PC software is supplied with the basic program with which the
required variables can be selected from a table, which is also supplied. The selected variables
are first collected in a second, project-related list. Command Generate DB creates a "*.AWL"
file which must be linked to the program file for the machine concerned and compiled together
with the machine program.
1 to 8 values can be read or written with a read or write job. If necessary, the values are
converted [e.g. NCK floating-point values (64-bit) are converted to PLC format (32-bit with 24-
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.10 Structure and functions of the basic program
bit mantissa and 8-bit exponent) and vice versa]. A loss of accuracy results from the conversion
from 64-bit to 32-bit REAL. The maximum precision of 32-bit REAL numbers is approximately
10 to the power of 7.
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AG_SEND/AG_RECV functions
The AG_SEND/AG_RECV functions correspond to the functions of the library
"SIMATIC_NET_CP" of the S7-300 CPU in STEP 7. In general, the online help is valid for these
functions.
The AG_SEND/AG_RECV functions can be used for data exchange with another station via
the integrated "CP 840D sl". A description of the functions is provided in Chapter "Block
descriptions (Page 914)".
Note
Other communication blocks (e.g. BSEND, USEND) which possess a CP343-1 are not
supported in SINUMERIK 840D sl.
13.10.8
Symbolic programming of user program with interface DB
General
Note
The basic program library on the CD supplied with the Toolbox for the 840D contains files
NST_UDTB.AWL and TM_UDTB.AWL.
The compiled UDT blocks from these two files are stored in the CPU program of the basic
program.
A UDT is a data type defined by the user that can, for example, be assigned to a data block
generated in the CPU.
Symbolic names of virtually all the interface signals are defined in these UDT blocks.
The UDT numbers 2, 10, 11, 19, 21, 31, 71, 72, 73, 77, 1002, 1071, 1072, 1073 are used.
858
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13.10 Structure and functions of the basic program
The assignments have been made as follows:
UDT assignments
UDT number
Assignment to interface DB
Meaning
UDT2
DB2
Alarms/messages
UDT10
DB10
NCK signals
UDT11
DB11
Mode group signals
UDT19
DB19
HMI signals
UDT21
DB21 to DB30
Channel signal
UDT31
DB31 to 61
Axis/spindle signals
UDT71
DB71
Tool management: Load/unload locations
UDT72
DB72
Tool management: Change in spindle
UDT73
DB73
Tool management: Change in revolver
UDT77
DB77
MCP and HHU signals with standard SDB 210
UDT1002
DB2
Extended alarms / messages (FB1 parameter "Ex
tendAlMsg:=TRUE")
UDT 1071
DB 1071
Tool management: Loading/unloading points (mul
titool)
UDT 1072
DB 1072
Tool management: Change in spindle (multitool)
UDT 1073
DB 1073
Tool management: Change in turret (multitool)
To symbolically program the interface signals, the interface data blocks must first be
symbolically assigned using the symbol editor.
For example, symbol "AxisX" is assigned to operand DB31 with data type UDT31 in the symbol
file.
After this input, the STEP 7 program can be programmed in symbols for this interface.
Note
Programs generated with an earlier software version that utilize the interface DBs described
above can also be converted into symbol programs. A fully qualified command for data access
e.g. "U DB31.DBX60.0" is then necessary for (spindle / no axis) in the program created till now.
This command is converted upon activation of the symbolics in the editor "AxisX.E_SpKA".
Description
Abbreviated symbolic names of the interface signals are defined in the two STL files
NST_UDTB.AWL and TM_UDTB.AWL.
In order to create the reference to the names of the interface signals, the name is included in
the comment after each signal.
The names are based on the English language. The comments are in English.
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13.10 Structure and functions of the basic program
The symbolic names, commands and absolute addresses can be viewed by means of a STEP
7 editor command when the UDT block is opened.
Note
Unused bits and bytes are listed, for example, with the designation "f56_3".
"56": Byte address of the relevant data block
"3": Bit number in this byte
13.10.9
M decoding acc. to list
Function description
Up to 256 M functions with extended address can be decoded from the basic program using
the "M decoding according to list" function. The function is activated using FB1 parameter
"ListMDecGrp" (number of M groups for decoding). The assignment of the M function with
extended address and a signal in the signal list is defined in the decoding list. The signals are
also grouped for this purpose.
Decoding list (DB75)
The source file for the decoding list (MDECLIST.AWL) is supplied with the basic program. Data
block DB75 is created when the STL source is compiled. Before the function is activated, the
decoding list (DB75) must be transferred to the PLC followed by a restart.
An M function is decoded if it is in the decoding list. When decoding the M function, the
corresponding signal is set in the signal list as a function of the specific group. When setting
a signal in the signal list, the interface signal "Read in inhibit" is set by the basic program in
the associated channel of the NC. The interface signal is reset again for the channel as soon
as the user resets all of the signals output from this channel in the signal list; i.e. after they
have been acknowledged.
Signal list (DB76)
When activating the function in data block DB76, the basic program creates the signal list.
From then, for each M signal decoded according to the list, a signal is set in the signal list
(DB76) in the corresponding group. At the same time, the "Readin inhibit" interface signal is
set in the channel in which the M function has been output. The interface signal is reset again
for the channel as soon as the user resets all of the signals output from this channel in the
signal list; i.e. after they have been acknowledged.
Highspeed auxiliary functions
When an M function contained in the decoding list is output as "fast help function", no read-in
inhibit is set for the corresponding channel of the NC.
The figure below shows the structure of the M decoding according to list:
860
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P3: Basic PLC program for SINUMERIK 840D sl
13.10 Structure and functions of the basic program
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Figure 13-12 M decoding acc. to list
Activation
M decoding is activated using FB1 parameter "ListMDecGrp"
The number of M groups to the evaluated and/or decoded is specified using the appropriate
parameter. The function is active for a parameter value = 1 ... 16.
Basic program, OB100, FB1 parameter ListMDecGrp = <number of M groups> (also see
" FB1: RUN_UP - basic program, start section (Page 914) ").
Properties and structure of the decoding list (DB75)
Properties of the decoding list (DB75):
There is only one decoding list independent of the channel.
The decoding list can include a maximum of 16 groups.
A group has a maximum of 16 signals
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13.10 Structure and functions of the basic program
There must be an entry in the decoding list for every group of M functions to be decoded.
The assignment between the M function with extended address and the signal to be set in
the signal list is specified in the decoding list using the first and last M function of the
associated group.
First M function: Parameter: "MFirstAdr" signal or bit 0
Last M function: Parameter: "MLastAdr" dependent on the difference to the first M
function maximum signal or bit 15
Structure of the decoding list (DB75):
An entry in the decoding lists consists of 3 parameters, each of which is assigned to a group.
Group
Extended M address
First M address of the group Last M address of the group
MSigGrp[1].MExtAdr
MSigGrp[1].MFirstAdr
MSigGrp[1].MLastAdr
MSigGrp[2].MExtAdr
MSigGrp[2].MFirstAdr
MSigGrp[2].MLastAdr
...
...
...
...
16
MSigGrp[16].MExtAdr
MSigGrp[16].MFirstAdr
MSigGrp[16].MLastAdr
Type and value range of the signals:
Signal
Type
Value range
Meaning
MExtAdr
INT
0 ... 99
MFirstAdr
DINT
0 to 99.999.999
First M address in group
MLastAdr
DINT
0 to 99.999.999
Last M address in group
Extended M address
Properties of the signal list (DB76)
The signal list (DB76) has the following properties:
There is only one signal list independent of the channel.
The signal list can include a maximum of 16 signals for each M group.
Example
3 groups of M functions are to be decoded:
Group 1: M2 = 1 to M2 = 5
Group 2: M3 = 12 to M3 = 23
Group 3: M40 = 55
Structure of the decoding and signal list
Group
Decoding list (DB75)
Extended
M address
862
First M address
of the group
Signal list (DB76)
Last M address of
the group
DB76.DBX0.0 ... DBX0.4
12
23
DB76.DBX2.0 ... DBX3.3
40
55
55
DB76.DBX4.0
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13.10 Structure and functions of the basic program
Program code
DATA_BLOCK DB 75
TITLE =
VERSION : 0.0
STRUCT
MSigGrp : ARRAY [1 .. 16 ] OF STRUCT
MExtAdr : INT;
MFirstAdr : DINT;
MLastAdr : DINT;
END_STRUCT ;
BEGIN
MSigGrp[1].MExtAdr
:=
2; extended M address of the 1st group
MSigGrp[1].MFirstAdr :=
L#1; first M address of the group
MSigGrp[1].MLastAdr
:=
L#5; last M address of the group
MSigGrp[2].MExtAdr
:=
3; extended M address of the 2nd group
MSigGrp[2].MFirstAdr := L#12; first M address of the group
MSigGrp[2].MLastAdr
:= L#23; last M address of the group
MSigGrp[3].MExtAdr
:=
40; extended M address of the 3rd group
MSigGrp[3].MFirstAdr := L#55; first M address of the group
MSigGrp[3].MLastAdr
:= L#55; last M address of the group
END_DATA_BLOCK
Structure of FB1 in OB100
To activate the function, insert the parameter for the number of M groups to be decoded
"ListMDecGrp".
Call FB 1, DB 7(
...
ListMDecGrp := 3;
//M decoding of three groups
...
);
Description
A restart must be performed after the entry has been made in OB100 and the decoding list
(DB75) has been transferred to the PLC. The basic program creates the signal list (DB76)
when it restarts.
An NC program is then started, for instance in the 1st channel. An extended M function is
included in this (M3=17). When decoding the M function (M3 group 2), the associated signal
(DBW1.5) is set in the signal list (DB76) and the interface signal "Read-inhibit" in the 1st
channel. The execution of the NC program is stopped. Further, the "Extended address M
function" and the "M function number" are displayed in the channel DB of the 1st channel.
The "Read-in inhibit" signal in the 1st channel is reset once the user has reset all of the signals
output from this channel in the signal list (DB76), and has therefore acknowledged them.
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13.10 Structure and functions of the basic program
13.10.10
PLC machine data
General
The user has the option of storing PLC-specific machine data in the NCK. These machine data
can then be processed during power-up of the PLC (OB100). This enables, for example, user
options, machine expansion levels, machine configurations, etc., to be implemented.
The interface to read this data is in DB20. However, DB20 is set up by the basic program
during powerup only when user machine data are used, i.e., sum of GP parameters "UDInt",
"UDHex" and "UDReal" is greater than ZERO.
The sizes of the individual areas, and hence the total length of the DB20, is set by the following
PLC machine data:
MD14504 $MN_MAXNUM_USER_DATA_INT
MD14506 $MN_MAXNUM_USER_DATA_HEX
MD14508 $MN_MAXNUM_USER_DATA_FLOAT
These settings are specified to the user in the GP parameters "UDInt", "UDHex" and "UDReal".
The data is stored in the DB20 by the GP seamlessly in the sequence:
1. Integer MD
2. Hexa-fields MD
3. Real MD
The integer and real values are stored in DB20 in S7 format.
Hexadecimal data is stored in DB20 in the order in which they are input (use as bit arrays).
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Figure 13-13 DB20
864
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13.10 Structure and functions of the basic program
Note
If the number of PLC machine data used is increased later, then DB20 must be deleted
beforehand. To prevent such extensions in use having any effect on the existing user program,
the data in DB20 should be accessed in symbolic form wherever possible, e.g. by means of a
structure definition in the UDT.
Alarms
400120
Deleting DB20 in the PLC and restart
Explanation
DB length is not the same as the required DB length
Reaction
Alarm display and PLC stop
Remedy
Delete DB20 followed by a RESET
Continuation
After cold restart
Example
The project in the example requires 4 integer values, 2 hexadecimal fields with bit information
and 1 real value.
Machine data:
MD14510 $MN_USER_DATA_INT[0]
MD14510 $MN_USER_DATA_INT[1]
MD14510 $MN_USER_DATA_INT[2]
MD14510 $MN_USER_DATA_INT[3]
...
MD14512 $MN_USER_DATA_HEX[0]
MD14512 $MN_USER_DATA_HEX[1]
...
MD14514 $MN_USER_DATA_FLOAT[0]
GP parameter (OB100):
CALL FB1, DB7(
MCPNum :=
MCP1In :=
MCP1Out :=
MCP1StatSend :=
MCP1StatRec :=
MCP1BusAdr :=
MCP1Timeout :=
MCP1Cycl :=
NCCyclTimeout :=
NCRunupTimeout :=
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
123
456
789
1011
12
AC
123.456
1,
P#E0.0,
P#A0.0,
P#A8.0,
P#A12.0,
6,
S5T#700MS,
S5T#200MS,
S5T#200MS,
S5T#50S;
865
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13.10 Structure and functions of the basic program
BP parameters (to scan runtime):
l gp_par.UDInt;
l gp_par.UDHex;
l gp_par.UDReal;
//=4,
//=2,
//=1 )
During PLC power-up, DB20 was generated with a length of 28 bytes:
DB20
Address
Data
0.0
123
2.0
456
4.0
789
6.0
1011
8.0
b#16#12
9.0
b#16#AC
10.0
1.234560e+02
The structure of the machine data used is specified in a UDT:
TYPE UDT20
STRUCT
UDInt :
ARRAY [0 .. 3] OF INT;
UDHex0 :
ARRAY [0 .. 15]OF BOOL;
UDReal :
ARRAY [0 .. 0] OF REAL;
//Description as field, for
// later expansions
END_STRUCT;
END_TYPE
Note
ARRAY OF BOOL are always sent to even-numbered addresses. For this reason, an array
range of 0 to 15 must generally be selected in the UDT definition or all Boolean variables
specified individually.
Although only a REAL value is used initially in the example, a field (with one element) has
been created for the variable. This ensures that extensions can be made easily in the future
without the symbolic address being modified.
Symbolic accesses
An entry is made in the symbol table to allow data access in symbolic form:
866
Symbol
Operand
Data type
UData
DB20
UDT20
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13.10 Structure and functions of the basic program
Access operations in user program (list includes only symbolic read access):
...
L
"UData".UDInt[0];
"UData".UDInt[1];
"UData".UDInt[2];
"UData".UDInt[3];
"UData".UDHex0[0];
"UData".UDHex0[1];
"UData".UDHex0[2];
"UData".UDHex0[3];
"UData".UDHex0[4];
"UData".UDHex0[5];
"UData".UDHex0[6];
"UData".UDHex0[7];
...
...
"UData".UDHex0[15];
"UData".UDReal[0];
...
13.10.11
Configuration machine control panel, handheld unit, direct keys
General
Up to two machine control panels and one handheld unit can be in operation at the same time.
There are various connection options (Ethernet/PROFINET, PROFIBUS) for the machine
control panel (MCP) and handheld unit (HHU). It is possible to connect two MCPs to different
bus systems (mixed operation is only possible on Ethernet and PROFIBUS). This can be
achieved using FB1 parameter "MCPBusType". In this parameter, the right-hand decade (units
position) is responsible for the first MCP and the left-hand decade (tens position) for the second
MCP.
Parameterization of components is always performed by calling the basic program block FB1
in OB100. FB1 saves its parameters in the associated instance data block (DB7, symbolic
"gp_par"). Separate parameter sets are provided for each machine control panel and the
handheld unit. The input/output addresses of the user must be defined in these parameter
sets. These input and output addresses are also used in FC19, FC24, FC25, FC26 and FC13.
Further, the addresses for status information, PROFIBUS or Ethernet/PROFINET are also to
be defined. The default time settings for timeout and cyclic forced retriggering should not be
changed. Please refer to the Operator Components manual for further information on MCPs
and handheld unit components.
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13.10 Structure and functions of the basic program
Activation
Each component is activated either via the number of machine control panels ("MCPNum"
parameter) or, in the case of the handheld unit, via the "HHU" parameter. The MCP and HHU
connection settings are entered in FB1 parameters "MCPMPI", "MCPBusType" or "BHG",
"BHGMPI".
Handheld unit (HT 2)
In the handheld unit the addressing is done via a parameter of the GD parameter set. This
was necessary for reasons of compatibility of the parameter names.
Configuration
Essentially, there are various communication mechanisms for transferring data between the
MCP/HHU and PLC. These mechanisms are characterized by the bus connection of the MCP
and HHU. In one case (Ethernet), data is transported via the "CP 840D sl".
The mechanism is parameterized completely via the MCP/HHU parameters in FB1.
In the other case the transmission is via the PLC operating system through the PROFIBUS
configuration.
The parameter setting is done via STEP 7 in HW-Config. To enable the basic program to
access the data and failure monitoring of MCP/HHU, the addresses set in FB1 parameters
must be made available to the basic program.
An overview of the various coupling mechanisms is shown below. Mixed operation can also
be configured.
If an error is detected due to a timeout monitor, an entry is made in the alarm buffer of the PLC
CPU (alarms 400260 to 400262). In this case, the input signals from the MCP or from the
handheld unit (MCP1In/MCP2In or BHGIn) are reset to 0. If it is possible to resynchronize the
PLC and MCP/HHU, communication is resumed automatically and the error message reset
by the GP.
Note
The abbreviation "(n.r.)" in the tables below means "Not relevant".
Ethernet connection (MCPBusType = 5)
Without further configuration settings being made, communication takes place directly from
the PLC GP via the CP 840D sl. The FB1 parameters listed below are used for
parameterization.
The numeric part of the logical name of the component must be entered in "MCP1 BusAdr",
"MCP2 BusAdr" or "BHGRecGDNo" (corresponds to the bus address of the node). The logical
name is defined via switches on the MCP or terminal box.
868
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13.10 Structure and functions of the basic program
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Relevant parameters (FB1)
MCP
HHU
MCPNum=1 or 2 (number of MCPs)
HHU = 5 (via CP 840D sl)
MCP1In
MCP2In
BHGIn
MCP1Out
MCP2Out
BHGOut
MCP1StatSend
MCP2StatSend
BHGStatSend
MCP1StatRec (n.r.)
MCP2StatRec (n.r.)
BHGStatRec
MCP1BusAdr
MCP2BusAdr
BHGInLen (n.r.)
MCP1Timeout (n.r.)
MCP2Timeout (n.r.)
BHGOutLen (n.r.)
MCP1Cycl (n.r.)
MCP2Cycl (n.r.)
BHGTimeout (n.r.)
MCPMPI = FALSE
BHGCycl (n.r.)
MCP1Stop
MCP2Stop
BHGRecGDNo
MCP1NotSend
MCP2NotSend
BHGRecGBZNo (n.r.)
BHGRecObjNo (n.r.)
MCPBusType = b#16#55 (via CP 840D sl)
BHGSendGDNo (n.r.)
BHGSendGBZNo (n.r.)
MCPSDB210= FALSE
BHGSendObjNo (n.r.)
MCPCopyDB77 = FALSE
BHGMPI = FALSE
BHGStop
BHG NotSend
An error entry is also made in the PLC alarm buffer for timeouts. As a result, the following error
messages are output at the HMI:
400260: MCP 1 failure
or
400261: MCP 2 failure
400262: HHU failure
An MCP or HHU failure is detected immediately after a cold restart even if no data has yet
been exchanged between the MCP/HHU and PLC.
The monitoring function is activated as soon as all components have signaled "Ready" after
powerup.
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13.10 Structure and functions of the basic program
Example: OP with direct keys
The direct keys of the OPs at the Ethernet bus should be transferred to the PLC. Previously,
the direct keys have been transferred to the PLC via the PROFIBUS or via a special cable
connection between OP and MCP.
For connecting the direct keys via the Ethernet, this concerns e.g. the "OP 08T", there is a
parameterization in the basic program for activating the data transport. The related parameters
lie in the instance DB of the FB 1 (OpKeyNum to OpKeyBusType, see data table). The
parameters are provided by the user in the start OB100 by connecting the parameter at the
FB1 call. The bus address and Op1/2KeyStop can also be modified in the cyclic operation by
writing the FB1 instance DB DB 7.
The transport of the user data of the direct keys runs in the same way as in the case of Ethernet
MCP. The data transport can also be stopped and restarted via writing the DB7-parameter
"Op1/2KeyStop". During the Stop phase the address of the direct key module (TCU-index or
the MCP-address) can also be changed.
After resetting the Stop signal, a connection to the new address is established.
The status of the respective direct-key interfaces can be read in the interface signal:
DB10.DBX104.3 (OP1Key ready)
or
DB10.DBX104.4 (OP2Key ready)
Address direct keys
For the parameter Op1/2KeyBusAdr the TCU index is normally to be used. This affects the
OPs, such as OP 08T, OP 12T, which for the direct keys do not have special cable connection
to an Ethernet MCP.
If OPs with direct keys have a special cable connection and these are connected to an EthernetMCP, then for the parameter Op1/2KeyBusAdr the address of the MCP (DIP-switch setting of
the MCP) is to be used. Only the data stream of the direct keys (2 bytes) is transferred via the
direct key interface.
Alarm direct keys
An error entry is also made in the PLC alarm buffer for timeouts. As a result, the following error
messages are output at the HMI:
400274: Direct key 1 failed
or
400275: Direct key 2 failed
Control unit switching for direct keys
The user connects Op1/2KeyBusAdr with 0xFF and stop = TRUE in start block OB100. The
direct key address of the M-to-N interface is connected to parameter "Op1KeyBusAdr" via the
M-to-N block FB9.
Relevant parameters (FB1)
Direct keys
e.g. direct keys OP 08T
OpKeyNum = 1 or 2 (number of OPs with direct keys)
Op1KeyIn
870
Op2KeyIn
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P3: Basic PLC program for SINUMERIK 840D sl
13.10 Structure and functions of the basic program
Relevant parameters (FB1)
Direct keys
e.g. direct keys OP 08T
Op1KeyOut
Op2KeyOut
OpKey1BusAdr
Op2KeyBusAdr
Op1KeyStop
Op2KeyStop
Op1KeyNotSend
Op2KeyNotSend
Address: TCU index:
OpKeyBusType = b#16#55 (via CP 840D sl)
MCP identification
Via the identify interface in DB7 it is possible to query the type of the Ethernet component
(MCP, HT 2, HT 8 or direct keys) with the relevant parameters at the input/output in cyclic
operation:
Relevant parameters at the input:
"IdentMcpBusAdr", "IdentMcpProfilNo", "IdentMcpBusType", "IdentMcpStrobe"
Relevant parameters at the output:
"IdentMcpType", "IdentMcpLengthIn", "IdentMcpLengthOut"
Here the DIP device address or the TCU index at the parameter "IdentMcpBusAdr" is activated
by the user program together with setting of the Strobe signal.
The input parameter "IdentMcpProfilNo" is normally to be set to the value 0. This parameter
is to be set to the value 1 only in the identification of the direct keys. The parameter
"IdentMcpBusType" currently has no significance for a user program and is to be left in its
default value.
After resetting the Strobe signal by the basic program, valid output information becomes
available to the user. The resetting of the Strobe signals by the basic program can last for
several PLC cycles (up to two seconds).
The output parameters should show the user the size of the data areas for the addressed
device. Furthermore, it can be defined here whether an HT 2 or an HT 8 or no device is
connected to the connection box. With this information, the MCP channel or the HHU channel
can be activated. In the cyclic operation the parameters can be written symbolically by the user
program and read via the symbol names of the DB7 (gp_par).
Relevant parameters (FB1)
MCP device identification
Input parameters, e.g. OP 08T
Input
Output
Values in direct keys
IdentMcpBusAdr
IdentMcpType
IdentMcpBusAdr = TCU index
IdentMcpBusProfilNo
IdentMcpLengthIn
IdentMcpBusProfilNo = Value 1
IdentMcpBusType
IdentMcpLengthOut
IdentMcpBusType = Default value
IdentMcpStrobe
IdentMcpBusProfilNo
Value
MCP, HHU, HT 8, HT 2
B#16#0
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13.10 Structure and functions of the basic program
Relevant parameters (FB1)
MCP device identification
Input parameters, e.g. OP 08T
Direct keys such as e.g. OP 08T, OP 12T
B#16#1
IdentMcpType (Mcp-Type)
no device connected
MCP 483C IE (Compact)
B#16#80
MCP 483C IE
B#16#81
MCP 310
B#16#82
MCP OEM
B#16#83
MCP DMG
B#16#84
HT 8
B#16#85
TCU_DT (direct keys)
B#16#86
MCP_MPP
B#16#87
HT 2
B#16#88
OP 08T (direct keys)
B#16#89
PROFIBUS connection on the DP port (MCPBusType = 3)
In case of PROFIBUS connection of the MCP, this component must be considered in the
hardware configuration setting of STEP 7. The MCP is connected to the standard DP bus of
the PLC (not to MPI/DP). The addresses must be stored in the input and output log range.
These start addresses must also be stored in the pointer parameters of the FB1. The FB1
parameters listed below are used for further parameterization.
There is no PROFIBUS version of the HHU. For this reason, an Ethernet connection is shown
for the HHU in this figure. The PROFIBUS slave address must be stored in the parameters
"MCP1BusAdr" and "MCP2BusAdr". Enter the pointer to the configured diagnostic address
(e.g. P#A8190.0) in "MCPxStatRec".
872
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13.10 Structure and functions of the basic program
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Figure 13-15 PROFIBUS connection
Relevant parameters (FB1)
MCP
HHU
MCPNum = 1 or 2 (number of MCPs)
HHU = 5 (via CP 840D sl)
MCP1In
MCP2In
BHGIn
MCP1Out
MCP2Out
BHGOut
MCP1StatSend (n.r.)
MCP2StatSend (n.r.)
BHGStatSend
MCP1StatRec
MCP2StatRec
BHGStatRec
MCP1BusAdr
MCP2BusAdr
BHGInLen
MCP1Timeout
MCP2Timeout
BHGOutLen
MCP1Cycl (n.r.)
MCP2Cycl (n.r.)
BHGTimeout (n.r.)
MCPMPI = FALSE
MCP1Stop
MCPBusType = b#16#33
BHGCycl (n.r.)
MCP2Stop
BHGRecGDNo
BHGRecGBZNo (n.r.)
BHGRecObjNo (n.r.)
MCPSDB210= FALSE
BHGSendGDNo (n.r.)
MCPCopyDB77 = FALSE
BHGSendGBZNo (n.r.)
BHGSendObjNo (n.r.)
BHGMPI = FALSE
BHGStop
MCP failure normally switches the PLC to the STOP state. If this is undesirable, OB 82, OB
86 can be used to avoid a stop. The basic program has, as standard, the OB82 and OB86 call.
FC5 is called in these OBs. This FC5 checks whether the failed slave is an MCP. If this is the
case, no PLC stop is triggered. Setting "MCPxStop" := TRUE causes the basic program to
deactivate the MCP as a slave via SFC12. If the PLC does not switch to the stop state following
the failure or fault of the MCP, an alarm message will be generated via the basic program. The
interrupt is deleted when the station recovers.
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P3: Basic PLC program for SINUMERIK 840D sl
13.10 Structure and functions of the basic program
PROFIBUS connection on the MPI/DP port (MCPBusType = 4)
With the PROFIBUS connection of the MCP, this component must be considered in the STEP
7 hardware configuration. The MCP is connected on the MPI/DP bus of the PLC.
The addresses must be stored in the input and output log range. These start addresses must
also be stored in the pointer parameters of the FB1. The FB1 parameters listed below are used
for further parameterization. There is no PROFIBUS version of the HHU. For this reason, an
Ethernet connection is shown for the HHU in this diagram. The PROFIBUS slave address must
be stored in the parameters MCP1BusAdr and MCP2BusAdr. Enter the pointer to the
configured diagnostic address (e.g. P#A8190.0) in MCPxStatRec.
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Figure 13-16 PROFIBUS connection on the MPI/DP port
Relevant parameters (FB1)
MCP
HHU
MCPNum = 1 or 2 (number of MCPs)
HHU = 5 (via CP 840D sl)
MCP1In
MCP2In
BHGIn
MCP1Out
MCP2Out
BHGOut
MCP1StatSend (n.r.)
MCP2StatSend (n.r.)
BHGStatSend
MCP1StatRec
MCP2StatRec
BHGStatRec
MCP1BusAdr
MCP2BusAdr
BHGInLen
MCP1Timeout
MCP2Timeout
BHGOutLen
MCP1Cycl (n.r.)
MCP2Cycl (n.r.)
BHGTimeout (n.r.)
MCPMPI = FALSE
MCP1Stop
MCPBusType = b#16#44
BHGCycl (n.r.)
MCP2Stop
BHGRecGDNo
BHGRecGBZNo (n.r.)
BHGRecObjNo (n.r.)
MCPSDB210= FALSE
BHGSendGDNo (n.r.)
MCPCopyDB77 = FALSE
BHGSendGBZNo (n.r.)
BHGSendObjNo (n.r.)
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13.10 Structure and functions of the basic program
Relevant parameters (FB1)
MCP
HHU
BHGMPI = FALSE
BHGStop
MCP failure normally switches the PLC to the STOP state. If this is undesirable, then OB82,
OB86 can be used to avoid a PLC stop. The basic program has, as standard, the OB82 and
OB86 call. FC5 is called in these OBs. This FC5 checks whether the failed slave is an MCP.
If this is the case, no PLC stop is triggered. Setting MCPxStop:= TRUE causes the basic
program to deactivate the MCP as a slave via SFC12. If the PLC does not switch to the stop
state following the failure or fault of the MCP, an alarm message will be generated via the basic
program. The alarm is deleted when the station returns.
PROFINET connection (MCPBusType = 6)
In case of PROFINET connection of the MCP, this component must be parameterized in the
hardware configuration setting of STEP 7. The MCP is coupled with the PROFINET module
of the CPU.
When parameterizing the MCP in HW Config, the addresses should be placed in the input and
output mapping area. These start addresses must also be stored in the pointer parameters
(MCPxIn and MCPxOut) of FB1. This is because signals are transferred between the MCP
and basic program via these parameters. The MCP is also monitored using parameter MCPxIn.
This is the reason why parameter MCPxBusAdr is not relevant for this MCP version.
Enter the pointer to the configured diagnostic address (e.g. P#A8190.0) in MCPxStatRec.
The PROFINET MCP has its own type which should be applied for parameter MCPBusType.
The FB1 parameters listed below are used for further parameterization. There is no PROFIBUS
version of the HHU. An Ethernet port for the HHU is shown in the diagram.
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Figure 13-17 PROFINET connection
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13.10 Structure and functions of the basic program
Relevant parameters (FB1)
MCP
HHU
MCPNum = 1 or 2 (number of MCPs)
HHU = 5 (via CP 840D sl)
MCP1In
MCP2In
BHGIn
MCP1Out
MCP2Out
BHGOut
MCP1StatSend (n.r.)
MCP2StatSend (n.r.)
BHGStatSend
MCP1StatRec
MCP2StatRec
BHGStatRec
MCP1BusAdr (n.r.)
MCP2BusAdr (n.r.)
BHGInLen
MCP1Timeout
MCP2Timeout
BHGOutLen
MCP1Cycl
MCP2Cycl
BHGTimeout (n.r.)
MCPMPI = FALSE
MCP1Stop
BHGCycl (n.r.)
MCP2Stop
BHGRecGDNo
MCPBusType = b#16#36
BHGRecGBZNo (n.r.)
(as in the figure as example)
(6 = PROFINET for MCP1)
(3 = PROFIBUS for MCP2)
BHGRecObjNo (n.r.)
MCPSDB210= FALSE
BHGSendGDNo (n.r.)
MCPCopyDB77 = FALSE
BHGSendGBZNo (n.r.)
BHGSendObjNo (n.r.)
BHGMPI = FALSE
BHGStop
MCP failure normally switches the PLC to the STOP state. If this is undesirable, then OB82,
OB86 can be used to avoid a PLC stop. The basic program has, as standard, the OB82 and
OB86 call. FC5 is called in these OBs. This FC5 checks whether the failed slave is an MCP.
If this is the case, no PLC stop is triggered. The input address at parameter MCPxIn is of
significance when monitoring for MCPxIn failure.
Setting MCPxStop:= TRUE causes the basic program to deactivate the MCP as a slave via
SFC12. If the PLC does not switch to the stop state following the failure or fault of the MCP,
an alarm message will be generated via the basic program. The alarm is deleted when the
station returns.
13.10.12
Switchover of machine control panel, handheld unit
Only Ethernet variants support switchover/deactivation of an operator component (MCP or
HHU) as standard.
PROFIBUS variant
With PROFIBUS variants, this functionality is only possible to a limited extent and with
additional user effort.
With the PROFIBUS variant of the MCP, the data area of the DB77 for specified MCP1, MCP2
or HHU can be used for the MCP pointer on FB1. The MCP slave bus address must be set
correctly under MCPxBusAdr as this is used as the basis for monitoring. A user program copy
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13.10 Structure and functions of the basic program
routine must copy the signals of the active MCP from the I/O area configured in HW Config to
DB77. This enables a number of MCPs on the PROFIBUS to be switched via signals. Set the
MCPxStop parameter to TRUE for the switchover phase from one MCP to another.
Control signals
Parameters MCP1Stop, MCP2Stop and BHGStop can be used to stop communication with
individual components (parameter setting = 1). This stop or activation of communication can
be applied in the current cycle. However, the change in value must be implemented through
the symbolic notation of the parameters and not by means of another FB1 call.
Example: Stopping the transfer from the 1st machine control panel:
SET;
S gp_par.MCP1Stop;
Setting parameters MCP1Stop, MCP2Stop, BHGStop also results in a suppression or deletion
of alarms 400260 to 400262.
Switchover of the bus address
If an existing communication connection to an operator component (MCP or HHU) is to be
cancelled and a new communication connection established to a different component (MCP
or HHU) with a different communication address, proceed as follows:
1. Stop the communication of the operator component to be disconnected: Parameter
MCP1Stop, MCP2Stop or BHGStop = 1
2. The communication is stopped when the following applies: DB10, DBX104.0, .1 or .2 == 0
3. Change the bus address:
MCP: FB1 parameter MCP1BusAdr or MCP2BusAdr = <bus address of the new
operator component>
HHU (Ethernet variant): FB1 parameter BHGRecGDNo = <bus address of the new
operator component>
4. Enable the communication (possible in the same PLC cycle as point 3): Parameter
MCP1Stop, MCP2Stop or BHGStop = 0
5. The communication with the new component is active when the following applies: : DB10,
DBX104.0, .1 or .2 == 1
Switching off the LED flashing of an Ethernet MCP
After a Power On, MCPs generally indicate the completion of the power-up and waiting for a
connection to be established by flashing LEDs. The flashing of the LEDs can be switched off
as described in the following. Presently, this behavior cannot be retentively stored on the MCP.
Requirement
MCP firmware as of V02.02.04
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13.12 Assignment overview
Setting for switching off the flashing
The Send status must be set in MCPxStop before the start of communication with the MCP.
Before the start of communication means either during power-up (OB100) or during cyclic
operation (OB1) before the setting of DB7 parameter MCPxStop = FALSE
Setting the Send status: FB1 parameter MCPxStatSend, bit 30 = 0 and bit 31 = 1
There is no feedback of the current status.
Example
Extract from OB100: (based on the example for MCP1)
CALL "RUN_UP" , "gp_par"
...
MCP1StatSend := P#E 8.0
...
//deactivate MCP flashing
SET
R
S
A 11.6
A
11.7
...
13.11
SPL for Safety Integrated
Rather than being a function of the basic program, SPL is a user function. The basic program
makes a data block (DB18) available for Safety SPL signals and runs a data comparison to
ensure the consistency of SPL program data in the NCK.
References:
/FBSI/ Description of Functions Safety Integrated
13.12
Assignment overview
13.12.1
Assignment: NCK/PLC interface
The values of the NC/PLC interface for SINUMERK 840D sl are described in detail in:
References:
Lists sl (Buch2)
878
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13.12 Assignment overview
13.12.2
Assignment: FB/FC
Number
Meaning
FB15
Basic program
FB1, FC2, FC3, FC5
Basic program
FC0 ... 29
Reserved for Siemens
FB0 ... 29
FC30 ... 999
Reserved for Siemens
1)
Free for user assignment
FB30 ... 999 1)
Free for user assignment
FC1000 ... 1023
Reserved for Siemens
FB1000 ... 1023
Reserved for Siemens
FC1024 ... upper limit
Free for user assignment
FB1024 ... upper limit
Free for user assignment
1)
The actual upper limit of the block number (FB/FC) depends on the PLC CPU on which the selected
NCU is located.
Note
Values of FC, FB see " Memory requirements of the basic PLC program (Page 897)".
13.12.3
Assignment: DB
Note
Only as many data blocks as are required according to the NC machine data configuration are
set up.
Overview of data blocks
DB no.
Name
1
2 ... 5
PLC-MELD
6 ... 8
Name
Pack
age
Reserved for Siemens
BP
PLC messages
BP
Basic program
NC-COMPILE
Interface for NC compile cycles
BP
10
NC INTERFACE
Central NCK interface
BP
11
Mode group 1
Interface mode group
BP
12
Computer link and transport system interface
13 ... 14
Reserved for basic program
15
Basic program
16
PI Service definition
17
Version identifier
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13.12 Assignment overview
Overview of data blocks
DB no.
Name
Name
Pack
age
18
Reserved for basic program
19
HMI interface
20
PLC machine data
21 ... 30
CHANNEL 1 ... n
Interface NC channels
BP
31 ... 61
AXIS 1 ... m
Interfaces for axes/spindles
or free for user assignment
BP
62 ... 70
Free for user assignment
71 ... 74
Tool management
75 ... 76
M group decoding
77
Data block for MCP signals
78 ... 80
Reserved for Siemens
81 ... 999 1)
see below: ShopMill, ManualTurn
1000 ... 1099
Reserved for Siemens
1100 ... High
limit
Free for user assignment
1)
BP
The actual upper limit of the block number (DB) depends on the PLC CPU on which the selected
NCU is located. The data blocks of channels, axes/spindles and tool management functions that are
not activated may be assigned as desired by the user.
Note
The data blocks of channels, axes/spindles and tool management functions that are not
activated may be assigned as required by the user.
13.12.4
Assignment: Timers
Timer No.
T 0 ... T 512
1)
880
Significance
1)
User area
The actual upper limit of the timer number (DB) depends on the PLC CPU on which the selected NCU
is located.
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13.13 PLC functions for HMI
13.13
PLC functions for HMI
13.13.1
Program selection from the PLC
Function
Preselected programs/workpieces can be selected for machining by the NC via the PLC/HMI
interface.
The preselection is realized by entering programs/workpiece in files (these are known as PLC
program lists (*.ppl).
Preconditions
The following machine data must be set to allow the HMI to process tasks:
MD9106 $MM_SERVE_EXTCALL_PROGRAMS
In order to activate a sector-specific PLC program list, you must set the appropriate machine
data and at least the protection level password:
Area User
MD51041 $MN_ENABLE_PROGLIST_USER = 1
Protective level password: 3 (users)
Program list: /user/sinumerik/hmi/plc/programlist/plc_proglist_user.ppl
Area Manufacturer (OEM)
MD51043 $MN_ENABLE_PROGLIST_MANUFACT = 1
Protective level password: 1 (manufacturer)
Program list: /oem/sinumerik/hmi/plc/programlist/plc_proglist_manufacturer.ppl
Structure of a program list
A program list is a text file. Each line contains the following information:
<program number> <program path><program name> [CH=<channel number>]
Program number
The program numbers which may be used in a program list depend on the sector:
user: 1 - 100
Individual (oem_i): 101 - 200 (only SINUMERIK 828D)
Manufacturer (OEM): 201 - 255
Channel number
Specifying the channel number "CH=<channel number>" is optional. It is only required if
the NC has more than one channel.
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13.13 PLC functions for HMI
Program path
The program path must be completely specified in absolute terms.
For specifying the program path, see:
References
Programming Manual, Work Planning, Chapter "File and Program Administration" >
"Program memory" > "Addressing the files of the program memory"
Channel number
The channel number (1, 2, 3, ...) only has to the specified if more than one channel is
configured in the NC.
The following excerpt as example shows the structure of the user program list:
Program list: plc_proglist_user.ppl
1 //DEV2:/MPFDir/PROG_01.MPF CH=1
2 //DEV2:/MPFDir/PROG_01.MPF CH=2
Generating entries in a program list
The entries in a program list (*.ppl) can be directly edited in the file or entered in screen forms
in the user interface.
Via the user interface for the user area
Operating area "Program Manager" > "ETC key (">")" > "Prog. list"
Via the user interface for the Manufacturer area
Operating area "Commissioning" > "System data" > "ETC key (">")" > "Prog. list"
Program selection: Job interface
Note
The PLC may only request a new job if the last job has been acknowledged by the HMI:
DB19.DBB26 == 0
Program list
DB19.DBB16 = <number of the program list>
Number
Program list
129
/user/sinumerik/hmi/plc/programlist/plc_proglist_user.ppl
130
/oem_i/sinumerik/hmi/plc/programlist/plc_proglist_individual.ppl (only SINUMERIK
828D)
131
/oem/sinumerik/hmi/plc/programlist/plc_proglist_manufacturer.ppl
Program number
The program number refers to the programs contained in the selected program list.
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13.13 PLC functions for HMI
DB19.DBB17 = <program number>
user area: 1 - 100
individual area: 101 - 200 (only SINUMERIK 828D)
oem area: 201 - 255
Requesting program selection
DB19.DBX13.7 = 1
Program selection: Acknowledgment interface
Job acknowledgment
DB19.DBX26.7 == 1 (selection identified)
DB19.DBX26.3 == 1 (program is selected)
DB19.DBX26.2 == 1 (error when selecting the program, see error ID DB19.DBB27)
DB19.DBX26.1 == 1 ((job completed)
Error detection
DB19.DBB27 == <error ID>
Error detection
Value
Meaning
No error
Invalid program list number (DB19.DBB16)
User specification Program list plc_proglist_main.ppl not found (only for DB19.DBB16 1,
2, 3)
Invalid program number (DB19.DBB17)
Job list in the selected workpiece could not be opened.
Error in job list (job list interpreter returns error).
Job list interpreter returns empty job list.
Program selection: Job processing
A job to select a program is executed as follows:
1. Checking the acknowledgment byte: DB19.DBB26 == 0
If the acknowledgment byte is not 0, then the last job has still not been completed.
2. Specifying the program list: DB19.DBB16
3. Specifying the program number: DB19.DBB17
4. Setting the request to select a program: DB19.DBX13.7 = 1
5. Evaluating the acknowledgment and error interface: DB19.DBB26 and .DBB27
The order is still not completed on the HMI side as long as: DB19.DBX26.3 == 1 (active)
The order has been completed on the HMI side if one of the two signals has been set:
- DB19.DBX26.1 == 1 (OK)
- DB19.DBX26.2 == 1 (error)
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13.13 PLC functions for HMI
6. To complete the order, the program selection request must be reset: DB19.DBX13.7 = 0
7. The HMI signals that it is ready to accept a new order by resetting the acknowledgment
byte: DB19.DBB26 == 0
See also
A2: Various NC/PLC interface signals and functions (Page 35)
13.13.2
Activating the key lock
The operator panel keyboard and a keyboard directly connected to the HMI can be locked
using the following interface signal
1. HMI: DB19.DBX0.2 = <value>
2. HMI: DB19.DBX50.2 = <value>
Value
13.13.3
Meaning
Key lock inactive
Key lock active
Operating area numbers
The number of the active operating area is normally displayed in: DB19.DBB21
If the HMI monitor is active, the number of the active operating area is no longer displayed in
DB19.DBB21, but instead in the user-specific configured area of the HMI monitor (Page 893).
Operating area
13.13.4
Number
Machine
201
Parameters
205
Programming
203
Program Manager
202
Diagnostics
204
Commissioning
206
Screen numbers
The current screen number is normally displayed in: DB19.DBW24
If the HMI monitor is active, the current screen number is no longer displayed in DB19.DBW24,
but instead in the user-specific configured area of the HMI monitor (Page 893).
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13.13 PLC functions for HMI
Screen number ranges
The following screen number ranges are available:
JOG, manual machine (Page 885)
Reference point approach (Page 890)
MDA (Page 890)
AUTOMATIC (Page 890)
Parameters operating area (Page 891)
Program operating area (Page 892)
Program manager operating area (Page 893)
Diagnostics operating area (Page 893)
13.13.4.1
Screen numbers: JOG, manual machine
JOG mode
Screen
Number
Turning technology
Cycle start screen for all screens that can be taken over
81
Milling technology
Cycle start screen for all screens that can be taken over
Turning/milling
Start screen
19
T,S,M
Set WO
21
Positioning
Face milling
18
Stock removal
80
Cycle start screen for all user screens
91
General settings
Multi-channel function settings
106
Collision avoidance settings
107
Measurement log settings
108
Swiveling
60
All G functions
100
Actual zoom value (MCS/WCS)
101
Thread synchronizing
102
Retract
103
Handwheel
104
Action synchronization
105
Turning technology: Workpiece zero
Workpiece zero (main menu)
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13.13 PLC functions for HMI
Screen
Number
User screen
31
User screen
34
User screen
35
User screen
36
User screen
37
User screen
38
User screen
40
Measure edge Z
5
Turning technology: Workpiece, measurement
Measure tool (main menu)
50
Manual X or user screen
51
Manual Y
71
Manual Z or user screen
52
Zoom or user screen
53
User screen
54
User screen
55
Probe calibration X or user screen
56
Probe calibration Z or user screen
57
Automatic length in Z
58
Automatic length in Y
73
Automatic length in X
59
Milling technology: Workpiece zero
Workpiece zero (main menu)
886
30
Measure edge X
Measure edge X
22
Measure edge Z
23
User screen
Align edge or user screen
31
Distance 2 edges or user screen
32
Right-angled corner
33
Any corner or user screen
Rectangular pocket
34
1 hole or user screen
2 holes
35
3 holes
36
4 holes
37
Rectangular spigot
38
1 circular spigot or user screen
10
2 circular spigots
39
3 circular spigots
40
4 circular spigots
41
Set up level
42
Probe length calibration or user screen
11
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13.13 PLC functions for HMI
Screen
Number
Probe radius calibration
12
Milling technology: Workpiece, measurement
Measure tool (main menu)
50
Measure length, manual (with milling tool)
or measure length in X, manual (with turning tool)
or user screen
16
Measure length in Y, manual (with turning tool)
74
Measure length in Z, manual (with turning tool)
24
Measure diameter, manual or user screen
17
Measure length, automatic (with milling tool)
or measure length in X, automatic (with turning tool)
or user screen
13
Measure length in Y, automatic (with turning tool)
75
Measure length in Z, automatic (with turning tool)
25
Measure diameter, automatic or user screen
14
User screen
51
Probe calibration or user screen
15
Fixed point calibration or user screen
52
RunMyScreens (only for set JobShopIntegration)
User screen behind horizontal 1st softkey
96
User screen behind horizontal 2nd softkey
98
User screen behind horizontal 3rd softkey
99
User screen behind horizontal 4th softkey
94
User screen behind horizontal 5th softkey
95
User screen behind horizontal 6th softkey
92
User screen behind horizontal 7th softkey
97
User screen behind horizontal 8th softkey
90
User screen behind horizontal 9th softkey
83
User screen behind horizontal 10th softkey
82
User screen behind horizontal 11th softkey
93
User screen behind horizontal 12th softkey
84
User screen behind horizontal 13th softkey
85
User screen behind horizontal 14th softkey
86
User screen behind horizontal 15th softkey
87
User screen behind horizontal 16th softkey
88
JOG mode, manual machine
DB19.DBB24
Screen
Screen number
Turning/milling
Taper turning
61
Angle milling
62
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13.13 PLC functions for HMI
DB19.DBB24
Screen
Stop
888
Screen number
63
Straight line
1300
Straight all axes
1330
Straight X alpha
1340
Straight Z alpha
1350
Circle
1360
Drilling
1400
Center drilling
1410
Drilling, thread centered
1420
Drilling, centering
1433
Drilling, drilling
1434
Drilling, reaming
1435
Drilling, boring
1436
Drilling, deep hole drilling
1440
Drilling, deep hole drilling 2
1441
Drilling, tapping
1453
Drill thread milling
1455
Positions
1473
Position row
1474
Position grid
1477
Position frame
1478
Position circle
1475
Position pitch circle
1479
Obstacle
1476
Turning
1500
Turning, stock removal 1
1513
Turning, stock removal 2
1514
Turning, stock removal 3
1515
Turning, groove 1
1523
Turning, groove 2
1524
Turning, groove 3
1525
Turning, undercut form E
1533
Turning, undercut form F
1534
Turning, undercut thread DIN
1535
Turning, undercut thread
1536
Turning, thread, longitudinal
1543
Turning, thread, taper
1544
Turning, thread, facing
1545
Turning, thread, chain
1546
Turning, cut-off
1550
Milling
1600
Milling, face milling
1610
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13.13 PLC functions for HMI
DB19.DBB24
Screen
Screen number
Milling, rectangular pocket
1613
Milling, circular pocket
1614
Milling, rectangular spigot
1623
Milling, circular spigot
1624
Milling, longitudinal groove
1633
Milling, circumferential groove
1634
Milling, open groove
1635
Milling, multi-edge
1640
Milling, thread milling
1454
Milling, engraving
1670
Contour turning
1200
Contour turning, new contour / last contour
1210
Contour turning, stock removal along contour
1220
Contour turning, contour grooving
1230
Contour turning, contour plunge turning
1240
Contour milling
1100
Contour milling, new contour / last contour
1110
Contour milling, path milling
1120
Contour milling, centering
1130
Contour milling, rough drilling
1140
Contour milling, contour pocket
1150
Turning technology: Simulation
Side view
1740
Front view
1750
3D view
1760
2-window view
1770
Half section
1780
Turning technology: Simultaneous recording
Side view
1741
Front view
1751
3D view
1761
2-window view
1771
Machine space
1791
Half section
1781
Milling technology: Simulation
Top view
1742
3D view
1760
From the front
1744
From the rear
1746
From the Left
1748
From the right
1752
Half section
1780
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13.13 PLC functions for HMI
DB19.DBB24
Screen
Screen number
Turning view
1782
Milling technology: Simultaneous recording
13.13.4.2
Top view
1743
3D view
1761
From the front
1745
From the rear
1747
From the Left
1749
From the right
1753
Machine space
1791
Half section
1781
Turning view
1783
Screen numbers: Reference point approach
Screen
Actual zoom value MCS/WCS
13.13.4.3
Number
MDA
20
All G functions
100
Actual zoom value MCS/WCS
101
Handwheel
104
Action synchronization
105
Program control
210
Settings
250
Screen numbers: AUTOMATIC
Screen
890
101
Screen numbers: MDA
Screen
13.13.4.4
Number
Number
Automatic
200
Overstore
202
Program control
210
Block search
220
General settings
250
Multi-channel function settings
106
Collision avoidance settings
107
All G functions
100
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13.13 PLC functions for HMI
Screen
Number
Actual zoom value MCS/WCS
101
Handwheel
104
Action synchronization
105
Turning technology: Simultaneous recording
Side view
243
Front view
244
3D view
245
2-window view
246
Machine space
247
Half section
253
Milling technology: Simultaneous recording
13.13.4.5
Top view
242
3D view
244
From the front
248
From the rear
249
From the Left
251
From the right
252
Machine space
247
Half section
253
Turning view
254
Screen numbers: Parameters operating area
Screen
Number
Tool list
600
Tool wear
610
User tool list
620
Magazine
630
Work offset
Work offset, active
642
Work offset, overview
643
Work offset, basic
644
Work offset, G54 - G509
645
Details of work offset, active, overview, basic or G54 - G509
647
User variable
R parameters
650
Global GUD 1 (SGUD)
660
Global GUD 2 (MGUD)
661
Global GUD 3 (UGUD)
662
Global GUD 4
663
Global GUD 5
664
Global GUD 6
665
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13.13 PLC functions for HMI
Screen
Number
Global GUD 7
666
Global GUD 8
667
Global GUD 9
668
Channel GUD 1 (SGUD)
690
Channel GUD 2 (MGUD)
691
Channel GUD 3 (UGUD)
692
Channel GUD 4
693
Channel GUD 5
694
Channel GUD 6
695
Channel GUD 7
696
Channel GUD 8
697
Channel GUD 9
698
Local LUD
681
Local LUD/PUD
684
Setting data
Working area limitation
671
Spindle data
670
Spindle chuck data
672
Ctrl-Energy
13.13.4.6
Ctrl-Energy, main menu
6170
Ctrl-Energy, analysis
6171
Ctrl-Energy, profiles
6172
Ctrl-Energy, analysis graphic
6176
Ctrl-Energy, analysis long-term measurement
6177
Ctrl-Energy, analysis details
6179
Ctrl-Energy, compare measurements
6178
Screen numbers: Program operating area
Screen
Number
Turning technology: Simulation
Side view
413
Front view
414
3D view
415
2-window view
416
Half section
423
Milling technology: Simulation
892
Top view
412
3D view
414
From the front
418
From the rear
419
From the Left
421
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13.13 PLC functions for HMI
Screen
13.13.4.7
422
Half section
423
Turning view
424
Screen numbers: Program manager operating area
Screen
13.13.4.8
Number
NC directory
300
Local drive
325
USB / configured drive1
330
Configured drive2
340
Configured drive3
350
Configured drive4
360
Configured drive5
383
Configured drive6
384
Configured drive7
385
Configured drive8
386
Screen numbers: Diagnostics operating area
Screen
13.13.5
Number
From the right
Number
Alarm list
500
Messages
501
Alarm log
502
NC/PLC variable
503
HMI monitor
Function
The HMI monitor is an 8-byte data area in a freely selectable data block, in which the HMI can
provide the following data for the PLC user program:
Operating area numbers (Page 884)
Screen numbers (Page 884)
Parameterization
The data area is configured using the following display machine data:
MD9032 $MM_HMI_MONITOR = "string"
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13.13 PLC functions for HMI
with "string" = "DB<DB number>.DBB<byte address>"
Note
Even byte address
The data area must start at an even byte address.
Structure of the data area
Byte
Meaning
EB n + 0
Active SINUMERIK operating area
EB n + 1
Reserved
EB n + 2
Current screen number
EB n + 3
EB n + 4
...
EB n + 7
Reserved
...
Reserved
Supplementary conditions
When the HMI monitoring is active, the following PLC/HMI interface signals are no longer
processed:
DB19.DBB10 (PLC hardkeys)
DB19.DBB21 (active SINUMERIK operating area)
DB19.DBW24 (current screen number)
Example
Assumptions
Current operating area: "Machine", number: 201
Actual screen: "AUTOMATIC" start screen, number: 200
PLC data area: DB60.DBB10
Parameterization
MD9032 $MM_HMI_MONITOR = "DB60.DBB10"
Values in the data area
DB60.DBB10: 201
DB60.DBW12: 200
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13.14 PLC functions for drive components on the integrated PROFIBUS
13.14
PLC functions for drive components on the integrated PROFIBUS
13.14.1
Overview
Using the function described below, input and output data from drive components on the
integrated PROFIBUS can be consistently, cyclically read and written from the PLC user
program of the hardware PLC. The following boundary conditions must be observed:
For reading / writing input/output data, the system functions SFC14 / SFC15 must be used.
The reading / writing of input/output data is always over the entire slot length.
The function only supports cyclical, non-equidistant data transfer.
An output slot may not already be occupied on the NC side; (e.g. output slots of drives).
13.14.2
Performing a start-up
Preconditions
Before the function is put into operation on the NC side, the following preconditions must be
satisfied:
The drive components on the integrated PROFIBUS of the NCU must be fully configured
using SIMATIC STEP 7, HW Config.
The configuration is loaded into the PLC.
NC machine data
The start addresses of the slots to be transferred cyclically are to be entered into the following
machine data:
Input slots:
MD10520 $MN_PLCINTERN_LOGIC_ADDRESS_IN[<Index>] = <Slot address>
Output slots:
MD10525 $MN_PLCINTERN_LOGIC_ADDRESS_OUT[<Index>] = <Slot address>
<Index>: 0, 1, 2, ... (Max no. of slots) 1
<Slot address>: The slot address parameterized in HW Config
Note
Maximum quantity of data
The sum of all data to be cyclically transferred in inward and outward directions may not
currently exceed 2,048 bytes.
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13.14 PLC functions for drive components on the integrated PROFIBUS
13.14.3
Example
Determining slot addresses
After selecting the DP Slave "SINAMICS_Integrated" on the integrated PROFIBUS
"PROFIBUS Integrated: DP master system (3)" in the station window of HW Config, its
PROFIdrive message frame and associated slot addresses are displayed in the detailed view.
Message frame 136: Drive
Message frame 391: Control Unit
Message frame 370: Infeed
The infeed slot addresses required for parameterization in the NC machines are:
Input slot: Slot 31, address 6514
Output slot: Slot 32, address 6514
Figure 13-18 Infeed PROFIBUS message frames
Setting NC machine data
Input slots:
MD10520 $MN_PLCINTERN_LOGIC_ADDRESS_IN[ 0 ] = 6514
Output slots:
MD10525 $MN_PLCINTERN_LOGIC_ADDRESS_OUT[ 0 ] = 6514
Controlling the ALM using FB390 "ALM_Control"
The SINUMERIK hardware PLC is connected to the CU320 of SINAMICS S120 through the
internal PROFIBUS. The ALM is connected to the CU via DRIVE-CLiQ.
In SINAMICS S120, a control and status message frame can be defined for each module (the
CU, ALM, motor modules, etc.). If this is performed for an ALM, this can be switched on and
off from the PLC user program.
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13.15 Memory requirements of the basic PLC program
The SIMATIC S7 block FB390 "ALM_Control" checks the status of the ALM and enables the
user to switch it on or off.
A description of the block and an example project are available for download under the
following link to Industry Online Support:
http://support.automation.siemens.com/WW/view/de/49515414
13.15
Memory requirements of the basic PLC program
The basic program consists of basic and optional functions. The basic functions include cyclic
signal exchange between the NC and PLC. The Options include e.g. the FCs, which can be
used, if needed.
The table below lists the memory requirements for the basic functions and the options. The
data quoted represent guide values, the actual values depend on the current software version.
Memory requirements of blocks for SINUMERIK 840D sl
Block
Type, No.
Function
Remark
Block size (bytes)
Working memory
Basic functions in basic program
FB1, FB15
must be loaded /
on CF card
52182
FC2, 3, 5, 12
Must be loaded
470
DB4, 5, 7, 8
Must be loaded
1006
DB2, 3, 17
Are generated by the BP
632
OB1, 40, 100, 82, 86
Must be loaded
398
Total
55698
PLC/NCK, PLC/HMI interface
DB10
PLC/NCK signals
Must be loaded
262
DB11
Signals PLC/Mode group
Is generated by BP
56
DB19
PLC/HMI signals
Is generated by BP
434
DB21 to 30
PLC/channel signals
Are generated by BP as a function of NCMD: for
each DB
416
DB31 to 61
PLC / axis or spindle
signals
Are generated by BP as a function of NCMD: for
each DB
148
Must be loaded when M variant of MCP is instal
led
92
Basic program options
Machine control panel
FC19
Transfer of MCP signals,
M variant
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13.15 Memory requirements of the basic PLC program
Basic program options
FC25
Transfer of MCP signals,
T variant
Must be loaded when T variant of MCP is installed
92
FC24
Transfer of MCP signals,
slim variant
Must be loaded when slim variant of MCP is in
stalled
100
FC26
Transfer of MCP signals,
HT8 variant
Must be loaded for HT8
68
Can be loaded for handheld units
144
Acquisition FM/BM
Load when FM / BM is used
66
ASUB start
Load when PLC ASUBs are used
128
Load for star/delta switchover
114
Load for spindle control from PLC
132
Handheld unit
FC13
Display control HHU
Error/operating messages
FC10
ASUB
FC9
Basic program options
Star/delta changeover
FC17
Star/delta switchover of
MSD
Spindle control
FC18
Spindle control
PLC/NC communication
FB2
Read NC variable
Load for Read NC variable
76
DBn
Read NC variable
One instance DB per FB2 call:
270
FB3
Write NC variable
Load for Write NC variable
76
DBm
Write NC variable
One instance DB per FB3 call:
270
FB4
PI services
Load for PI services
76
DBo
PI services
One instance DB per FB4 call:
130
DB16
PI services description
Load for PI services
618
FB5
Read GUD variables
Load for PI services
76
DBp
Read GUD variables
One instance DB per FB5 call:
166
DB15
General communication
Global data block for communication
146
FB7
PI services 2
Load for PI services
76
DBo
PI services 2
One instance DB per FB4 call: every
144
FC21
Transfer
Load with dual-port RAM, ...
164
Switchover M to N
Load with M to N
58
M to N
FB9
Safety Integrated
FB10
Safety relay
Load with Safety option
74
FB11
Brake test
Load with Safety option
76
DB18
Safety data
DB for Safety
308
Tool management
898
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13.15 Memory requirements of the basic PLC program
Basic program options
FC7
Transfer function
turret
Load for tool management option
84
FC8
Transfer function
Load for tool management option
132
FC22
Direction selection
Load, when direction selection is needed
138
DB71
Loading locations
Generated by BP as a function of NC MD
40+30*B
DB72
Spindles
Generated by BP as a function of NC MD
40+48*Sp
DB73
Revolver
Generated by BP as a function of NC MD
40+44*R
DB74
Basic function
Generated by BP as a function of NC MD
100+(B+
Sp+R)*22
Is generated by BP as a function of NC option
436
Compile cycles
DB9
Interface
PLC compile cycles
Example:
Based on the memory requirements in the table above, the memory requirements have been
determined for two sample configurations (see table below).
Block
Type, No.
Function
Remark
Block size (bytes)
Working memory
Minimum configuration (1 spindle, 2 axes and T MCP)
see above
Basic program, base
54688
Interface DBs
1612
MCP
92
Total
Block
Type, No.
Function
Remark
56392
Block size (bytes)
Working memory
Maximum configuration (2 channels, 4 spindles, 4 axes, T MCP)
see above
Basic program, base
54688
see above
Interface DBs
2768
see above
MCP
92
see above
Error/operating messages
66
see above
ASUBs
1 ASUB initiation
128
see above
Concurrent axis
For 2 turrets
132
see above
PLC/NC communication
1 x read variable and 1 x write variable
838
see above
Tool management
2 turrets with one loading point each
674
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13.16 Basic conditions and NC VAR selector
Maximum configuration (2 channels, 4 spindles, 4 axes, T MCP)
see above
Compile cycles
436
Total
59822
13.16
Basic conditions and NC VAR selector
13.16.1
Supplementary conditions
13.16.1.1
Programming and parameterizing tools
Hardware
For the PLCs used in SINUMERIK 840D sl, the following equipment is required for the
programming devices or PCs:
Minimum
Recommendation
Processor
Pentium
Pentium
RAM (MB)
256
512 or more
Hard disk,
free capacity (MB)
500
> 500
Interfaces
MPI, Ethernet incl. cable
Memory card
Graphic
SVGA (1024*768)
Mouse
Yes
Operating system
Windows 2000 /XP Professional, STEP 7 version 5.3 SP2 or
higher
The required version of STEP 7 can be installed on equipment meeting the above requirements
in cases where the package has not already been supplied with the programming device.
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13.16 Basic conditions and NC VAR selector
The following functions are possible with this package:
Programming
Editors and compilers for STL (complete scope of the language incl. SFB/SFC calls),
LAD, FBD
Creation and editing of assignment lists (symbol editor)
Data block editor
Input and output of blocks ON/OFF line
Insertion of modifications and additions ON and OFF line
Transfer of blocks from programming device to the PLC and vice versa
Parameterizing
Parameterizing tool HW Config for CPU and I/O device parameterization
NetPro parameterizing tool for setting the CPU communication parameters
Output of system data such as hardware and software version, memory capacity, I/O
expansion/assignment
Testing and diagnostics (ONLINE)
Variable status/forcing (I/Os, flags, data block contents, etc.)
Status of individual blocks
Display of system states (ISTACK, BSTACK, system status list)
Display of system messages
Trigger PLC stop / restart / general reset from the PG
Compress PLC
Documentation
Printout of individual or all blocks
Allocation of symbolic names (also for variables in data blocks)
Input and output of comments within each block
Printout of test and diagnostics displays
Hardcopy function
Cross-reference list
Program overview
Assignment plan I/O/M/T/Z/D
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13.16 Basic conditions and NC VAR selector
Archiving of utility routines
Allocation of the output states of individual blocks
Comparison of blocks
Rewiring
STEP 5 STEP 7 converter
Option packages
Programming in S7-HIGRAPH, S7-GRAPH, SCL.
These packages can be ordered from the SIMATIC sales department.
Additional packages for configuration modules (e.g. CP3425 NCM package)
Note
More information about possible functions can be found in SIMATIC catalogs and STEP
7 documentation.
13.16.1.2
SIMATIC documentation required
ReferenceS:
System description SIMATIC S7
S7-300 instruction list
Programming with STEP 7
User Manual STEP 7
Programming manual STEP 7; designing of user programs
Reference manual STEP 7; Instructions list AWL
Reference manual STEP 7; Ladder Diagram KOP
Reference manual STEP 7; Default and system functions
Manual STEP 7; Conversion of STEP 5 programs
STEP 7 overall index
Manual CPU 317-2DP
13.16.1.3
Relevant SINUMERIK documents
References:
Commissioning Manual IBN CNC: NCK, PLC, Drive
Operator Components and Networking Manual
Function Manual Basic Functions
Function Manual, Extended Functions:
Function Manual, Special Functions
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13.16 Basic conditions and NC VAR selector
Lists sl (Book1)
Lists sl (Book2)
13.16.2
NC VAR selector
13.16.2.1
Overview
General
The PC application "NC VAR selector" retrieves the addresses of required NC variables and
processes them for access in the PLC program (FB2/FB3). This enables the programmer to
select NC variables from the entire range of NC variables, to store this selection of variables,
to edit them by means of a code generator for the STEP 7 compiler and finally to store them
as an ASCII file (*.AWL) in the machine CPU program. This process is shown in the figure "NC
VAR selector".
For storing the files created by NC-VAR-selector a catalog is to be implemented via the
Windows Explorer with any catalog name. The selected data of the NC-VAR selector
(data.VAR and data.AWL files) must be stored in this catalog. Thereafter, the STL file is to be
transferred and compiled via the menu option "Code" "in STEP 7 Project". The "data.AWL"
(STL data) file must then be inserted into the STEP 7 machine project via "Insert", "External
Source" in the STEP 7 Manager. The source container must be selected in the manager for
this purpose. This action stores this file in the project structure. Once the file has been
transferred, these AWL (STL) files must be compiled with STEP 7.
Note
The latest NC VAR selector can be used for each NC software version (even earlier versions).
For older NC software versions the variables can also be selected from the latest complete
list. The data content in DB120 (default DB for variables) does not depend on the software
status. That is, variables selected in an older software version need not be reselected when
the software is upgraded.
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13.16 Basic conditions and NC VAR selector
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Figure 13-19 NC VAR selector
After the "NC VAR selector" application has been started, select a list of variables of an NC
variant (hard disk file Ncv.mdb) to display all the variables contained in this list in a window.
The following ncv*.mdb variable list is available:
Variables
List
NC variables including machine and setting data:
ncv_NcData.mdb
Parameters of the drive:
ncv_SinamicsServo.mdb
The user can also transfer variables to a second list (separate window). This latter selection
of variables can then be stored in an ASCII file or edited as a STEP 7 source file (.awl) and
stored.
After generating a PLC data block by means of the STEP 7 compiler, the programmer is able
to read or write NCK variables via the basic program function blocks "PUT" and "GET" using
the STEP 7 file.
The list of selected variables is also stored as an ASCII file (file extension .var).
The variable list supplied with the "NC VAR selector" tool is adapted to the current NC software
version. This list does not contain any variables (GUD variables) defined by the user. These
variables are processed by the function block FB5 in the basic program.
Note
The latest version of the "NC VAR selector" is capable of processing all previous NC software
versions. It is, therefore, not necessary to install different versions of the "NC VAR selector"
in parallel.
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13.16 Basic conditions and NC VAR selector
System features, supplementary conditions
The PC application "NC VAR selector" requires Windows 2000 or a higher operating system.
The assignment of names to variables is described in:
References:
/List sl (Book1); Chapter: Variables,
or in the variables help file (integrated in NC VAR selector).
13.16.2.2
Description of functions
Overview
The figure below illustrates how the NC VAR selector is used within the STEP 7 environment.
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Figure 13-20 Application of NC VAR selector in the STEP 7 environment
The NC VAR selector is used to generate a list of selected variables from a list of variables
and then to generate an .awl file that can be compiled by the STEP 7 compiler.
A *.awl file contains the names and alias names of the NC variables, as well as information
about their address parameters. Any data block generated from this file will only contain
the address parameters (10 bytes per parameter).
The generated data blocks must always be stored in the machine-specific file storage
according to STEP 7 specifications.
To ensure that the parameterization of the GET/PUT (FB2/3) blocks with respect to NC
addresses can be implemented with symbols, the freely assignable, symbolic name of the
generated data block must be included in the STEP 7 symbol table.
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13.16 Basic conditions and NC VAR selector
Basic display / basic menu
After the NC VAR selector has been selected (started), the basic display with all input options
(upper menu bar) appears on the screen. All other displayed windows are placed within the
general window.
Figure 13-21 Basic display with basic menu
Project menu item
All operator actions associated with the project file (file of selected variables) are performed
under this menu item.
Terminating the application
The application can be terminated by selecting the "End" option under the "Project" menu item.
Creating a new project
A new project (new file for selected variables) can be set up under the "Project" menu item.
A window is displayed for the selected variables when "NEW" is selected. The file selection
for the NC variable list is then displayed after a prompt (applies only if the NC variable list is
not already open).
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13.16 Basic conditions and NC VAR selector
Figure 13-22 Window with selected variables for new project
The selected variables are displayed in a window.
Open an already existing project
Select "Open" under the "Project" menu item to open an existing project (variables already
selected). A file selection window is displayed allowing the appropriate project with extension
".var" to be selected.
Figure 13-23 Selection window for existing projects
If, after selection of the project, new variables are to be added, a complete list of NC variables
must be selected. No complete list need be called if the user only wishes to delete variables
from the project.
Storing a project
The variable list is stored using the "Project" > "Save" or "Save As...." menu items.
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13.16 Basic conditions and NC VAR selector
"Save" stores the variable list under a path, which is already specified. If the project path is
not known, then the procedure is as for "Save As....".
"Save As..." displays a window in which the path for the project to be stored can be specified.
Printing a project
The "Print" command under the "Project" menu item can be selected to print a project file. The
number of lines per page is selected under the "Print Setting" menu item. The default setting
is 77 lines.
Edit menu item
The following operator actions are examples of those, which can be carried out directly with
this menu item:
Transfer variables
Delete variables
change alias names
Find variables
These actions can also be canceled again under Edit.
Undoing actions
Operator actions relating to the creation of the project file (transfer variables, delete variables,
change alias names) can be undone in this menu.
NC variables menu item
The basic list of all variables is saved in NC Var Selector path Data\Swxy (xy stands for
software version no., e.g. SW 5.3:=xy=53). This list can be selected as an NC variables list.
In case of SINUMERIK 840D sl the basic lists are present in the path Data\Swxy_sl.
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13.16 Basic conditions and NC VAR selector
Selecting an NC variable list
A list of all the NC variables for an NC version can now be selected and displayed via the "NC
Variable List", "Select" menu item.
Figure 13-24 Window with selected Complete List
The field variables (e.g. axis area, T area data, etc.) are indicated by means of brackets ([.]).
Additional information must be specified here. When the variables are transferred to the project
list, the additional information required is requested.
Displaying subsets
Double-click on any table field (with the exception of variable fields) to display a window in
which filter criteria can be preset.
Figure 13-25 Window with filter criteria for displaying list of variables
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13.16 Basic conditions and NC VAR selector
There are three options:
Display all data
Input area, block and name (incl. combinations)
Display MD/SE data number
The following wildcards can also be used:
*
To extend the search criterion as required
Example search criteria
Name search criterion: CHAN* Found:
CHAN_NAME
chanAlarm
chanStatus
channelName
chanAssignment
Select variable
A variable is selected by means of a simple mouse click and transferred to the window of
selected variables by double-clicking. This action can also be undone under the "Edit" menu
item.
Alias name
The variable names provided can be up to 32 characters in length. To make variables clearly
identifiable in the data block to be generated, several ASCII characters are added to the
selected name. However, the STEP 7 compiler recognizes only 24 ASCII characters as an
unambiguous STEP 7 variable. Since it cannot be precluded that variable names can only be
differentiated by the last 8 character positions, ALIAS names are used for names, which are
too long. When a variable is selected, the length of the STEP 7 name to be used is, therefore,
checked. If the name is longer than 24 characters, the user must enter an additional name,
which is then used as the alias.
In this case, the user must ensure that the alias name is unambiguous.
Alias input can always be activated by the user in the "Options" menu.
An alias name can then be entered every time a variable is transferred.
It is also possible to edit alias names at a later point in time by double-clicking on the S7 variable
name field. This action can also be undone under the "Edit" menu item.
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13.16 Basic conditions and NC VAR selector
Figure 13-26 Screen with complete list and selected variables
Scrolling
A scroll bar is displayed if it is not possible to display all variables in the window. The remaining
variables can be reached by scrolling (page up/down).
Variables in multi-dimensional structures
If variables are selected from multi-dimensional structures, then the column and/or line number
as well as the area number must be entered so that the variables can be addressed. The
required numbers can be found in the NC variables documentation.
References:
Lists sl (Book1); Variables
By entering a zero (0) as the block number or the line or column index, it is possible to use the
variable in the S7 PLC as a pointer to these data. When reading or writing these data via the
functions "PUT" and "GET", the optional parameters "UnitX", "ColumnX" and "LineX" must be
filled with the necessary information.
Figure 13-27 Entry field for line, column and block no.
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13.16 Basic conditions and NC VAR selector
Delete variables
Variables are deleted in the window of selected variables by selecting the appropriate variables
(single mouse click) and pressing the "Delete" key. No deletion action is taken with the doubleclick function. It is possible to select several variables for deletion (see Section "Example of
search criteria > Selecting variables").
This action can also be undone under the "Edit" menu item.
Note
Deleting of variables results in a change of the absolute addresses of the pointer structures to
the variables. When changing the variable selection, it is, therefore, absolutely necessary to
generate one or several text files of all user blocksprior to the change. This is the only way to
ensure that the assignment of the variables in FB "GET" or FB "PUT" remains correct, even
after recompilation.
Storing a selected list
Once variables have been selected, they can be stored under a project name. The files are
stored on a project-specific basis.
A window is displayed for the file to be stored. The project path and name for the file must be
selected in the window.
Figure 13-28 Window for project path and name of file to be stored
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Code generation
This menu item contains three selection options:
1. Settings (input of data block number to be generated) and other settings
2. Generate (create data block)
3. In the STEP 7 project (transferring the data block to a STEP 7 project)
Settings
Under this menu item, the DB number and the symbol for this DB number for which the code
is created is entered.
Under the "Mass System" tab, a selection is made to determine how the unit system variables
are calculated in the PLC.
Under the "Generate" tab, the project creation is defined for the relevant target system.
Generate
Under this menu item, the STEP 7 file from the selected variable list with extension ".awl" is
set.
A file is generated when "Select" is clicked:
An .awl file that can be used as an input for the STEP 7 compiler.
A window opens, in which path and name for the .awl file to be generated must be specified
for the file to be saved.
In STEP 7 project
The generated STL file is transferred to a selectable SIMATIC project (program path) and
compiled. Furthermore, the symbol can also be transferred. This function is available as of
STEP 7 Version 5.1. This process takes a longer time owing to the call of STEP 7. Before
transferring a new STL file the file window of the STL file is to be closed in the LAD/FBD/STL
editor.
Option menu item
The following can be selected under the "Option" menu item:
The current language
The mode for alias input (always / > 24 characters)
Help menu item
The information below can be viewed by selecting the corresponding submenu item:
The Operating Manual
The Description of Variables
The copyright and the version number can also be displayed.
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13.17 Block descriptions
13.16.2.3
Startup, installation
The Windows application "NC Var selector" is installed using the SETUP program supplied
with the package.
13.17
Block descriptions
13.17.1
FB1: RUN_UP - basic program, start section
Function
The synchronization of NC and PLC is performed during startup. The data blocks for the NC/
PLC user interface are created based on the NC configuration defined via machine data and
the basic program parameters are verified for plausibility. In the event of an error, FB1 passes
an error identifier to the diagnostic buffer and switches the PLC to the stop state.
"Restart" start-up mode
The integrated PLC only supports the start-up mode "Restart". After the basic system
initialization, the organization block OB100 "Restart" is always run through first, followed by
OB1 "Cyclic mode".
Input parameters
For parameterizing the basic program, only the respective relevant parameters of the function
block FB1 must be written with user-specific values. The preset values in the instance data
block DB7 of the FB1 do not need to be assigned. The function block FB1 must only be called
in the organization block OB100.
Output parameters
The output parameters of function block FB1 can also be read from the cyclical part of the
basic program. Two options are available for this purpose:
1. Direct access to the instance data block DB7 of FB1 in symbolic form.
Example: "L gp_par.MaxChan", with "gp_par" as the symbolic name of DB7
2. A bit memory is assigned to an output parameter when FB1 is parameterized. The bit
memory is then read in the basic program in order to determine the value of the output
parameter.
Example: "MaxChan":= MW 20
Note
For assigning the FB1 parameters for MCP and BHG, see "Configuration machine control
panel, handheld unit, direct keys (Page 867) ".
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13.17 Block descriptions
Declaration SINUMERIK 840D sl
FUNCTION_BLOCK FB1
VAR_INPUT
MCPNum:
INT:=1;
// 0: No MCP
// 1: 1 MCP (default)
// 2: 2 MCPs
MCP1In:
POINTER;
// Start addr. MCP1 input signals
MCP1Out:
POINTER;
// Start addr. MCP1 output signals
MCP1StatSend:
POINTER;
// Status DW for sending MCP1
MCP1StatRec:
POINTER;
// Status DW for receiving MCP1
MCP1BusAdr:
INT:=6;
// default
MCP1Timeout:
S5TIME:= S5T#700MS;
MCP1Cycl:
S5TIME:= S5T#200MS;
MCP2In:
POINTER;
// Start addr. MCP2 input signals
MCP2Out:
POINTER;
// Start addr. MCP2 output signals
MCP2StatSend:
POINTER;
// Status DW for sending MCP2
MCP2StatRec:
POINTER;
// Status DW for receiving MCP2
MCP2BusAdr:
INT;
MCP2Timeout:
S5TIME:= S5T#700MS;
MCP2Cycl:
S5TIME:= S5T#200MS;
MCPMPI:
BOOL:= FALSE;
MCP1Stop:
BOOL:= FALSE;
MCP2Stop:
BOOL:= FALSE;
MCP1NotSend:
BOOL:= FALSE;
MCP2NotSend:
BOOL:= FALSE;
MCPSDB210:
BOOL:= FALSE;
MCPCopyDB77:
BOOL:= FALSE;
MCPBusType:
BYTE=B#16#0;
HHU:
INT:=0;
// Handheld unit interface
// 0: No HHU
// 1: HHU on MPI
// 2: HHU on OPI
BHGIn:
POINTER;
// Transmit data of the handheld
unit
BHGOut:
POINTER;
// Receive data of the handheld
unit
BHGStatSend:
POINTER;
// Status DW for sending HHU
BHGStatRec:
POINTER;
// Status DW for receiving HHU
BHGInLen:
BYTE:= B#16#6;
// Input 6 bytes
BHGOutLen:
BYTE:= B#16#14;
// Output 20 bytes
BHGTimeout:
S5TIME:= S5T#700MS;
BHGCycl:
S5TIME:= S5T#100MS;
BHGRecGDNo:
INT:=2;
BHGRecGBZNo:
INT:=2;
BHGRecObjNo:
INT:=1;
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13.17 Block descriptions
BHGSendGDNo:
INT:=2;
BHGSendGBZNo:
INT:=1;
BHGSendObjNo:
INT:=1;
BHGMPI:
BOOL:= FALSE;
BHGStop:
BOOL:= FALSE;
BHGNotSend:
BOOL:= FALSE;
NCCyclTimeout:
S5TIME:= S5T#200MS;
NCRunupTimeout:
S5TIME:= S5T#50S;
ListMDecGrp:
INT:=0;
NCKomm:
BOOL:= FALSE;
MMCToIF:
BOOL:=TRUE;
HWheelMMC:
BOOL:=TRUE;
ExtendAlMsg :
BOOL;
MsgUser:
INT:=10;
// Number of user areas in DB 2
UserIR:
BOOL:= FALSE;
// User programs in OB40,
// Handwheel selection via HMI
// Observe local data expansion!
IRAuxfuT:
BOOL:= FALSE;
// Evaluate T function in OB40
IRAuxfuH:
BOOL:= FALSE;
// Evaluate H function in OB40
IRAuxfuE:
BOOL:= FALSE;
// Evaluate DL function in OB40
UserVersion:
POINTER;
// Pointer to string variable,
which is displayed in the version
display of the user interface
OpKeyNum :
INT;
Op1KeyIn
POINTER;
Op1KeyOut :
POINTER;
Op1KeyBusAdr :
INT;
Op2KeyIn :
POINTER;
Op2KeyOut :
POINTER;
Op2KeyBusAdr :
INT;
Op1KeyStop :
BOOL;
Op2KeyStop :
BOOL;
Op1KeyNotSend :
BOOL;
Op2KeyNotSend :
BOOL;
OpKeyBusType :
BYTE ;
IdentMcpBusAdr :
INT;
IdentMcpProfilNo : BYTE ;
IdentMcpBusType : BYTE ;
IdentMcpStrobe :
BOOL;
END_VAR
VAR_OUTPUT
916
MaxBAG:
INT;
MaxChan:
INT;
MaxAxis:
INT;
ActivChan:
ARRAY[1..10] OF
BOOL;
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13.17 Block descriptions
ActivAxis:
ARRAY[1..31] OF
BOOL;
UDInt :
INT;
UDHex:
INT;
UDReal :
INT;
IdentMcpType :
BYTE ;
IdentMcpLengthIn : BYTE ;
IdentMcpLengthOut BYTE ;
:
END_VAR
Description of formal parameters of SINUMERIK 840D sl
Signal
Typ
e
Type
Value range
Description
MCPNum:
INT
0, 1, 2
MCP1In:
POINTER
E0.0 ... E120.0
or
M0.0 ... M248.0
or
DBn DBX0.0 ... DBXm.0
Start address for input signals of relevant
machine control panel
POINTER
A0.0 ... A120.0
or
M0.0 ... M248.0
or
DBn DBX0.0 ... DBXm.0
Start address for output signals of relevant
machine control panel
POINTER
A0.0 ... A124.0
or
M0.0 ... M252.0
or
DBn DBX0.0 ... DBXm.0
Only for Ethernet MCP:
A0.0 ... A124.0
or
M0.0 ... M252.0
or
DBn DBX0.0 ... DBXm.0
Currently no significance
Number of active MCPs
0: No MCPs available
MCP2In:
MCP1Out:
MCP2Out:
MCP1StatSend:
MCP2StatSend:
MCP1StatRec:
POINTER
INT
MCP2StatRec:
MCP1BusAdr:
MCP2BusAdr:
MCP1Timeout:
1, 2, 3 ... 126
192, 193, 194 .. 223
Switch off flashing (see Section "Switch
over of machine control panel, handheld
unit (Page 876)")
DP slave: PROFIBUS address
Ethernet MCP: DIP setting
S5time
Recommendation: 700 ms
Cyclic sign-of-life monitoring for machine
control panel
S5time
Recommendation: 200 ms
Relevant only for PROFIBUS
MCPMPI:
BOOL
FALSE
MCP1Stop:
BOOL
0 (FALSE), 1 (TRUE)
MCP2Timeout:
MCP1Cycl:
MCP2Cycl:
MCP2Stop:
Available owing to compatibility
0: Start transfer of machine control panel
signals
1: Stop transfer of machine control panel
signals
DP slave: Slave deactivated
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13.17 Block descriptions
Signal
Typ
e
Type
Value range
MCP1NotSend :
MCP2NotSend:
BOOL
0 (FALSE), 1 (TRUE)
MCPSDB210:
BOOL
MCPCopyDB77:
MCPBusType:
Description
0: Send and receive operation activated
1: Receive machine control panel signals
only
false
Available owing to compatibility
BOOL
false
Available owing to compatibility
BYTE
3, 4, 5, 6
b#16#yx:
Bus type MCP1: lower nibble (x)
Bus type MCP2: upper nibble (y)
3: PROFIBUS
4: PROFIBUS on the MPI/DP port
5: Ethernet
6: PROFINET
Mixed mode is possible (see Chapter "Con
figuration machine control panel, handheld
unit, direct keys (Page 867)")
HHU:
INT
0, 5
Handheld unit interface
0: No HHU
5: HHU on Ethernet
BHGIn:
POINTER
E0.0 ... E124.0
or
M0.0 ... M252.0
or
DBn DBX0.0 ... DBXm.0
Start address PLC receive data from HHU
BHGOut:
POINTER
A0.0 ... A124.0
or
M0.0 ... M252.0
or
DBn DBX0.0 ... DBXm.0
Start address PLC transmit data to HHU
BHGStatSend:
POINTER
A0.0 ... A124.0
or
M0.0 ... M252.0
or
DBn DBX0.0 ... DBXm.0
Available owing to compatibility
BHGStatRec:
POINTER
A0.0 ... A124.0
or
M0.0 ... M252.0
or
DBn DBX0.0 ... DBXm.0
Available owing to compatibility
BHGInLen:
BYTE
HHU default:
B#16#6 (6 Byte)
Available owing to compatibility
BHGOutLen:
BYTE
HHU default:
B#16#14 (20 Byte)
Available owing to compatibility
BHGTimeout:
S5time
Recommendation: 700 ms
Available owing to compatibility
BHGCycl:
S5time
Recommendation: 100 ms
Available owing to compatibility
BHGRecGDNo:
INT
HHU default: 2
Ethernet DIP switch
BHGRecGBZNo:
INT
HHU default: 2
Available owing to compatibility
BHGRecObjNo:
INT
HHU default: 1
Available owing to compatibility
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13.17 Block descriptions
Signal
Typ
e
Type
Value range
Description
BHGSendGDNo:
INT
HHU default: 2
Available owing to compatibility
BHGSendGBZNo:
Int
HHU default: 1
Available owing to compatibility
BHGSendObjNo:
INT
HHU default: 1
Available owing to compatibility
BHGMPI:
BOOL
0 (FALSE)
Available owing to compatibility
BHGStop:
BOOL
0 (FALSE), 1 (TRUE)
0: Start transmission of handheld unit sig
nals
1: Stop transmission of handheld unit sig
nals
BHGNotSend:
BOOL
0 (FALSE), 1 (TRUE)
NCCyclTimeout:
S5time
Recommendation: 200 ms
NCRunupTimeout:
S5time
Recommendation: 50 s
ListMDecGrp:
INT
0, 1, 2 ... 16
0: Send and receive operation activated
1: Receive handheld unit signals only
Cyclic sign-of-life monitoring NCK
Power-up monitoring NCK
Activation of expanded M group decoding
0: Not active
1...16: Number of M groups
NCKomm:
BOOL
0 (FALSE), 1 (TRUE)
PLC NC communication services FB2, 3,
4, 5, 7
1: Active
MMCToIF:
BOOL
0 (FALSE), 1 (TRUE)
Transmission of HMI signals to interface
(modes, program control etc.)
1: Active
HWheelMMC:
BOOL
0 (FALSE), 1 (TRUE)
0: Handwheel selection via HMI
1: Handwheel selection via user program
ExtendAlMsg :
BOOL
0 (FALSE), 1 (TRUE)
Activation of extensions error and operat
ing messages of the FC10 (see section
"Extensions of the PLC alarms via block
FC10" in Chapter "Interface PLC/HMI
(Page 842)")
MsgUser:
INT
0, 1, 2 ... 64
Number of user areas (DB2) depends on
parameter "ExtendAIMsg"
UserIR:
BOOL
0 (FALSE), 1 (TRUE)
Local data expansion OB40 required for
processing of signals from the user
IRAuxfuT:
BOOL
0 (FALSE), 1 (TRUE)
Evaluate T function in OB40
IRAuxfuH:
BOOL
0 (FALSE), 1 (TRUE)
Evaluate H function in OB40
IRAuxfuE:
BOOL
0 (FALSE), 1 (TRUE)
Evaluate DL function in OB40
UserVersion:
POINTER
P#DBn.DBXx.0
Pointer to string variable, which is dis
played in the version display of the user
interface
The following written format applies to the
string variable (max. 41 characters:
"<"<Name> <Version xx.xx.xx> <Date yy/
mm/dd>"
Example: "Test-Version 07.06.02
13/06/04"
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13.17 Block descriptions
Signal
OpKeyNum :
Typ
e
Type
Value range
INT
0, 1, 2
Description
Number of active direct control key mod
ules
0: No Ethernet direct control keys availa
ble.
Op1KeyIn:
Op2KeyIn:
POINTER
P#Ex.0
or
P#Mx.0
or
P#DBn.DBXx.0.
Start address for the input signals of the
affected direct control key modules
Op1KeyOut :
POINTER
P#Ax.0
or
P#Mx.0
or
P#DBn.DBXx.0.
Start address for the output signals of the
affected direct control key modules
INT
1, 2, 3 ... 191
Direct control keys via Ethernet: TCU in
dex:
BOOL
0 (FALSE), 1 (TRUE)
0: Start transmission of direct control key
signals
Op2KeyOut :
Op1KeyBusAdr :
Op2KeyBusAdr :
Op1KeyStop :
Op2KeyStop :
Op1KeyNotSend :
1: Stop transmission of direct control key
signals
I
BOOL
0 (FALSE), 1 (TRUE)
Op2KeyNotSend :
0: Send and receive operation activated
1: Receive direct control key signals only
OpKeyBusType :
BYTE
b#16#55
IdentMcpBusAdr :
INT
1, 2, 3 ... 254
IdentMcpProfilNo :
BYTE
0, 1
Ethernet
only IE devices
Profile of a device
0: Complete device
1: Only direct control keys
IdentMcpBusType :
BYTE
b#16#5
IdentMcpStrobe :
BOOL
0 (FALSE), 1 (TRUE)
MaxBAG:
INT
1, 2, 3 ... 10
Number of mode groups
MaxChan:
INT
1, 2, 3 ... 10
Number of channels
MaxAxis:
INT
1, 2, 3 ... 31
Number of axes
ActivChan:
ARRAY[1...10]
OF BOOL
0 (FALSE), 1 (TRUE)
Bit string for active channels
ActivAxis:
ARRAY [1..31]
OF BOOL
0 (FALSE), 1 (TRUE)
Bit string for active axes
UDInt :
INT
0,
Quantity of INTEGER machine data in
DB20
UDHex:
INT
---
Quantity of hexadecimal machine data in
DB20
UDReal :
INT
---
Quantity of REAL machine data in DB20
IdentMcpType :
BYTE
0, B#16#80, B#16#81,
B#16#82 ... B#16#89
IdentMcpLengthIn :
BYTE
---
Length of MCP input data (MCP PLC)
IdentMcpLengthOut :
BYTE
---
Length of MCP output data (PLC MCP)
920
only IE devices
1: Activate query
MCP type
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
If an error occurs during communication with a machine control panel (MCP) or handheld unit
(HHU), the following alarms are displayed on the HMI and the input signals (MCP1In, MCP2In
or BHGIn) are set to the value zero:
Error case: MCP / HHU (840D sl)
Alarm 400260: "MCP 1 failure"
Alarm 400261: "MCP 2 failure"
Alarm 400262: "HHU failure"
If resynchronization is possible between PLC and MCP/HHU, communication is resumed, the
error message on the HMI is deleted by the basic program, and process values are transferred
to the input signals (MCP1In, MCP2In or BHGIn) again.
Example: FB1 call in OB100 (840D sl)
ORGANIZATION_BLOCK OB100
VAR_TEMP
OB100_EV_CLASS :
BYTE ;
OB100_STRTUP :
BYTE ;
OB100_PRIORITY :
BYTE ;
OB100_OB_NUMBR :
BYTE ;
OB100_RESERVED_1 :
BYTE ;
OB100_RESERVED_2 :
BYTE ;
OB100_STOP :
WORD;
OB100_RESERVED_3 :
WORD;
OB100_RESERVED_4 :
WORD;
OB100_DATE_TIME :
DATE_AND_TIME;
END_VAR
BEGIN
CALL FB1, DB7(
// FB1 call, instance DB: DB7
MCPNum :=
1,
MCP1In :=
P#E0.0,
MCP1Out :=
P#A0.0,
MCP1StatSend :=
P#A8.0,
MCP1StatRec :=
P#A12.0,
MCP1BusAdr :=
6,
MCP1Timeout :=
S5T#700MS,
MCP1Cycl :=
S5T#200MS,
NC-CyclTimeout :=
S5T#200MS,
NC-RunupTimeout :=
S5T#50S);
// INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK
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13.17 Block descriptions
13.17.2
FB2: GET - read NC variable
Function
The FB2 "GET" function block is used to read variables from the NC area.
In order to reference the NC variables, they are first selected with the "NC VAR selector" tool
and generated as STL source in a data block. A name must then be assigned to this data block
in the S7 symbol table. When calling FB2, the variable addresses are transferred in the
following form: Parameter "Addr1" to "Addr8" = "<DB name>.<S7 name>"
Request for reading NC variables
Call of FB2 with positive edge change, parameter "Req" = 0 1
S7 names of the NC variables: Parameter "Addr1" to "Addr8" = "NCVAR".<S7 name>"
Pointer for writing the variable values: Parameters "RD1" to "RD8" = "P#<Address>"
Completion of the read request
Read request successfully completed: Parameter "Done" == 1.
Read request completed with error:"Parameter "Error" == 1, error cause in parameter "State"
Prerequisites
Release of the NC/PLC communication by OB100, FB1 parameter "NCKomm" = 1
For the data block DB120 (data interface), the S7 Symbol Editor must be used to assign a
symbol (default: NCVAR) in the S7 symbol table of the S7 project. Via this symbol, the NC
variable is then specified in the FB2 parameters "Addr<x>", e.g. "ADDR1: = "NCVAR".<NC
variable>"
General conditions
FB2 has multi-instance capability.
Every call of FB2 must be assigned a separate instance DB from the user area.
When channel-specific variables are read, only variables from exactly one channel may be
addressed via "Addr1" to "Addr8" if FB2 is called.
When drive-specific variables are read, only variables from exactly one SERVO drive object
may be addressed via "Addr1" to "Addr8" if FB2 is called. The SERVO drive object must
be assigned to a machine axis of the NC. The line index corresponds to the logical drive
number.
In a read job, only variables from the same area, channel, or drive object can be read.
Note
Error case
When reading variables from different channels or drive objects, or simultaneously from a
channel and a drive object, an error message is output:
"Error" == TRUE
"State" == W#16#02
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13.17 Block descriptions
Variable addressing
For some NC variables, it is necessary to select "Area no." and/or "Line" or "Column" from the
NC VAR selector. It is possible to select a basic type, i.e. "Area no.", "Line" and "Column" are
preassigned "0". The values of the "Area no.", "Line" and "Column" specified by the NC VAR
selector are checked for a "0" in FB2. If an NC-VAR selector value == "0", the corresponding
value of the FB2 parameter is adopted. To do this, the FB2 parameters "Unit<x>", "Column<x>"
and "Line<x>", with <x> = 1 - 8, must be written before FB2 is called.
Table 13-1
Parameter match
FB2 parameter
NC VAR selector
Unit
Area no.
Column
Column
Line
Line
Variables within one group can be combined in a job:
Group
Area
C[1]
C[2]
V[.]
H[.]
---
---
---
The same rules apply for channels 3 to 10 as for group 1 and group 2 shown in the example.
Note
The number of usable variables can be less than eight when simultaneously reading several
variables of the "String" type.
Declaration of the function
FUNCTION_BLOCK FB2
VAR_INPUT
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13.17 Block descriptions
Req :
BOOL;
NumVar :
INT;
Addr1 :
ANY;
Unit1 :
BYTE ;
Column1 :
WORD;
Line1 :
WORD;
Addr2 :
ANY;
Unit2 :
BYTE ;
Column2 :
WORD;
Line2 :
WORD;
Addr3 :
ANY;
Unit3 :
BYTE ;
Column3 :
WORD;
Line3 :
WORD;
Addr4 :
ANY;
Unit4 :
BYTE ;
Column4 :
WORD;
Line4 :
WORD;
Addr5 :
ANY;
Unit5 :
BYTE ;
Column5 :
WORD;
Line5 :
WORD;
Addr6 :
ANY;
Unit6 :
BYTE ;
Column6 :
WORD;
Line6 :
WORD;
Addr7 :
ANY;
Unit7 :
BYTE ;
Column7 :
WORD;
Line7 :
WORD;
Addr8 :
ANY;
Unit8 :
BYTE ;
Column8 :
WORD;
Line8 :
WORD;
END_VAR
VAR_OUTPUT
Error :
BOOL;
NDR :
BOOL;
State :
WORD;
END_VAR
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13.17 Block descriptions
VAR_IN_OUT
RD1 :
ANY;
RD2 :
ANY;
RD3 :
ANY;
RD4 :
ANY;
RD5 :
ANY;
RD6 :
ANY;
RD7 :
ANY;
RD8 :
ANY;
END_VAR
Description of formal parameters
Parameter
Typ
e
Type
Value range
Description
Req:
BOOL
---
NumVar:
INT
1 ... 8
Number of variables to be read:
"Addr1" - "Addr8"
Addr1 - Addr8:
ANY
"DBName".<VarName>
Variable identifiers from NC Var
selector
Unit1 - Unit8:
BYTE
---
Area address, optional for variable
addressing
Column1 Column8:
WORD
---
Column address, optional for vari
able addressing
Line1 - Line8:
WORD
---
Line address, optional for variable
addressing
Error:
BOOL
0 (FALSE), 1 (TRUE)
1: Negative acknowledgement of
job or execution of job impossible
NDR :
BOOL
0 (FALSE), 1 (TRUE)
1: Job successfully executed Data
is available
State:
WORD
---
See paragraph "Error identifiers"
RD1 - RD8:
I/O
ANY
Job start with positive signal edge
P#Mm.n BYTE x ...
Target area for read data
P#DBnr.dbxm.n BYTE x
Error identifiers
NC variables
State
Description
Note
High byte
Low byte
1-8
Access error
---
Error in job
Incorrect compilation of variables in a job
1)
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13.17 Block descriptions
State
High byte
Low byte
1)
Description
Note
Negative acknowledgement,
job not executable
Internal error, possible remedy:
Check job data
NC reset
1-8
Insufficient local user memo Data type of the read variable is greater than
ry available
specified in "RD1" - "RD8"
Format conversion error
Error on conversion of var. type double: Vari
able is not within the S7 REAL area
FIFO full
Job must be repeated since queue is full
Option not set
FB1 parameter "NCKomm" is not set
1-8
Incorrect target area (RD)
"RD1" - "RD8" must not be local data
Transmission occupied
Job must be repeated
1-8
10
Error in variable addressing
"Unit" or "Column"/"Line" contains value 0
11
Address of variable invalid
Check "Addr" (or variable name), "Area", "Unit"
12
NumVar == 0
Check parameter "NumVar"
1-8
13
ANY data reference incorrect Requested "NcVar" data has not been para
meterized
1) High byte > 0 Number of the variable in which the error occurred
Drive-specific variables
If an error occurs while reading/writing a drive-specific variable (DB1200.DBX3000.1 == 1),
an error number is displayed in the access result which is based on the error numbers defined
in the PROFIdrive profile.
State
x
Description
<Error number of PROFIdrive profile> + 20H or 36D
Determining the significance of the access result:
1. Calculation of the error number of the PROFIdrive profile
<Error number of PROFIdrive profile> = result of access - 20H or 36D.
2. Determining the significance of the error number of the PROFIdrive profile
The error numbers of the PROFIdrive profile are described in:
References
SINAMICS S120 Drive Functions Function Manual; Chapter "Communication" >
"Communication according to PROFIdrive" > "Acyclic communication" > "Structure of
orders and responses" > paragraph "Error values in parameter responses"
Configuration steps
Proceed as follows to read NC variables:
Select variables with the NC VAR selector.
Save selected variables in a *.VAR file.
Generate a STEP 7 *.STL source file.
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13.17 Block descriptions
Generate a DB with the associated address data.
Enter the symbol for the generated DB in the symbol table so that it is possible to access
the address parameters symbolically in the user program.
Parameterizing the FB2
Pulse diagram
5HT
1'5
(UURU
User: Set request, Req = 0 1
FB4: PI service successfully completed, NDR = 1
User: Reset request, IF NDR == 1 THEN Req = 0
User: IF NDR == 1 THEN reset request: 1 0
FB4: Reset job confirmation, NDR = 0
User: IF NDR == 0 AND Error == 0 THEN reset request Req = 1 0 not permissible
FB4: PI service completed with errors, Error = 1
User: Reset request, IF NDR == 1 OR Error == 1 THEN Req = 0, possible further error handling
Call example
Reading three channel-specific machine data from channel 1, whose address specifications
are stored in DB120.
Specification of data
The data is selected with the NC VAR selector and saved in the DB120.VAR file. Then the
DB120.AWL file is created from this.
S7 (ALIAS) names are selected.
To adopt the channel designation into the variable name and to delete the characters "[" and
"]", which are not permitted in a STEP 7 symbol, new S7 names are selected:
Area
Block
Type
No.
C[1]
Name
MD20070 $MC_AXCONF_MA
CHAX_USED[1]
CHAR
20070
C1AxConfMachAxUsed1
C[1]
MD20070 $MC_AXCONF_MA
CHAX_USED[2]
CHAR
20070
C1AxConfMachAxUsed2
C[1]
MD20090 $MC_SPIND_DEF_MAS
TER_SPIND
INT
20090
C1SpindDefMasterSpind
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Byte S7 Name
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13.17 Block descriptions
S7 symbol table
"NCVAR" is entered in the S7 symbol table as a symbolic name for the data block DB120:
Symbol
Operand
Data type
NCVAR
DB120
DB120
File DB120.AWL must be compiled and transferred to the PLC.
Parameterization of FB2 with instance DB110:
DATA_BLOCK DB110
// Unassigned user DB, as instance for FB2
FB2
BEGIN
END_DATA_BLOCK
Function FC "VariablenCall" : VOID
U
I 7.7;
// Unassigned machine control panel key
M 100.0;
// Activate req.
M 100.1;
// NDR completed message
M 100.0;
// Terminate job
I 7.6;
// Manual error acknowledgment
M 102.0;
// Error pending
M 100.0;
// Terminate job
CALL FB2, DB110(
Req :=
M 100.0,
NumVar :=
3,
Addr1 :=
"NCVAR".C1AxConfMachAxUsed1,
// Read three variables
Addr2 :=
"NCVAR".C1AxConfMachAxUsed2,
Addr3 :=
"NCVAR".C1SpindDefMasterSpind,
Error :=
M102.0,
NDR :=
M100.1,
State :=
MW104,
RD1 :=
P#DB99.DBX0.0 BYTE 1,
RD2 :=
P#DB99.DBX1.0 BYTE 1,
RD3 :=
P#M110.0 INT 1);
Example: Variable addressing
Reading two R parameters from channel 1, whose address specifications are stored in DB120
as the basic type. The R parameter number is parameterized via parameter "Line<x>".
DATA_BLOCK DB120
VERSION : 0.0
STRUCT
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13.17 Block descriptions
C1_RP_rpa0_0:
STRUCT
SYNTAX_ID :
BYTE := B#16#82;
area_and_unit :
BYTE := B#16#41;
column :
WORD := W#16#1;
line :
WORD := W#16#0;
block type :
BYTE := B#16#15;
NO. OF LINES :
BYTE := B#16#1;
type :
BYTE := B#16#F;
length :
BYTE := B#16#8;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
CALL FB2, DB110(
Req :=
M 0.0,
NumVar :=
2,
Addr1 :=
"NCVAR".C1_RP_rpa0_0,
Line1 :=
W#16#1,
Addr2 :=
"NCVAR".C1_RP_rpa0_0,
Line2 :=
W#16#2,
Error :=
M 1.0,
NDR :=
M 1.1,
State :=
MW 2,
RD1 :=
P#M 4.0 REAL 1,
RD2 :=
P#M 24.0 REAL 1);
Classification of data types
NC data type
S7 data type
DOUBLE
REAL
DOUBLE
REAL2
FLOAT
REAL
LONG
DINT
INTEGER
DINT
UINT_32
DWORD
INT_16
INT
UINT_16
WORD
UNSIGNED
WORD
CHAR
CHAR or BYTE
STRING
STRING
BOOL
BOOL
DATETIME
DATE_AND_TIME
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13.17 Block descriptions
Example
For example, to be able to read an NC variable of the type DOUBLE without adapting the
format, an ANY pointer with REAL2 type must be specified in the destination area "RDx" (e.g.:
P#M100.0 REAL2). If the basic program recognizes REAL2 as the target type when reading
a variable of the DOUBLE type, the data is transferred to the PLC data area as a 64-bit floatingpoint number.
13.17.3
FB3: PUT - write NC variables
Function
The FB3 "PUT" function block is used to write variables from the NC area.
In order to reference the NC variables, they are first selected with the "NC VAR selector" tool
and generated as STL source in a data block. A name must then be assigned to this data block
in the S7 symbol table. When calling FB3, the variable addresses are transferred in the
following form: Parameter "Addr1" to "Addr8" = "<DB name>".<S7 name>
Request for writing NC variables
Call of FB3 with positive edge change, parameter "Req" = 0 1
S7 names of the NC variables: Parameter "Addr1" to "Addr8" = "NCVAR".<S7 name>"
Pointer for writing the variable values: Parameters "RD1" to "RD8" = "P#<Address>"
Completion of the write request
Write request successfully completed: Parameter "Done" == 1.
Write request with error completed:"Parameter "Error" == 1, error cause in parameter "State"
Prerequisites
Release of the NC/PLC communication by OB100, FB1 parameter "NCKomm" = 1
For the data block DB120 (data interface), the S7 Symbol Editor must be used to assign a
symbol (default: NCVAR) in the S7 symbol table of the S7 project. Via this symbol, the NC
variable is then specified in the FB3 parameters "Addr<x>", e.g. "ADDR1":= "NCVAR".<NCVariable>"
General conditions
FB3 has multi-instance capability.
Every call of FB3 must be assigned a separate instance DB from the user area.
In order to define machine data and GUD without a password, the protection level of the
data you want to access must be redefined to the lowest level.
References:
Commissioning Manual; Section: "Protection levels concept"
Programming Manual, Job Planning; Section: "Define protection levels for user data"
When channel-specific variables are written, only variables from exactly one channel may
be addressed via "Addr1" to "Addr8" if FB2 is called.
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13.17 Block descriptions
When drive-specific variables are written, only variables from exactly one SERVO drive
object may be addressed via "Addr1" to "Addr8" if FB2 is called. The SERVO drive object
must be assigned to a machine axis of the NC. The line index corresponds to the logical
drive number.
In a write job, only variables from the same area, channel, or drive object can be written.
Note
Error case
When writing variables from different channels or drive objects, or simultaneously from a
channel and a drive object, an error message is output:
"Error" == TRUE
"State" == W#16#02
Variable addressing
For some NC variables, it is necessary to select "Area no." and/or "Line" or "Column" from the
NC VAR selector. It is possible to select a basic type, i.e. "Area no.", "Line" and "Column" are
preassigned "0". The values of the "Area no.", "Line" and "Column" specified by the NC VAR
selector are checked for a "0" in FB2. If an NC-VAR selector value == "0", the corresponding
value of the FB3 parameter is adopted. To do this, the FB3 parameters "Unit<x>", "Column<x>"
and "Line<x>", with <x> = 1 - 8, must be written before FB3 is called.
FB3 parameter
NC VAR selector
Unit<x>
Area no.
Column<x>
Column
Line<x>
Line
NCK variables within one group can be combined in a job:
Group
Area
C[1]
C[2]
V[.]
H[.]
---
---
---
The same rules apply for channels 3 to 10 as for group 1 and group 2 shown in the example.
Note
The number of usable variables can be less than eight when simultaneously writing several
variables of the "String" type.
Declaration of the function
FUNCTION_BLOCK FB3
VAR_INPUT
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13.17 Block descriptions
Req :
BOOL;
NumVar :
INT;
Addr1 :
ANY;
Unit1 :
BYTE ;
Column1 :
WORD;
Line1 :
WORD;
Addr2 :
ANY;
Unit2 :
BYTE ;
Column2 :
WORD;
Line2 :
WORD;
Addr3 :
ANY;
Unit3 :
BYTE ;
Column3 :
WORD;
Line3 :
WORD;
Addr4 :
ANY;
Unit4 :
BYTE ;
Column4 :
WORD;
Line4 :
WORD;
Addr5 :
ANY;
Unit5 :
BYTE ;
Column5 :
WORD;
Line5 :
WORD;
Addr6 :
ANY;
Unit6 :
BYTE ;
Column6 :
WORD;
Line6 :
WORD;
Addr7 :
ANY;
Unit7 :
BYTE ;
Column7 :
WORD;
Line7 :
WORD;
Addr8 :
ANY;
Unit8 :
BYTE ;
Column8 :
WORD;
Line8 :
WORD;
END_VAR
VAR_OUTPUT
Error :
BOOL;
Done :
BOOL;
State :
WORD;
END_VAR
VAR_IN_OUT
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13.17 Block descriptions
SD1 :
ANY;
SD2 :
ANY;
SD3 :
ANY;
SD4 :
ANY;
SD5 :
ANY;
SD6 :
ANY;
SD7 :
ANY;
SD8 :
ANY;
END_VAR
Description of formal parameters
Signal
Typ
e
Type
Value range
Description
Req:
BOOL
Job start with positive signal edge
NumVar:
INT
1 ... 8
Number of variables to be written:
"Addr1" - "Addr8"
Addr1 - Addr8:
ANY
"DBName".<VarName>
Unit1 - Unit8:
BYTE
Area address, optional for variable
addressing
Column1 - Column8:
WORD
Column address, optional for vari
able addressing
Line1 - Line8:
WORD
Line address, optional for variable
addressing
Error:
BOOL
0 (FALSE), 1 (TRUE)
Negative acknowledgement of job
or execution of job impossible
Done:
BOOL
0 (FALSE), 1 (TRUE)
Job successfully executed
State:
WORD
SD1 - SD8:
I/O
ANY
Variable identifiers from NC Var
selector
See paragraph "Error identifiers"
P#Mm.n BYTE x...
Data to be written
P#DBnr.dbxm.n BYTE x
Error identifiers
NC variables
State
Description
Note
High byte
Low byte
1- 8
Access error
---
Error in job
Incorrect compilation of variables in a job
Negative acknowledgement,
job not executable
Internal error, try:
1)
Check job
NC reset
1- 8
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Data areas or data types do
not match or string is empty
Check data in "SD1" - "SD8"
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13.17 Block descriptions
State
Description
Note
FIFO full
Job must be repeated since queue is full
Option not set
FB1 parameter "NCKomm" is not set
1- 8
Incorrect target area (SD)
"SD1" - "SD8" must not be local data
Transmission occupied
Job must be repeated
1- 8
10
Error in variable addressing
"Unit" or "Column"/"Line" contains value 0
11
Variable address invalid or
variable is read-only
Check "Addr" (or variable name), "Area", "Unit"
Check parameter "NumVar"
High byte
Low byte
0
0
1)
12
NumVar == 0
1- 8
13
ANY data reference incorrect Requested "NcVar" data has not been para
meterized
1- 8
15
User data too long
Remedy: Write fewer variables per job or use
shorter string variables
1) High byte > 0 Number of the variable in which the error occurred
Drive-specific variables
If an error occurs while reading/writing a drive-specific variable (DB1200.DBX3000.1 == 1),
an error number is displayed in the access result which is based on the error numbers defined
in the PROFIdrive profile.
State
x
Description
<Error number of PROFIdrive profile> + 20H or 36D
Determining the significance of the access result:
1. Calculation of the error number of the PROFIdrive profile
<Error number of PROFIdrive profile> = result of access - 20H or 36D.
2. Determining the significance of the error number of the PROFIdrive profile
The error numbers of the PROFIdrive profile are described in:
References
SINAMICS S120 Drive Functions Function Manual; Chapter "Communication" >
"Communication according to PROFIdrive" > "Acyclic communication" > "Structure of
orders and responses" > paragraph "Error values in parameter responses"
Configuration steps
To write NC variables, the same configuration steps are required as for reading NC variables.
It is useful to store the address data of all NC variables to be read or written in a DB.
934
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13.17 Block descriptions
Pulse diagram
5HT
'RQH
(UURU
User: Set request, Req = 0 1
FB4: PI service successfully completed, Done = 1
User: Reset request, IF Done == 1 THEN Req = 0
User: IF Done == 1 THEN reset request: 1 0
FB4: Reset job confirmation, Done = 0
User: IF Done == 0 AND Error == 0 THEN reset request Req = 1 0 not permissible
FB4: PI service completed with errors, Error = 1
User: Reset request, IF Done == 1 OR Error == 1 THEN Req = 0, possible further error handling
Call example
Writing of three channel-specific machine data of channel 1:
Selection of three data with NC VAR selector and storage in file DB120.VAR
S7 (ALIAS) names are selected in order to adopt the block designation into the name and to
remove the characters [ ], which are not permitted in a STEP 7 symbol.
Area
Block
Name
Type
Byte
S7 Name
C[1]
RP
rpa[5]
DOUBLE
rpa_5C1RP
C[1]
RP
rpa[11]
DOUBLE
rpa_11C1RP
C[1]
RP
rpa[14)
DOUBLE
rpa_14C1RP
Entry NCVAR for DB120 with the S7 SYMBOL Editor
Symbol
Operand
Data type
NCVAR
DB120
DB120
File DB120.AWL must be compiled and transferred to the PLC.
Calling and parameterizing the FB3 with instance DB111
DATA_BLOCK DB111
// Unassigned user DB, as instance for FB3
FB3
BEGIN
Function FC "VariablenCall" : VOID
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13.17 Block descriptions
END_DATA_BLOCK
U
I 7.7;
// Unassigned machine control panel key
M 100.0;
// Activate req.
M 100.1;
// Done completed message
M 100.0;
// Terminate job
I 7.6;
// Manual error acknowledgment
M 102.0;
// Error pending
M 100.0;
// Terminate job
CALL FB3, DB111(
Req :=
M 100.0,
NumVar :=
3,
Addr1 :=
"NCVAR".rpa_5C1RP,
Addr2 :=
"NCVAR".rpa_11C1RP,
Addr3 :=
"NCVAR".rpa_14C1RP,
Error :=
M102.0,
Done :=
M100.1,
State :=
MW104,
SD1 :=
P#DB99.DBX0.0 REAL 1,
SD2 :=
P#DB99.DBX4.0 REAL 1,
SD3 :=
P#M110.0 REAL 1);
// Write three variables
Example: Variable addressing
Writing two R parameters from channel 1, whose address specifications are stored in DB120
as the basic type. The R parameter number is parameterized via parameter LineX.
DATA_BLOCK DB120
VERSION : 0.0
STRUCT
C1_RP_rpa0_0:
STRUCT
SYNTAX_ID :
BYTE := B#16#82;
area_and_unit :
BYTE := B#16#41;
column :
WORD := W#16#1;
line :
WORD := W#16#0;
block type :
BYTE := B#16#15;
NO. OF LINES :
BYTE := B#16#1;
type :
BYTE := B#16#F;
length :
BYTE := B#16#8;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
CALL FB3, DB122(
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13.17 Block descriptions
Req :=
M 10.0,
NumVar :=
2,
Addr1 :=
"NCVAR".C1_RP_rpa0_0,
Line1 :=
W#16#1,
Addr2 :=
"NCVAR".C1_RP_rpa0_0,
Line3 :=
W#16#2
Error :=
M 11.0,
Done :=
M 11.1,
State :=
MW 12,
SD1 :=
P#M 4.0 REAL 1,
SD2 :=
P#M 24.0 REAL 1);
13.17.4
FB4: Request PI service
13.17.4.1
FB4: PI_SERV - request PI service
Function
The function block FB4 "PI_SERV" is used to start PI services.
The available PI services are described in the following chapters with their specific parameters.
An overview of the available PI services can be found in: List of available Pl services
(Page 941)
Note
Due to the large number of "WVar" parameters, it is recommended that you use the function
block FB7 instead of FB4. See Chapter "FB7: PI_SERV2 - request PI service (Page 973)".
Start of a PI service
Request to start a PI service: Call of FB4 with positive edge change, parameter "Req" = 0 1
Completion of a PI service
Job or PI service successfully completed: Parameter "Done" == 1.
Job or PI service completed with error:"Parameter "Error" == 1, error cause in parameter "State"
Prerequisites
Release of the NC/PLC communication by OB100, FB1 parameter "NCKomm" = 1
For the data block DB16 (data interface of the PI services), the S7 Symbol Editor must be
used to assign a symbol (default: PI) in the S7 symbol table of the S7 project. The requested
PI service is then specified via this symbol in the FB4 parameter "PIService", e.g.
"PIService:= "PI".<PI service>"
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13.17 Block descriptions
General conditions
Every call of FB4 must be assigned a separate instance DB from the user area.
The start of a PI service (FB4 call with "Req" = 1) is only permitted in the cyclic part of the
PLC basic program (OB1).
If the PI service is not started (FB4 call with "Req" = 0), the parameters can also be written
in the start-up part of the PLC basic program (OB100). The PI service can then be started
using the already written parameters in the cyclic part of the PLC basic program (OB1) by
calling FB4 with "Req" = 1.
The execution of the PI service generally extends over several PLC cycles.
Declaration of the function
FUNCTION_BLOCK FB4
VAR_INPUT
w
Req :
BOOL;
PIService :
ANY;
Unit :
INT;
Addr1 :
ANY;
Addr2 :
ANY;
Addr3 :
ANY;
Addr4 :
ANY;
WVar1 :
WORD;
WVar2 :
WORD;
WVar3 :
WORD;
WVar4 :
WORD;
WVar5 :
WORD;
WVar6 :
WORD;
WVar7 :
WORD;
WVar8 :
WORD;
WVar9 :
WORD;
WVar10 :
WORD;
END_VAR
VAR_OUTPUT
Error :
BOOL;
Done :
BOOL;
State :
WORD;
END_VAR
938
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13.17 Block descriptions
Description of formal parameters
Signal
Ty
pe
Type
Value range
Description
Req:
BOOL
0 (FALSE), 1 (TRUE)
Job request
PIService:
ANY
"<DBName>".<PI serv
ice>
Requested PI service
<DBName>: symbol name for
DB16, default: "PI"
<PI service>: List of available Pl
services (Page 941)
Unit:
INT
1, 2, 3 ...
Addr1 to Addr4:
ANY
"<DBName>".<Var
Name>
WVar1 to WVar10:
WORD
-32768 ... 32767
8000H - 7FFFH
Error:
BOOL
0 (FALSE), 1 (TRUE)
Area number
Reference to a string
Significance depending on selected PI
service
INTEGER or WORD variable
Significance depending on selected PI
service
Error status
1: Negative acknowledgment of job or
execution of job impossible
Done:
BOOL
0 (FALSE), 1 (TRUE)
State:
WORD
1)
Job status
1: Job successfully executed
Error detection
Only relevant if "Error" == 1
1)
State
Description
Note
Negative acknowledgement, job not ex Internal error, possible remedy through
ecutable
an NC RESET
FIFO full
Repeat the command
Option not set
FB1 parameter "NCKomm" is not set
Transmission occupied
Repeat the command
13
Addr1.. Adddr4: Reference invalid
Specify missing string
14
PI service is unknown
The PI service specified in the "PISer
vice" parameter is unknown. Check
notation.
15
Addr1.. Adddr4: String too long
Check string lengths
Call example
Function: Program selection in channel 1 (main program and workpiece program)
Entry of PI service for DB16 and STR for DB124 using the S7 SYMBOL editor:
Parameterization
Symbol
Operand
Data type
PI
DB16
DB16
STR
DB124
DB124
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13.17 Block descriptions
DATA_BLOCK DB126
// Instance for FB4, unassigned user DB
FB4
BEGIN
END_DATA_BLOCK
// -----------------------------------------------------------------------DATA_BLOCK DB124
STRUCT
PName:
string[32]:= '_N_TEST_MPF
';
// Main program
Path:
string[32]:= '/
_N_MPF_DIR/';
// Main program path
PName_WST:
string[32]:= '_N_ABC_MPF'; // Workpiece program
Path_WST:
string[32]:= '/_N_WCS_DIR/ // Workpiece program path
_N_ZYL_WPD';
END_STRUCT
BEGIN
END_DATA_BLOCK
// ------------------------------------------------------------------------Function FC "PICall" : VOID
U
I 7.7;
// Unassigned machine control panel key
M 0.0;
// Activate req.
M 1.1;
// Done completed message
M 0.0;
// Terminate job
I 7.6;
// Manual error acknowledgment
M 1.0;
// Error pending
M 0.0;
// Terminate job
CALL FB4, DB126 (
Req:=
M0.0,
PIService:=
"PI".SELECT,
// PI service: SELECT
Unit:=
1,
// Channel 1
Addr1:=
"STR".Path,
// Main program: Path
Addr2:=
"STR".PName,
// Main program: Program
// Addr1:=
"STR".Path_WST,
// Workpiece: Path
// Addr2:=
"STR".PName_WST,
// Workpiece: Program
Error:=
M1.0,
Done:=
M1.1,
State:=
MW2
);
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13.17 Block descriptions
Flow diagram
5HT
'RQH
(UURU
User: Set request, Req = 0 1
FB4: PI service successfully completed, Done = 1
User: Reset request, IF Done == 1 THEN Req = 0
User: IF Done == 1 THEN reset request: 1 0
FB4: Reset job confirmation, Done = 0
User: IF Done == 0 AND Error == 0 THEN reset request Req = 1 0 not permissible
FB4: PI service completed with errors, Error = 1
User: Reset request, IF Done == 1 OR Error == 1 THEN Req = 0, possible further error handling
13.17.4.2
List of available Pl services
General PI services
PI service
Function
ASUB (Page 942)
Assign interrupt
CANCEL (Page 943)
Execute cancel
CONFIG (Page 943)
Reconfiguration of tagged machine data
DIGION (Page 944)
Digitizing on
DIGIOF (Page 944)
Digitizing off
FINDBL (Page 944)
Activate block search
LOGIN (Page 945)
Activate password
LOGOUT (Page 945)
Reset password
NCRES (Page 945)
Trigger NC-RESET
SELECT (Page 945)
Select program for processing for one channel
SETUDT (Page 946)
Sets the current user data to active
SETUFR (Page 947)
Activate user frame
RETRAC (Page 947)
Retraction of the tool in the tool direction
PI services of tool management
PI service
Function
CRCEDN (Page 948)
Create a tool cutting edge with specification of the T number
CREACE (Page 948)
Create a tool cutting edge with the next higher/free D number
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13.17 Block descriptions
13.17.4.3
PI service
Function
CREATO (Page 949)
Create a tool with specification of a T number.
DELECE (Page 949)
Delete a tool cutting edge
DELETO (Page 950)
Delete tool
MMCSEM (Page 950)
Semaphores for various PI services
TMCRTO (Page 951)
Create a tool with specification of a name, a duplo number
TMFDPL (Page 952)
Empty location search for loading
TMFPBP (Page 953)
Empty location search
TMGETT (Page 955)
T number for the specified tool name with duplo number
TMMVTL (Page 955)
Prepare magazine location for loading, unload tool
TMPOSM (Page 957)
Position magazine location or tool
TMPCIT (Page 958)
Set increment value for workpiece counter
TMRASS (Page 958)
Reset active status
TRESMO (Page 958)
Reset monitoring values
TSEARC (Page 959)
Complex search using search screen forms
TMCRMT (Page 962)
Create multitool
TMDLMT (Page 963)
Delete multitool
POSMT (Page 963)
Position multitool
FDPLMT (Page 964)
Search/check an empty location within the multitool
PI service: ASUB
Function: Assign interrupt
A program stored on the NCK is assigned an interrupt signal of a channel. The program must
be executable and the path and program name must be specified completely and correctly.
For detailed information, please refer to:
References
Programming Manual, Job Planning; Section: "File and Program Management" > "Program
Memory".
Description of formal parameters
942
Signal
Type
Value range
PIService:
ANY
"PI".ASUP
Unit:
INT
1, 2, 3 ... 10
Description
Assign interrupt 1)
Channel
Addr1:
STRING
Path name
Addr2
STRING
Program name
WVar1:
WORD
1, 2, 3 ... 8
Interrupt number
WVar2:
WORD
1, 2, 3 ... 8
Priority
WVar3:
WORD
0, 1
LIFTFAST 2)
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13.17 Block descriptions
Signal
Type
Value range
Description
WVar4:
WORD
0, 1
BLSYNC 3)
1) As an alternative for the interrupt assignment, the SETINT command can be used. See 2)
2) References: Programming Manual, Job Planning; Section: "Flexible NC programming" > "Interrupt
routine (ASUB)" > "Fast retraction from the contour (SETINT, LIFTFAST, ALF)"
3) References: Programming Manual, Job Planning; Section: "Flexible NC programming" > "Interrupt
routine (ASUB)" > "Assign and start interrupt routine (SETINT, PRIO, BLSYNC)"
Note
The ASUB PI service must only executed in the RESET state of the specified channel.
References:
Programming Manual, Job Planning; Section: "Flexible NC-Programming" > "Interrupt routine
(ASUB)"
13.17.4.4
PI service: CANCEL
Function: Execute cancel
Triggers the "Cancel" function equivalent to the corresponding "Cancel alarm" button on the
user interface (operator panel front).
Description of formal parameters
13.17.4.5
Signal
Type
Value range
Description
PIService:
ANY
"PI".CANCEL
Cancel
PI service: CONFIG
Function: Reconfiguration
The reconfiguration command activates machine data which has been entered sequentially
by the operator or the PLC, almost in parallel.
The command can only be activated when the controller is in RESET state or the program is
interrupted (NC stop at block limit). An FB4 error checkback signal is output if this condition is
not fulfilled (state = 3).
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".CONFIG
Reconfiguration
Unit:
INT
WVar1:
INT
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Classification
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13.17 Block descriptions
13.17.4.6
PI service: DIGION
Function: Digitizing on
Selecting digitizing in the parameterized channel.
Description of formal parameters
13.17.4.7
Signal
Type
Value range
Description
PIService:
ANY
"PI".DIGION
Digitizing on
Unit:
INT
1, 2, 3 ... 10
Channel
PI service: DIGIOF
Function: Digitizing off
Deactivating digitizing in the parameterized channel.
Description of formal parameters
13.17.4.8
Signal
Type
Value range
Description
PIService:
ANY
"PI".DIGIOF
Digitizing off
Unit:
INT
1, 2, 3 ... 10
Channel
PI service: FINDBL
Function: Activate block search
A channel is switched to search mode and the appropriate acknowledgement then transmitted.
The search is then executed immediately by the NC. The search pointer must already be in
the NC at this point in time. The search can be interrupted at any time by an NC RESET. Once
the search is successfully completed, the normal processing mode is reactivated automatically.
NC start then takes effect from the located search target.
It is the sole responsibility of the operator to ensure a collision-free approach path.
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".FINDBL
block search
INT
1 to 10
Channel
WORD
1, 2, 3
Preprocessing mode
Unit:
WVar1:
1: Without calculation
2: With calculation
3: With main block consideration
944
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13.17 Block descriptions
13.17.4.9
PI service: LOGIN
Function: Create password
Transfers the parameterized password to the NC. The passwords generally consist of eight
characters. If required, blanks must be added to the string of the password.
Example
Password: STRING[8] := 'SUNRISE';
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".LOGIN
Create password
Unit:
Addr1:
13.17.4.10
INT
STRING
8 characters
NC
Password
PI service: LOGOUT
Function: Reset password
The password last transferred to the NC is reset.
Description of formal parameters
13.17.4.11
Signal
Type
Value range
PIService:
ANY
"PI".LOGOUT
Unit:
INT
Description
Reset password
NC
PI service: NCRES
Function: Trigger NC-RESET
Triggers an NC-RESET. Parameters "Unit" and "WVar1" must always be set to 0.
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".NCRES
Trigger NC-RESET
INT
WORD
Unit:
WVar1:
13.17.4.12
PI service: SELECT
Function: Select processing for a channel
A program stored on the NC is selected for one channel for execution. This is possible only if
the file may be executed. The path names and the program names are to be written in correct
notation. For detailed information, please refer to:
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13.17 Block descriptions
References
Programming Manual, Job Planning; Section: "File and Program Management" > "Program
Memory".
Possible block types
Block types
Workpiece directory
WPD
Main program
MPF
Subprogram
SPF
Cycles
CYC
Asynchronous subprograms
ASP
Binary files
BIN
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".SELECT
Program selection
Channel
Unit:
13.17.4.13
INT
1, 2, 3 ... 10
Addr1:
STRING
Path name
Addr2:
STRING
Program name
PI service: SETUDT
Function: Set current user data active
The current user data, such as tool offsets, basic frames and settable frames are set to active
in the next NC block (only in stop state).
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".SETUDT
Activate user data
INT
1, 2, 3 ... 10
Channel
WORD
1, 2, 3, 4, 5
User Data Type
Unit:
WVar1:
1: Active tool offset
2: Active basic frame
3: Active settable frame
4: Active global basic frame
5: Active global settable frame
946
WVar2:
WORD
Reserved
Wvar3:
WORD
Reserved
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.4.14
PI service: SETUFR
Function: Activate user frames
User frames are loaded to the NC. All necessary frame values must be transferred to the NC
first with FB3 "Write variables".
Description of formal parameters
13.17.4.15
Signal
Type
Value range
Description
PIService:
ANY
"PI".SETUFR
Activate user frames
Unit:
INT
1, 2, 3 ... 10
Channel
PI service: RETRAC
Function: Select JOG retract
Selects the JOG retract mode. The retraction axis, i.e. the geometry axis, with which the
retraction is executed can be determined by the NC automatically or specified explicitly.
The mode remains active until it is ended with RESET.
Note
The RETRAC PI service can only be activated in JOG mode in the "Reset" state.
Automatic determination
For automatic determination, the geometric axis is selected as a retraction axis, which is
perpendicular (orthogonal) to the currently selected working plane:
G17: Retraction axis 3rd geometry axis (Z)
G18: Retraction axis 2nd geometry axis (Y)
G19: Retraction axis 1st geometry axis (X)
Note
OPI variable retractState
The active retraction axis can be read via the OPI variable retractState.Bit 2/3.
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI".RETRAC
Unit:
INT
1, 2, 3 ... 10
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Description
Select JOG retract mode
Channel
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Signal
Type
Value range
WVar1:
WORD
0, 1, 2, 3
Description
Retraction axis
0: Automatic determination of the retraction axis by the
NC.
1: Retraction axis is the 1st geometry axis of the WCS
2: Retraction axis is the 2nd geometry axis of the WCS
3: Retraction axis is the 3rd geometry axis of the WCS
WVar2:
13.17.4.16
WORD
Reserved. The value must be pre-assigned with 0.
PI service: CRCEDN
Function: Creates new cutting edge
If the T number of an existing tool is entered in parameter "T Number" in the PI service, then
a tool edge for the existing tool is created (in this case, the parameter "D number", i.e. the
number of the edge to be created, has a value range of 1, 2, 3 ... 9.
If a positive T number is specified as a parameter and the tool for the T number entered does
not exist, the PI service is aborted.
If a value of 0 is entered as the T number (model of absolute D numbers), the D number values
can range from 1, 2, 3 to -31999. The new cutting edge is set up with the specified D number.
If the specified cutting edge already exists, the PI service is aborted in both cases.
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI".CRCEDN
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
WVar2:
INT
Description
Create new cutting edge
TOA
T number of tool for which cutting edge must be cre
ated. A setting of 00000 states that the cutting edge
should not refer to any particular tool (absolute D
number).
1 ... 9
Edge number of tool cutting edge
1 - 31999
13.17.4.17
PI service: CREACE
Function: Create tool cutting edge
Creation of the cutting edge with the next higher / next unassigned D number for the tool with
the transferred T number in TO, TS (if present). The cutting edge for the OEM cutting edge
data is set up simultaneously in the TUE block (if one is present).
948
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Description of formal parameters
13.17.4.18
Signal
Type
Value range
PIService:
ANY
"PI".CREACE
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
Description
Create tool cutting edge
TOA
T number
PI service: CREATO
Function: Create tool
Creation of a tool with specification of a T number. The tool is entered as existing in the tool
directory area (TV). The first "cutting edge" D1 (with zero contents) is created for tool offsets
in the TO block. D1 (with zero contents) is also created for the OEM "cutting edge" data in the
TUE block - if one is present. If a TU block exists, it will contain the data set for the tool.
Description of formal parameters
13.17.4.19
Signal
Type
Value range
Description
PIService:
ANY
"PI".CREATO
Create tool
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
TOA
T number
PI service: DELECE
Function: Delete a tool cutting edge
If the T number of an existing tool is specified in parameter "T number" in the PI service, then
a cutting edge is deleted for this particular tool (in this case, parameter "D number" (number
of cutting edge to be created) has a value range of 00001 - 00009). If a positive T number is
specified as a parameter and the tool for the T number entered does not exist, then the PI
service is aborted. If a value of 00000 is entered as the T number (model of absolute D
numbers), then the D number values can range from 00001 - 31999. If the specified cutting
edge does not exist, then the PI service is aborted in both cases.
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".DELECE
Delete cutting edge
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
WVar2:
INT
TOA
T number of tool for which cutting edge must be cre
ated. A setting of 00000 states that the cutting edge
should not refer to any particular tool (absolute D
number).
1 ... 9
Edge number of cutting edge that must be deleted
1 - 31999
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.4.20
PI service: DELETO
Function: Delete tool
Deletes the tool assigned to the transferred T number with all cutting edges (in TO, in some
cases TU, TUE and TG (type 4xx), TD and TS blocks).
Description of formal parameters
13.17.4.21
Signal
Type
Value range
Description
PIService:
ANY
"PI".DELETO
Delete tool
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
TOA
T number
PI service: MMCSEM
Function
The PI service is used to test/set and reset channel-specific semaphores from HMI and PLC.
10 semaphores are available per channel for protecting critical data areas.
Functions (PI services) are assigned to semaphores 1 to 6. The semaphores 7 to 10 can be
freely used.
FB4 return values
"Done" == TRUE
The semaphore was set, the critical function can be called.
"Error" == TRUE AND "State" == 3
The semaphore has already been set, the critical function cannot be called at the present
time.
Schematic sequence for free semaphore
Testing and setting the semaphore
IF semaphore == FREE
THEN
Writing/reading of critical data
Resetting the semaphore
ELSE // Semaphore is blocked
...
ENDIF
NOTICE
Resetting the semaphore
After the blocking of the critical data areas by setting the semaphore and the subsequent
reading/writing of the data, it is essential that the critical data area is released again by
resetting the semaphore.
Schematic sequence for blocked semaphore
Testing and setting the semaphore
950
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
IF semaphore == FREE
THEN
...
ELSE // Semaphore is blocked
Set bit memory for "Function could not be executed, repeat
necessary"
ENDIF
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI".MMCSEM
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
1)
WVar2:
WORD
0, 1
Description
Edit semaphore
Channel
PI service-specific number of the semaphore
Job type
0: Reset semaphore
1: Test and set semaphore
1)
Number
1
TMCRTO (create tool)
TMFDPL (search for empty location for loading)
TMMVTL (prepare magazine location for loading, unload tool)
TMFPBP (search for location)
TMGETT (search for tool number)
TSEARC (search for tool)
7 ... 10
13.17.4.22
PI service
Freely usable
PI service: TMCRTO
Function: Create tool
Creation of a tool by specifying a name, a duplo number, e.g. with $TC_TP1[y] = Duplo number
or $TC_TP2[y] = "Tool name". Or optionally using a T number, e.g. with y = T number
The tool is entered in the TV area (tool directory) as available.
The first cutting edge "D1" (with zero content) is created in the TO block for corrections.
The first cutting edge "D1" (with zero content) is created in the TS block for monitoring data.
In the TUE block, if it is available, the cutting edge "D1" is created for the OEM cutting edge
data.
The TD block contains identifiers, duplo numbers, and the number of cutting edges (=1) for
the T number that is optionally specified or assigned by the NC.
If a TU block exists, it will contain the data block for the tool.
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
After execution of the PI service, the T number of the tool created is available in the TV block
under TnumWZV.
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" must be
called with function number 1 for TMCRTO. See Section "PI service: MMCSEM (Page 950)".
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".TMCRTO
Create tool
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
1)
WVar2:
INT
Addr1:
STRING
TOA
T number
Duplo number
Max. 32 charac Tool name
ters
1)
T number > 0 the T number is specified
T number > -1 the NC assigns the T number
13.17.4.23
PI service: TMFDPL
Function
Search for empty location for loading, depending on the parameter assignment:
Location_number_to = -1 AND Magazine_number_to = -1
Searches all magazines in the specified area (= channel) for an empty location for the tool
specified with a T number. After execution of the PI service, the magazine and locations
numbers found during the search are listed in the configuration block of the channel
(component magCMCmdPar1 (magazine number) and magCMCmdPar2 (location
number)). Location_number_ID and magazine_number_ID can be set as search criteria or
not (= -1). The PI service is positively or negatively acknowledged depending on the search
result.
Location_number_to = -1 AND Magazine_number_to = Magazine_number
An empty location for the tool specified with a T number is searched for in the specified
magazine. Location number_ID and magazine number_ID can be set as a search criterion
or with -1. The PI service is positively or negatively acknowledged depending on the search
result.
Location_number_to = Location_number AND Magazine_number_to = Magazine_number
The specified location is checked, to confirm that it is free to be loaded with the specified
tool. Location_number_ID and magazine_number_ID can be set as search criteria or -1.
The PI service is acknowledged positively or negatively depending on the search result.
952
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
The parameters "WVar1" and "WVar2" are located at the source.
Loading:
Unloading:
If the source is an internal loading magazine, then the parameters are located
at the target (a real magazine).
Source is always a real magazine.
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" must be
called with function number 2 for TMFDPL. See Chapter "PI service: MMCSEM (Page 950)".
Description of formal parameters
13.17.4.24
Signal
Type
Value range
Description
PIService:
ANY
"PI".TMFDPL
Empty location for loading
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
T number
WVar2:
INT
Location_number _where_to
WVar3:
INT
Magazine_number_to
WVar4:
INT
Location_number _ID
WVar5:
INT
Magazine_number_ID
TOA
PI service: TMFPBP
Function: Empty location search
The PI service searches the specified magazine(s) for an empty location which meets the
specified criteria such as tool size and location type.
If the search is successful, the result can be read from the following OPI variables:
magCMCmdPar1 (magazine number)
magCMCmdPar2 (location number)
Note
The PI service can only be requested using FB7. See Chapter "FB7: PI_SERV2 - request
PI service (Page 973)".
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" must be
called with function number 4 for TMFPBP. See Chapter "PI service: MMCSEM
(Page 950)".
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".TMFPBP
Empty location search
Unit:
INT
1, 2 , 3 ... 10
TOA
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13.17 Block descriptions
Signal
Type
WVar1:
INT
Value range
Description
Magazine number of the magazine from which the
search is to be performed
WVar2:
INT
Location number of the location in the magazine
from "WVar1"
WVar3:
INT
Magazine number of the magazine up to which the
search is to be performed
WVar4:
INT
Location number of the location in the magazine
from "WVar3"
WVar5:
INT
Magazine number reference
WVar6:
INT
Location number reference
WVar7:
INT
0, 1, 2 ... 7
Number of required half locations to left
WVar8:
INT
0, 1, 2 ... 7
Number of required half locations to right
WVar9:
INT
0, 1, 2 ... 7
Number of required half locations in upward direc
tion
WVar10:
INT
0, 1, 2 ... 7
Number of required half locations in downward di
rection
WVar11:
INT
WVar12:
INT
Number of required location type
0, 1, 2, 3, 4
Specifies the required search direction
0: Search strategy as set in $TC_MAMP2
1: Forward
2: Backward
3: Symmetrical
Examples: Setting the search range
954
From
Lo
ca
tion
To
Lo
ca
tion
Description
WVa
r1
WVa
r2
WVa
r3
WVa
r4
#M1
#P1
#M1
#P1
Only location #P1 in magazine #M1 is checked
#M1
#P1
#M2
#P2
Locations starting at magazine #M1, location #P1 up to magazine #M2,
location #P2 are searched
#M1
-1
#M1
-1
All locations in magazine #M1 - and no others - are searched
#M1
-1
-1
-1
All locations starting at magazine #M1 are searched
#M1
#P1
-1
-1
All locations starting at magazine #M1 and location #P1 are searched
#M1
#P1
#M1
-1
Locations in magazine #M1 starting at magazine #M1 and location #P1
in this magazine are searched
#M1
#P1
#M2
-1
Locations starting at magazine #M1, location #P1 up to magazine #M2
are searched
#M1
-1
#M2
#P2
Locations starting at magazine #M1 up to magazine #M2, location #P2
are searched
#M1
-1
#M2
-1
Locations starting at magazine #M1 up to and including magazine #M2
are searched
-1
-1
-1
-1
All magazine locations are searched
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.4.25
PI service: TMGETT
Function: Determine T number for the specified tool name with duplo number
The PI service is used to determine the T number of a tool via the tool name and duplo number.
The result is written in BTSS variables in the TF block (parameterization, return parameters
from TMGETT, TSEARC):
resultNrOfTools
resultNrOfTools == 0: The specified tool was not found
resultNrOfTools == 1: The specified tool was found
resultToolNr: T number of the specified tool with "resultNrOfTools" == 1
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" must be
called with function number 5 for TMGETT. See Section "PI service: MMCSEM (Page 950)".
Description of formal parameters
13.17.4.26
Signal
Type
Value range
PIService:
ANY
"PI".TMGETT
Unit:
INT
1, 2, 3 ... 10
Addr1:
STRING
WVar1:
INT
Description
Determining the T number
TOA
Max. 32 charac Tool name
ters
Duplo number
PI service: TMMVTL
Function: Prepare magazine location for loading, unload tool
The PI service is used to load, unload, and relocate tools:
1. Loading and unloading: loading point magazine)
2. Loading and unloading: loading point buffer storage, e.g. spindle
3. Relocation within a magazine
4. Relocation between different magazines
5. Relocation between magazine and buffer storage
6. Relocation within buffer storage
Case 1, 3, 4 and 5: The following BTSS variables of the block TM (magazine data: general
data) are written:
magCmd (area no. = TO unit, line = magazine number)
magCmdState "acknowledgment"
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13.17 Block descriptions
Case 2 and 6: The following BTSS variables of the block TMC (magazine data: configuration
data) are written:
magCBCmd (area no. = TO unit)
magCBCmdState "acknowledgment"
Loading
WVar2 "Location number_From", WVar3 "Magazine number_From"
The tool location of the magazine is moved to the loading station/location for loading and
the tool is loaded.
WVar4 "Location number_To" == -1
First, an empty location for the tool is searched for in the magazine. Then the empty location
of the magazine is moved to the loading station/location for loading and the tool is loaded.
After the PI service is carried out, the empty location number that is found is located in
"magCMCmdPar2" (BTSS block TM), real magazine of the channel.
WVar4 "Location number_To" == -2
The tool is loaded into the current tool location of the magazine. After the PI service is
carried out, the location number is located in "magCMCmdPar2" (BTSS block TM), real
magazine of the channel.
Unloading
WVar4 "Location number_To", WVar5 "Magazine number_To"
The tool location of the magazine is moved to the loading station/location for loading and
the tool is unloaded.
In the BTSS block TP (magazine data: location data), the magazine location of the removed
tool is designated as free.
Addressing the tool
The tool can be addressed either using a T number or by means of the location and magazine
numbers. The value -1 is assigned to an unused parameter.
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" must be
called with function number 3 for TMMVTL. See Chapter "PI service: MMCSEM (Page 950)".
Description of formal parameters
956
Signal
Type
Value range
Description
PIService:
ANY
"PI".TMMVTL
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
T number
WVar2:
INT
Location_number_from
WVar3:
INT
Magazine_number_from
WVar4:
INT
Location_number_to
WVar5:
INT
Magazine_number_to
Make magazine location ready for loading, unload
ing tool
TOA
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.4.27
PI service: TMPOSM
Function: Position magazine location or tool, depending on the parameter assignment
A magazine location, which has either been specified directly or via a tool located on it, is
traversed to a specified position (e.g. in front of a load location) via the PI service.
The destination, e.g. the loading location, is specified in the parameters:
WVar5 "Location number_ref"
WVar6 "Magazine number_ref"
The magazine location to be positioned is specified in the following parameters, depending on
the respective specification:
WVar1 "T number" of the tool
The following parameters are irrelevant here:
Addr1 "Tool name" = ""
WVar2 "Duplo number" = -1
WVar3 "Location number_From" = -1
WVar4 "Magazine number_From" = -1
Addr1 "Tool name", WVar2 "Duplo number"
The following parameters are irrelevant here:
WVar1 "T number of the tool" = -1
WVar3 "Location number_From" = -1
WVar4 "Magazine number_From" = -1
WVar3 "Location number_From", WVar4 "Magazine number_From"
The following parameters are irrelevant here:
Addr1 "Tool name" = ""
WVar1 "T number of the tool" = -1
WVar2 "Duplo number" = -1
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI".TMPOSM
Unit:
INT
1, 2, 3 ... 10
Description
Position magazine location or tool
TOA
Addr1:
STRING
WVar1:
INT
T number of the tool
WVar2:
INT
Duplo number
WVar3:
INT
Location_number_from
WVar4:
INT
Magazine_number_from
WVar5:
INT
Location number_ref
WVar6:
INT
Magazine number_ref
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max. 32 charac Tool name
ters
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.4.28
PI service: TMPCIT
Function: Set increment value for workpiece counter
Incrementing the workpiece counter of the spindle tool
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".TMPCIT
Set increment value for workpiece counter
TOA
Unit:
13.17.4.29
INT
1, 2, 3 ... 10
WVar1:
WORD
0, 1, 2 ... max.
Spindle number; corresponds to the type index in
the location data with "Spindle" location type of the
buffer magazine in channel.000 = main spindle
WVar2:
WORD
0 ... max.
Increment value; indicates the number of spindle
revolutions after which the workpiece counter is in
cremented
PI service: TMRASS
Function: Resetting the tool status "active"
The PI service sets the status to "inactive" for all of the tools with a tool status "active" or
"blocked".
The following events are sensible times for resetting the tool status:
a negative edge of the NC/PLC interface signal "tool disable ineffective"
End of program
Channel reset.
The PI service is intended mainly for the PLC, since it is known here when the disabled tool
is finally no longer to be used.
Description of formal parameters
13.17.4.30
Signal
Type
Value range
PIService:
ANY
"PI". TMRASS
Unit:
INT
1, 2, 3 ... 10
Description
Reset active status
TO area
PI service: TRESMO
Function: Reset monitoring values
This PI service resets the monitoring values of the designated edges of the designated tools
to their setpoint (initial) values.
This is only performed for tools with active monitoring.
See also the RESETMON command.
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13.17 Block descriptions
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI". TRESMO
Unit:
INT
1, 2, 3 ... 10
TO area
WORD
- max ... max
Tool number
WVar1:
Description
Reset monitoring values
0: Process all tools
> 0:process specified tool
< 0: Process all sister tools
WVar2:
WORD
0, 1, 2 ... max.
D number
< 0: Reset of the monitoring of the specified cutting
edge
0: Reset of monitoring of all cutting edges
Wvar3:
WORD
Monitoring mode that is to be reset (all combina
tions are possible):
Bit 0 = 1: Tool-life monitoring
Bit 1 = 1: Quantity monitoring
Bit 2 = 1: Wear monitoring
Bit 3 = 1: Sum-offset monitoring
0: All active tool-monitoring functions ($TC_TP9).
13.17.4.31
PI service: TSEARC
Function: Complex search using search screen form, depending on the parameter assignment
The PI service is used to search for tools with specific properties within a search range in one
or more magazines, beginning with a specific location, up to a specific location.
Note
Active tool management
The PI service is only available if tool management is activated.
Specification options
Search direction
Search for next tool with the specified property
Search for all tools with the specified property
Result
As a result, a list with the internal T-numbers of the tools that are found is created.
Logic operations
For filtering properties, only one AND link is available as a linking option. An OR link must be
achieved by the user via several calls of the PI service and subsequent evaluation of the
individual results.
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Parameterization of the tool properties
The properties of the searched for tools are set in the BTSS block TF (parameterization, return
parameters from TMGETT, TSEARC ) via the following variables:
"parMask<X>" (parameterization input screen)
"parData<X>" (comparison values)
With <X> = TAD, TAO, TAS, TD
Result list
After completion of the PI service without errors, the search result is located in the BTSS block
TF (parameterization, return parameter from TMGETT, TSEARC) in the following variables:
"resultCuttingEdgeNrUsed" (D numbers of cutting edges used since last quantity count)
"resultNrOfCutEdgesUsed" (number of cutting edges since last quantity count)
"resultNrOfTools" (number of found tools)
"resultToolNr" (T numbers of found tools)
"resultToolNrUsed" (T numbers of cutting edges used since last quantity count)
If no tool was found, the number of found tools is zero ("resultNrOfTools" == 0)
Search range specifications
From mag.
number
From loca
tion number
To mag.
number
To location
number
Description
WVar1
WVar2
WVar3
WVar4
The following magazine locations are
searched:
#M<a>
#L<b>
#M<x>
#L<y>
From: Magazine #M<a>, location #L<b>
to: Magazine #M<x>, location #L<y>
#M<a>
-1
#M<a>
-1
#M<a>
-1
-1
-1
#M<a>
#L<b>
-1
-1
#M<a>
#L<b>
#M<a>
-1
#M<a>
#L<b>
#M<x>
-1
#M<a>
-1
#M<x>
#L<y>
From: Magazine #M<a>, first location
to: Magazine #M<a>, last location
From: Magazine #M<a>, first location
to: Last magazine, last location
From: Magazine #M<a>, location #L<b>
to: Last magazine, last location
From: Magazine #M<a>, location #L<b>
to: Magazine #M<a>, last location
From: Magazine #M<a>, location #L<b>
to: Magazine #M<b>, last location
From: Magazine #M<a>, first location
to: Magazine #M<b>, location #L<y>
#M<a>
-1
#M<x>
-1
From: Magazine #M<a>, first location
to: Magazine #M<x>, last location
-1
-1
-1
-1
From: First magazine, first location
to: Last magazine, last location
960
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13.17 Block descriptions
Symmetrical search
To ensure that a symmetrical search can be carried out relative to a tool location, the following
prerequisites must be met:
The search range must encompass only one magazine: "WVar1" (from: magazine number)
== "WVar3" (to: magazine number)
Specification of a reference location, i.e. a tool location around which the symmetrical
search will take place: "WVar5" (number of the reference magazine) and "WVar6" (number
of the reference location)
For the reference location, a multiple assignment to the magazine to be searched must
have been configured in the TPM block.
"WVar7" (search direction) = 3
The reference location is a buffer storage location, i.e. a tool location from the magazine buffer
storage, e.g. swapping station, grippers, etc., or a loading station/location, i.e. a tool location
from the internal loading magazine. The symmetrical search takes place with regard to the tool
location, which is upstream of the reference location.
If the tool location is upstream of the reference location outside of the search range, the PI
service will respond as if no suitable location had been found.
Note
Before and after this PI service, the MMCSEM PI service must be called up with the associated
parameter WVar1 for this PI service. See Chapter "PI service: MMCSEM (Page 950)".
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".TSEARC
Complex search using search screen forms
Unit:
INT
1, 2, 3 ... 10
WVar1:
INT
From:Magazine number
WVar2:
INT
From: Location number
WVar3:
INT
to: Magazine number
WVar4:
INT
to: Location number
WVar5:
INT
Number of the reference magazine
TOA
(only relevant for symmetrical search:
Search direction ==3)
WVar6:
INT
Number of the reference location
(only relevant for symmetrical search:
Search direction ==3)
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13.17 Block descriptions
Signal
Type
Value range
WVar7:
INT
1, 2, 3
Description
Search direction:
1: Forwards from the first location of the search do
main
2: Backwards from the last location of the search
domain
3: Symmetrical to the real magazine location, which
is located upstream of the location specified under
"WVar5" (number of the reference magazine) and
"WVar6" (number of the reference location)
WVar8:
INT
0, 1, 2, 3
Search type
Search for the property in the search range:
0: all tools, cutting edge-specific
1: first tool, cutting edge-specific
2: all tools, via all cutting edges
3: first tool, via all cutting edges
13.17.4.32
PI service: TMCRMT
Function: Create multitool
The PI service is used to create a new multitool with a defined identifier, an optionally
specifiable multitool number, the number of tool locations, and the type of distance coding.
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" =1
(TMCRTO) must be called. See Chapter "PI service: MMCSEM (Page 950)".
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI".TMCRMT
Unit:
INT
1, 2, 3 ... 10
Addr1:
STRING
WVar1:
INT
WVar2:
INT
Description
Create multitool
TOA
Multitool designator (max. 32 characters)
Reserved
-1, 1, 2 ... 32000 Multitool number
-1: Automatic assignment of the multitool number
by NC
1, 2, 3 ... 32000: Multitool number,
note: The multitool number must be unique across
the whole system
WVar3:
INT
2, 3, 4 ... MAX
Number of tool locations
MAX = Parameterized number in MD17504
$MN_MAX_TOOLS_PER_MULTITOOL
WVar4:
962
INT
1, 2, 3
Type of distance coding
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13.17 Block descriptions
13.17.4.33
PI service: TMDLMT
Function: Delete multitool
The PI service is used to delete a multitool in all of the data blocks in which it is saved. Tools
equipped in multitool are then no longer equipped and no longer loaded, but they are still
defined.
Description of formal parameters
Signal
Type
Value range
PIService:
ANY
"PI".TMDLMT
INT
1, 2, 3 ... 10
Unit:
Addr1:
STRING
WVar1:
INT
WVar2:
INT
Description
Delete multitool
TOA
Multitool designator (max. 32 characters)
Reserved
-1, 1, 2 ... 32000 Multitool number
-1: Delete the multitool with the name specified in
"Addr1"
1, 2, 3 ... 32000: Delete the multitool with the speci
fied multitool number;
note: Parameter "Addr1" is not evaluated
WVar3:
INT
0, 1
Tools contained in the multitool:
0: Do not delete
1: Delete
13.17.4.34
PI service: POSMT
Function: Position multitool
The PI service is used for positioning a multitool at the programmed location or alternatively
at the programmed tool, which is located in one of the locations of the multitool. The tool itself
can either be specified using its T number or with its name plus duplo number. A multitool can
only be positioned if it is at a toolholder location and if no tool offset with regard to this toolholder
location is active.
Position specification
The position specification can be alternatively assigned via:
No
.
Addr1
WVar1
WVar2
WVar3
Empty string
Number of the
toolholder
Tool number
-1
Tool name
Number of the
toolholder
-1
Duplo number
Empty string
Number of the
toolholder
-1
-1
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WVar4
Multitool location
number
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13.17 Block descriptions
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".POSMT
Position multitool
Unit:
INT
1, 2, 3 ... 10
TOA
Addr1:
STRING
Tool name of the tool to be positioned in the multi
tool (max. 32 characters)
WVar1:
INT
1, 2, 3 ... 999
Number of the toolholder
WVar2:
INT
-1, 1, 2, 3 ...
32000
Tool number (T number) of the tool to be positioned
in the multitool
1, 2, 3 ... 32000: Tool number
-1: The tool number is irrelevant, "Addr1" and
"WVar3" must be programmed
WVar3:
INT
-1, 1, 2, 3 ...
32000
Duplo number of the tool to be positioned in the
multitool
1, 2, 3 ... 32000: Duplo number
-1: The duplo number is irrelevant, "WVar2" must
be programmed
WVar4:
13.17.4.35
INT
1, 2, 3 ... 999
Multitool location number of the toolholder location
to which the system should be positioned
PI service: FDPLMT
Function: Search/check an empty location within the multitool
The PI service is used to search for a free tool location in a multitool to accommodate the
specified tool or for checking whether the specified tool location in the multitool for
accommodating the specified tool is free. The tool can be specified using its T number, or using
its identifier and its duplo number.
Note
Before and after this PI service, the PI service MMCSEM with parameter "WVar1" =x
(FDPLMT) must be called. See Chapter "PI service: MMCSEM (Page 950)".
Position specification
The tool to be positioned in the multitool can be alternatively assigned via:
"Addr1" = <Empty string>, "WVar1" = <Tool number> and "WVar2" = <Duplo number>
"Addr1" = <Tool name>, "WVar1" = -1 and "WVar2" = <Duplo number>
"Addr1" = <Empty string>, "WVar1" = <Tool number> and "WVar2" = -1
The position specification can be alternatively assigned via:
964
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13.17 Block descriptions
Description of formal parameters
Signal
Type
Value range
Description
PIService:
ANY
"PI".FDPLMT
Search/check an empty tool location within a multi
tool
Unit:
INT
1, 2, 3 ... 10
Addr1:
STRING
WVar1:
INT
TOA
Tool name of the tool to be positioned in the multi
tool (max. 32 characters)
-1, 1, 2, 3 ...
32000
Tool number (T number) of the tool to be positioned
in the multitool
-1: The tool number is irrelevant, "Addr1" and
"WVar2" must be programmed
1, 2, 3 ... 32000: Tool number
WVar2:
INT
-1, 1, 2, 3 ...
32000
Duplo number of the tool to be positioned in the
multitool
1, 2, 3 ... 32000: Duplo number
-1: The duplo number is irrelevant, "WVar1" must
be programmed
WVar3:
INT
-1, 1, 2, 3 ...
32000
Number of the multitool
1, 2, 3 ... 32000: Number of the multitool
-1: Search of all multitools for an empty location or
check of all multitools to see whether the specified
tool location is free in one of them for accommodat
ing the tool.
WVar4:
INT
-1, 1, 2, 3 ... 999 Multitool location number of the tool location to
which the system should be positioned
1, 2, 3, ... 999: Multitool location number
-1: Search for any empty tool location within the
multitool
13.17.5
FB5: GETGUD - read GUD variable
Function
The function block FB5 "GETGUD" is used for reading global user data (GUD) in the NC or
channel area.
In order to reference the NC variables, they are first selected with the "NC VAR selector" tool
and generated as STL source in a data block. A name must then be assigned to this data block
in the S7 symbol table. When calling FB2, the variable addresses are transferred in the
following form: Parameter "Addr1" to "Addr8" = "<DB name>".<S7 name>"
Request for reading NC variables
Call of FB5 with positive edge change, parameter "Req" = 0 1
Parameter "Addr": The pointer to the name of the GUD variables, symbolically with "<Data
block>".<Variable name>
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13.17 Block descriptions
Parameters "Area", "Unit", "Index1", and "Index2": Additional information for addressing the
variables
When the parameter "CnvtToken" is activated, the user receives a token (variable pointer) for
the GUD variable to be read. Using this, the GUD variables can then be read or written via
FB2 and FB3 with parameter "Addr1" ... "Addr8" = "<Token>". Addressing by means of a token
is mandatory for writing GUD variables. For GUD variable arrays, the parameter "Line1" ...
"Line8" = "<array index>" must also be written.
To read a GUD variable of the DOUBLE type without adapting the format, an ANY pointer of
the REAL2 type must be specified in the target area. E.g. P#M100.0 REAL 2. The value of the
GUD variables of the DOUBLE type is then adopted in the PLC data area as a 64-bit floating
point number.
Completion of the read request
Read request successfully completed: Parameter "Done" == 1.
Read request completed with error:"Parameter "Error" == 1, error cause in parameter "State"
Prerequisites
Release of the NC/PLC communication by OB100, FB1 parameter "NCKomm" = 1
For the data block DB120 (data interface), the S7 Symbol Editor must be used to assign a
symbol (default: NCVAR) in the S7 symbol table of the S7 project. Via this symbol, the NC
variable is then specified in the FB2 parameters "Addr<x>", e.g. "ADDR1":= "NCVAR".<NCVariable>"
General conditions
FB5 has multi-instance capability.
Every call of FB5 must be assigned a separate instance DB from the user area.
Reading of a GUD variable (FB5 call with Req = 1) is only permitted in the cyclic part of the
PLC basic program (OB1). If the job is not started (FB5 call with Req = 0), the parameters
can also be written in the start-up part of the PLC basic program (OB100). The job can then
be executed using the already written parameters in the cyclic part of the PLC basic program
(OB1) by calling FB5 with Req = 1.
Only capital letters may be used for the names of GUD variables.
Reading of a GUD variable generally extends over several PLC cycles.
When channel-specific variables are read, only variables from exactly one channel may be
addressed via "Addr1" to "Addr8" if FB2 is called.
When drive-specific variables are read, only variables from exactly one SERVO drive object
may be addressed via "Addr1" to "Addr8" if FB2 is called. The SERVO drive object must
be assigned to a machine axis of the NC. The line index corresponds to the logical drive
number.
In a read job, only variables from the same area, channel, or drive object can be read.
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13.17 Block descriptions
Note
Error case
When reading variables from different channels or drive objects, or simultaneously from a
channel and a drive object, the following feedback message is output:
"Error" == TRUE
"State" == W#16#02
Note
To read a variable of the DOUBLE type from NC without adapting the format, an ANY pointer
of the REAL2 type must be specified in the target area (e.g.: P#M100.0 REAL 2). If the basic
program recognizes REAL 2 as the target type when reading a variable of the DOUBLE type,
the data is applied to the PLC data area as a 64-bit floating-point number.
Declaration of the function
FUNCTION_BLOCK FB5
//Server name
KNOW_HOW_PROTECT
VERSION : 3.0
VAR_INPUT
Req :
BOOL;
Addr:
ANY;
// Variable name
Area
BYTE ;
//Area: NCK = 0, channel = 2
Unit :
BYTE ;
Index1:
INT;
// Array index 1
Index2:
INT;
// Array index 2
CnvtToken:
BOOL;
// Conversion into 10-byte token
VarToken
ANY;
// Struct with 10 bytes for the variable token
END_VAR
VAR_OUTPUT
Error :
BOOL;
Done :
BOOL;
State :
WORD;
END_VAR
VAR_IN_OUT
RD:
ANY;
END_VAR
BEGIN
END_FUNCTION_BLOCK
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13.17 Block descriptions
Description of formal parameters
Signal
Typ
e
Type
Value range
Description
Req:
BOOL
Addr:
ANY
"<DBName>".<Var
Name>
Area:
BYTE
0, 2
Job start with positive signal edge
Variable name in a variable of the type
STRING
Range:
0: NC
2: Channel
Unit:
BYTE
1, 2, 3, ... 10
Area == NC: Unit:=1
Area == Channel: Channel number
Index1:
INT
0, 1, 2, ... <max. array in Array index 1
dex>
For variables without array index: In
dex1 = 0
Index2:
INT
0, 1, 2, ... <max. array in Array index 2
dex>
For variables without 2nd array index:
Index2 = 0
CnvtToken:
BOOL
0 (FALSE), 1 (TRUE)
Activate generation of a 10 byte varia
ble token
VarToken:
ANY
"<DBName>".<Var
Name>
Address of a 10byte token (see exam
ple)
Error:
BOOL
0 (FALSE), 1 (TRUE)
Negative acknowledgement of job or
execution of job impossible
Done:
BOOL
0 (FALSE), 1 (TRUE)
Job successfully executed
State:
WORD
---
RD:
I/O
ANY
P#Mm.n BYTE x ...
See paragraph "Error identifiers"
Target area for read data
P#DBnr.dbxm.n BYTE x
Error identifiers
State
Note
WORD H
WORD L
Access error
Error in job
Incorrect compilation of Var. in a job
Negative acknowledgement,
job not executable
Internal error, try:
NC RESET
Data areas or data types do
not tally
Check data to be
read in RD
Insufficient local user memo read variable is longer than specified in RD
ry available
FIFO full
Job must be repeated,
since queue is full
Option not set
BP parameter "NCKomm" is not set
Incorrect target area (SD)
RD may not be local data
Transmission occupied
Job must be repeated
1)
968
Description
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13.17 Block descriptions
State
Description
Note
10
Error in addressing
Unit contains value 0
11
Address of variable invalid
Address check (or variable name), area, unit
1-8
13
ANY data reference incorrect String/NcVar data required has not been par
ameterized
15
String more than 32 charac
ters
WORD H
WORD L
0
0
1)
GUD variable name too long
1) High byte > 0 Number of the variable in which the error occurred
Configuration steps
To be able to read a GUD variable, its name must be stored in a string variable. The data block
with this string variable must be defined in the symbol table so that the "Addr" parameter can
be assigned symbolically for FB GETGUD. A structure variable can be defined optionally in
any data area of the PLC to receive the variable pointer (see specification in following example).
Pulse diagram
5HT
'RQH
(UURU
User: Set request, Req = 0 1
FB4: PI service successfully completed, Done = 1
User: Reset request, IF Done == 1 THEN Req = 0
User: IF Done == 1 THEN reset request: 1 0
FB4: Reset job confirmation, Done = 0
User: IF Done == 0 AND Error == 0 THEN reset request Req = 1 0 not permissible
FB4: PI service completed with errors, Error = 1
User: Reset request, IF Done == 1 OR Error == 1 THEN Req = 0, possible further error handling
Call example 1
Read a GUD variable from channel 1:
Name "GUDVAR1"
Type: INTEGER
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13.17 Block descriptions
Conversion to a 10 byte variable pointer. See table in "Assignment of the data types" in Chapter
"FB2: GET - read NC variable (Page 922)"
Reading the GUD variables: FB5 with instance DB111
// Data block for GUD variable
DATA_BLOCK DB_GUDVAR
// Assignment in symbol table
STRUCT
GUDVar1 : STRING[32] := 'GUDVAR1';
// Name is defined by user
GUDVar1Token :
STRUCT
SYNTAX_ID : BYTE ;
area_and_unit : BYTE ;
column : WORD;
line : WORD;
block type : BYTE ;
NO. OF LINES : BYTE ;
type : BYTE ;
length : BYTE ;
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
// Unassigned user DB, as instance for FB5
DATA_BLOCK DB111
FB5
BEGIN
END_DATA_BLOCK
// Unassigned user DB, as instance for FB3
DATE_BLOCK DB112
FB3
BEGIN
END_DATA_BLOCK
// Reading of a channel-specific GUD variable from channel 1, with conversion
to a variable pointer
Function FC "VariablenCall" : VOID
970
I 7.7;
// Unassigned machine control panel key
M 100.0;
// Activate req.
M 100.1;
// Done completed message
M 100.0;
// Terminate job
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13.17 Block descriptions
U
I 7.6;
// Manual error acknowledgment
M 102.0;
// Error pending
M 100.0;
// Terminate job
CALL FB5, DB111(
Req
:= M 100.0,
// Starting edge for reading
Area
:= B#16#2,
// Channel variable
Unit
:= B#16#1,
// Channel 1
Index1
:= 0,
// No array index 1
Index2
:= 0,
// No array index 2
CnvtToken
:= TRUE,
// Request: Conversion into 10-byte
token
VarToken
:= "DB_GUDVAR".GUDVar1Token, // Address of the token
Error
:= M 102.0,
Done
:= M 100.1,
State
:= MW 104
RD
:= P#DB99.DBX0.0 DINT 1
// free memory area
);
Writing the GUD variables: FB3 with instance DB112
GUD variable token from FB5, parameter: "VarToken" for writing with FB3, parameter "Addr1"
CALL FB3, DB112(
Req
:= M 200.0,
NumVar
:= 1,
Addr1
:= "DB_GUDVAR".GUDVar1Token, // Token
Error
:= M 102.0,
Done
:= M 100.1,
State
:= MW 104
SD1
:= P#DB99.DBX0.0 DINT 1
// one GUD variable
);
Call example 2
Read a GUD variable from channel 1:
Name "GUD_STRING"
Type: STRING[32]
Conversion to a 10 byte variable pointer.
Reading the GUD variables: FB5 with instance DB111
// Data block for GUD variable
DATA_BLOCK DB_GUDVAR
// Assignment in symbol table
STRUCT
GUDVarS : STRING[32] := 'GUD_STRING';
// Name defined by user
GUDVarSToken :
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13.17 Block descriptions
STRUCT
SYNTAX_ID : BYTE ;
area_and_unit : BYTE ;
column : WORD;
line : WORD;
block type : BYTE ;
NO. OF LINES : BYTE ;
type : BYTE ;
length : BYTE ;
END_STRUCT;
string_of_GUD : STRING[30];
// must at least be so long as
// the definition of 'GUD_STRING'!
new_name : STRING[30] := 'GUD_123';
END_STRUCT;
BEGIN
END_DATA_BLOCK
// Unassigned user DB, as instance for FB5
DATA_BLOCK DB111
FB5
BEGIN
END_DATA_BLOCK
// Unassigned user DB, as instance for FB3
DATE_BLOCK DB112
FB3
BEGIN
END_DATA_BLOCK
// Reading of a channel-specific GUD variable from channel 1, with conversion
to a variable pointer
Function FC "VariablenCall" : VOID
U
I 7.7;
// Unassigned machine control panel key
M 100.0;
// Activate req.
M 100.1;
// Done completed message
M 100.0;
// Terminate job
I 7.6;
// Manual error acknowledgment
M 102.0;
// Error pending
M 100.0;
// Terminate job
CALL FB5, DB111(
Req
972
:= M 100.0,
// Starting edge for reading
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13.17 Block descriptions
Addr
:= "DB_GUDVAR".GUDVarS,
Area
:= B#16#2,
// Channel variable
Unit
:= B#16#1,
// Channel 1
Index1
:= 0,
// No array index
Index2
:= 0,
// No array index
CnvtToken
:= TRUE,
// Request: Conversion into 10-byte
token
VarToken
:= "DB_GUDVAR".GUDVarSToken, // Address of the token
Error
:= M 102.0,
Done
:= M 100.1,
State
:= MW 104
RD
:= "DB_GUDVAR".string_of_GUD
);
Writing the GUD variables: FB3 with instance DB112
GUD variable token from FB5, parameter: "VarToken" for writing with FB3, parameter "Addr1"
CALL FB3, DB112(
Req
:= M 200.0,
NumVar
:= 1,
Addr1
:= "DB_GUDVAR".GUDVarSToken, // Token
Error
:= M 102.0,
Done
:= M 100.1
State
:= MW 104
SD1
:= "DB_GUDVAR".new_name
// one GUD variable
);
13.17.6
FB7: PI_SERV2 - request PI service
Function
With the exception of a higher number of "WVar" parameters ("WVar11" - "WVar16"), function
block FB7 has the same functionality as function block FB4. It is recommended that function
block FB7 be used instead of function block FB4.
For a detailed description, refer to Chapter "FB4: PI_SERV - request PI service (Page 937)".
Declaration of the function
FUNCTION_BLOCK FB7
Var_INPUT
Req:
BOOL;
PIService:
ANY;
Unit:
INT;
Addr1:
ANY;
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13.17 Block descriptions
Addr2:
ANY;
Addr3:
ANY;
Addr4:
ANY;
WVar1:
WORD;
WVar2:
WORD;
WVar3:
WORD;
WVar4:
WORD;
WVar5:
WORD;
WVar6:
WORD;
WVar7:
WORD;
WVar8:
WORD;
WVar9:
WORD;
WVar10:
WORD;
WVar11:
WORD;
WVar12:
WORD;
WVar13:
WORD;
WVar14:
WORD;
WVar15:
WORD;
WVar16:
WORD;
END_VAR
VAR_OUTPUT
Error :
BOOL;
Done :
BOOL;
State :
WORD;
END_VAR
13.17.7
FB9: MtoN - operator panel switchover
Function
The function block FB3 "PUT" is used for switching over control components (MCP/OP), which
are connected via a bus system to one or more control assemblies (NCU).
The interface between the individual control panels and the NCU (PLC) is the M : N interface
in data block DB19. FB9 uses the signals of these interfaces.
Apart from initialization, sign-of-life monitoring and error routines, the following basic functions
are also performed by the block for control unit switchover:
Tabulated overview of functions:
974
Basic function
Description
HMI queuing
HMI wants to go online with an NCU
HMI coming
HMI is connecting to an NCU
HMI going
HMI is disconnecting from an NCU
Forced break
HMI must break connection with an NCU
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Tabulated overview of functions:
Basic function
Description
Operating focus changeover to serv Change operating focus from one NCU to the other
er mode
Active/passive operating mode:
Operator control and monitoring/monitoring only
MCP switchover
As an option, MCP can be switched over with the HMI
Note
The block must be called by the user program. The user must provide an instance DB with
any number for this purpose. The call is multi-instance-capable.
Brief description of a few important functions
Active/passive operating mode:
An online HMI can operate in two different modes:
Active mode:
Passive mode:
Operator can control and monitor
Operator can monitor (HMI header only)
After switchover to an NCU, this initially requests active operating mode in the PLC of the
online NCU. If two control units are linked online simultaneously to an NCU, one of the two is
always in active mode and the other in passive mode. The operator can request active mode
on the passive HMI at the press of a button.
MCP switchover
As an option, an MCP assigned to the HMI can be switched over at the same time. To achieve
this, the MCP address must be entered in the "mstt_adress" parameter of the NETNAMES.INI
configuration file on the HMI and "MCPEnable" must be set to TRUE. The MCP of the passive
HMI is deactivated so that there is only ever one active MCP on an NCU at one time.
Boot condition
To prevent the previously selected MCP being reactivated when the NCU is restarted, input
parameters MCP1BusAdr = 255 (address of 1st MCP) and "MCP1STOP" = TRUE (deactivate
1st MCP) must be set when FB1 is called in OB100.
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13.17 Block descriptions
Approvals
When one MCP is switched over to another, any active feed or axis enables will be retained.
Note
Keys actuated at the moment of switchover remain operative until the new MCP is activated
(by the HMI, which is subsequently activated). The override settings for feedrate and spindle
also remain valid. To deactivate actuated keys, the input image of the machine control signals
must be switched to nonactuated signal level on a falling edge of DB10.DBX104.0 (MCP 1
ready). The override settings should remain unchanged. Measures for deactivating keys must
be implemented in the PLC user program (see example "Override Changeover").
The call is permitted only in cyclic program OB1.
Declaration of the function
FUNCTION_BLOCK FB9
VAR_INPUT
Ackn:
BOOL;
// Acknowledge interrupts
OPMixedMode:
BOOL:= FALSE;
// Mixed operation with non-M-to-Nenabled OP // deactivated
ActivEnable:
BOOL:=TRUE;
// Not supported
MCPEnable:
BOOL:=TRUE;
// Activate MCP switchover
Alarm1:
BOOL;
// Interrupt: Error in HMI bus address,
bus type!
Alarm2:
BOOL;
// Interrupt: No confirmation HMI 1
offline!
Alarm3 :
BOOL;
// Interrupt: HMI 1 is not going offline!
Alarm4 :
BOOL;
// Interrupt: No confirmation HMI 2
offline!
END_VAR
VAR_OUTPUT
Alarm5 :
BOOL;
// Interrupt: HMI 2 is not going offline!
Alarm6 :
BOOL;
// Interrupt: Queuing HMI is not going
online!
Report :
BOOL;
// Message: Signoflife monitoring
ErrorMMC :
BOOL;
// Error detection HMI
END_VAR
Description of formal parameters
976
Signal
Typ
e
Type
Value range
Description
Ackn:
BOOL
0 (FALSE), 1 (TRUE)
Acknowledge interrupts
OPMixedMode:
BOOL
0 (FALSE), 1 (TRUE)
Mixed operation deactivated for OP
without M:N capability
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Signal
Typ
e
Type
Value range
Description
ActivEnable:
BOOL
0 (FALSE), 1 (TRUE)
Function is not supported. Operator
panel switchover Interlocking using
MMCx_SHIFT_LOCK in DB19
MCPEnable:
BOOL
0 (FALSE), 1 (TRUE)
Activate MCP switchover
1: MCP is switched over with operator
panel.
0: MCP is not switched over with oper
ator panel. This can be used to perma
nently link an MCP. See also
MMCx_MSTT_SHIFT_LOCK in DB19.
Alarm1:
BOOL
0 (FALSE), 1 (TRUE)
Interrupt: Error in HMI bus address,
bus type!
Alarm2:
BOOL
0 (FALSE), 1 (TRUE)
Interrupt: No confirmation HMI 1 off
line!
Alarm3 :
BOOL
0 (FALSE), 1 (TRUE)
Interrupt: HMI 1 is not going offline!
Alarm4 :
BOOL
0 (FALSE), 1 (TRUE)
Interrupt: No confirmation HMI 2 off
line!
Alarm5 :
BOOL
0 (FALSE), 1 (TRUE)
Interrupt: HMI 2 is not going offline!
Alarm6 :
BOOL
0 (FALSE), 1 (TRUE)
Interrupt: Queuing HMI is not going
online!
Report :
BOOL
0 (FALSE), 1 (TRUE)
Message: Sign-of-life monitoring HMI
ErrorMMC :
BOOL
0 (FALSE), 1 (TRUE)
Error detection HMI
Example of calling FB9
CALL FB9, DB109(
Ackn
:= Error_ack,
OPMixedMode
:= FALSE,
ActivEnable
:= TRUE,
MCPEnable
:= TRUE);
//e.g., MCP RESET
// Enable for MCP switchover
Note
Input parameter MCPEnable must be set to TRUE to enable the MCP switchover. The default
value of these parameters is set in this way and need not be specially assigned when the
function is called.
Interrupts, errors
The output parameters "Alarm1" to "Alarm6" and "Report" exist as information in the PLC and
are output in the event of M:N errors visualized on the HMI by the appearance of alarms 410900
- 410906.
If execution of an HMI function has failed (and an appropriate error message cannot be
displayed), status parameter "ErrorMMC" is set to 'logical 1' (e.g., booting error, when no
connection is made).
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13.17 Block descriptions
Example of a call for FB (call in the OB100)
CALL "RUN_UP", "gp_par" (
MCPNum
:= 1,
MCP1In
:= P#I 0.0,
MCP1Out
:= P#Q 0.0,
MCP1StatSend
:= P#Q 8.0,
MCP1StatRec
:= P#Q 12.0,
MCP1BusAdr
:= 255,
MCP1Timeout
:= S5T#700MS,
MCP1Cycl
:= S5T#200MS,
MCP1Stop
:= TRUE,
NCCyclTimeout
:= S5T#200MS,
NCRunupTimeout
:= S5T#50S);
// Address of 1st MCP
// MCP switched off
Example: Override switchover
// Auxiliary flags used M100.0, M100.1, M100.2, M100.3
//Edge positive of MCP1Ready must check the override
//and measures for activation
// Initiate MCP block
//This example applies to the feedrate override;
//The interface and input bytes must be exchanged for spindle override.
U
DB10.DBX104.0;
//MCP1Ready
EN
// Edge memory bit 1
100.0;
JCN smth1;
S
100.2;
// Set auxiliary memory bit 1
100.3;
//Reset auxiliary flag 2
// Save override
L DB21.DBB4;
//Feed override interface
T EB28;
//Buffer storage (freely input
// or flag byte)
//Switchover takes place
DB10.DBX104.0;
wei1:
100.2;
//MCP1Ready
JCN smth2;
U
DB10.DBX104.0;
//MCP1Ready
FP
100.1;
// Edge memory bit 2
JC smth2;
U
100.2;
//Switchover takes place
100.2;
//Reset auxiliary flag 1
100.3;
//Comparison has taken place
JC smth2;
U
978
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
SPB MCP;
//Call MCP program
// Route the stored override to the interface of the switched MCP
// until the override values match
L EB28;
//Buffer storage open
T DB21.DBB4;
//Route override interface
L EB3;
//Override input byte for feed
<>i;
//Match?
JC smth2;
S
//No, jump
100.3;
//Yes, set auxiliary flag 2
// When override values match, call the MCP program again
MCP: CALL "MCP_IFM"(
:= B#16#1,
ChanNo
:= B#16#1,
SpindleIFNo
:= B#16#0,
FeedHold
:= M 101.0,
SpindleHold
:= M 101.1);
wei2: NOP
13.17.8
//FC19
BAGNo
0;
FB10: Safety relay (SI relay)
Function
The SPL function block FB10 "Safety relay" for "Safety Integrated" is the PLC equivalent of
the NC function of the same name. The standard SPL "Safety relay" block is designed to
support the implementation of an emergency stop function with safe programmable logic.
However, it can also be used to implement other similar safety functions, e.g., control of a
protective door.
The function contains 3 input parameters ("In1", "In2", "In3"). On switchover of one of these
parameters to the value 0, the output "Out0" is deactivated without delay and outputs "Out1",
"Out2", and "Out3" are deactivated via the parameterized timer values (parameters
"TimeValue1", "TimeValue2", "TimeValue3"). The outputs are activated again without delay if
inputs "In1" to "In3" take on value 1 and a positive edge change is detected at one of the
acknowledgment inputs "Ack1", "Ack2".
Call bit memory
To bring the outputs to their basic setting (values = 0) after booting, the parameter "FirstRun"
must be configured as follows. The parameter "FirstRun" must be switched to the value TRUE
via a retentive data (memory bit, bit in data block) on the 1st run after control booting. This
data can be preset, e.g., in OB100. The parameter "FirstRun" is reset to FALSE when FB10
is executed for the first time. Separate data must be used for parameter "FirstRun" for each
call with its own instance.
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13.17 Block descriptions
General conditions
FB10 has multi-instance capability
After the start of the SPL program, FB10 is called once per SI relay in the cyclic part of the
PLC basic program (OB1).
Every call of FB10 must be assigned a separate instance DB from the user area.
Simplified block diagram in CSF
The figure below shows only one acknowledgment input "Ack1" and one delayed deactivation
output "Out1". The circuit for "Ack2" and the other delayed outputs are identical. The parameter
"FirstRun" is also missing in the function diagram. The mode of operation is described above.
Declaration of the function
FUNCTION_BLOCK FB10
VAR_INPUT
980
In1 :
BOOL;
In2 :
BOOL;
In3 :
BOOL;
Ackn1 :
BOOL;
Ackn2 :
BOOL;
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
TimeValue1 :
TIME;
TimeValue2 :
TIME;
TimeValue3 :
TIME;
END_VAR
VAR_OUTPUT
Out0 :
BOOL;
Out1 :
BOOL;
Out2 :
BOOL;
Out3 :
BOOL;
END_VAR
VAR_INOUT
FirstRun:
BOOL;
END_VAR
Description of formal parameters
Parameter
13.17.9
Typ
e
Type
Value range
Description
In1:
BOOL
0 (FALSE), 1 (TRUE)
Input 1
In2:
BOOL
0 (FALSE), 1 (TRUE)
Input 2
In3:
BOOL
0 (FALSE), 1 (TRUE)
Input 3
Ackn1 :
BOOL
0 (FALSE), 1 (TRUE)
Acknowledgment input 1
Ackn2 :
BOOL
0 (FALSE), 1 (TRUE)
Acknowledgment input 2
TimeValue1 :
S5TIME
Time value 1 for OFF delay
TimeValue2 :
S5TIME
Time value 2 for OFF delay
TimeValue3 :
S5TIME
Time value 3 for OFF delay
Out0 :
BOOL
0 (FALSE), 1 (TRUE)
Output, instantaneous (no delay)
Out1 :
BOOL
0 (FALSE), 1 (TRUE)
Output, delayed by TimeValue1
Out2 :
BOOL
0 (FALSE), 1 (TRUE)
Output, delayed by TimeValue2
Out3 :
BOOL
0 (FALSE), 1 (TRUE)
Output, delayed by TimeValue3
FirstRun:
I/O
BOOL
0 (FALSE), 1 (TRUE)
Call bit memory
FB11: Brake test
Function
The braking operation check should be used for all axes, which must be prevented from moving
in an uncontrolled manner by a holding brake. "Vertical axes" are the main application.
The machine manufacturer can use the PLC user program to regularly close the brake at a
suitable instant (e.g. every 8 hours) and have the drive exert torque/force in addition to the
weight of the axis. In errorfree operation, the brake can produce the necessary braking torque/
braking force. The axis will hardly move during this.
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13.17 Block descriptions
When an error occurs, the actual position value exits the parameterizable monitoring window.
The position controller prevents sagging of the axis. The function test of the brake mechanical
system is negatively acknowledged.
References
A detailed description of the parameterization of the NC and drive within the framework of the
"Safety Integrated" function can be found in:
Function Manual for Safety Integrated
Starts the brake test
The brake test must always be started when the axis is at a standstill. For the entire duration
of the brake test, the enable signals of the parameterized axis must be set to enable (e.g.
controller inhibit, feed enable). Furthermore, the signal at the axis/spindle DB31, ... .DBX28.7
(PLC-controlled axis) is to be set to status 1 by the user program for the complete duration of
the test.
Before activating the NC/PLC interfaces DB31, ... .DBX28.7 (PLC-controlled axis), the axis is
to be switched as "neutral axis", e.g. DB31, ... .DBX8.0 - 8.3 (assign NC axis to channel) is to
be set to channel 0, as well as DB31, ... .DBX8.4 (activation signal when changing this byte)
is to be set.
The return message:
about the current status can be queried in DB31, ... DBB68.
the Nc via the signal DB31, ... .DBX63.1 (PLC controls axis) is to be awaited before the
block is started. The direction in which the drive must produce its torque/force is specified
by the PLC in the form of a "traversing motion" (e.g., via FC18).
The axis must be able to reach the destination of this movement without risk of collision if the
brake is unable to produce the necessary torque/force.
Note
Note on FC18
If FC18 is called over the further course of the user program for the same axis, the calls must
be mutually interlocked. For example, this can be achieved via a common call of this function
with an interlocked common data interface for the FC18 parameters. A second option is to call
the FC18 repeatedly, in which case the inactive FC18 will not be processed by the program.
A multiple-use interlock must be provided.
Structure of a brake test
Step
982
Expected feedback
Monitoring time value
Start brake test
DBX71.0 = 1
TV_BTactiv
Close brake
Bclosed = 1
TV_Bclose
Output traversing command
DBX64.6 OR DBX64.7
TV_FeedCommand
Issue test travel command
DBX62.5 = 1
TV_FXSreached
Wait for the holding time
DBX62.5 = 1
TV_FXShold
Deselect brake test / open brake
DBX71.0 = 0
TV_BTactiv
Output test ok
---
---
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
General conditions
FB2 has multi-instance capability.
Every call of FB11 must be assigned a separate instance DB from the user area.
Declaration of the function
Function_BLOCK FB11
VAR_INPUT
Start
BOOL;
Ackn :
BOOL;
Bclosed :
BOOL;
Axis :
INT;
TimerNo :
TIMER ;
TV_BTactiv :
S5TIME ;
TV_Bclose :
S5TIM;
TV_FeedCommand :
S5TIME ;
TV_FXSreached :
S5TIME ;
TV_FXShold :
S5TIME ;
END_VAR
VAR_OUTPUT
CloseBrake : BOOL;
MoveAxis :
BOOL;
Done :
BOOL;
Error :
BOOL;
State : :
BYTE ;
END_VAR
Description of formal parameters
Signal
Type
Type
Description
Start
BOOL
Starts the brake test
Ackn
BOOL
Acknowledge fault
Bclosed
BOOL
Checkback input whether Close Brake is activated
(singlechannel - PLC)
Axis
INT
TimerNo
TIMER
Timer from user program
TV_BTactiv
S5TIME
Monitoring time value brake test active, check of
axis signal DBX71.0
TV_Bclose
S5TIME
Monitoring time value close brake Check of input
signal Bclosed after output CloseBrake has been set.
TV_FeedCommand
S5TIME
Monitoring time value Travel command given
Check travel command after MoveAxis has been set
TV_FXSreched
S5TIME
Monitoring time value fixed stop reached
Basic Functions
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Axis number of axis to be tested
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Type
Type
TV_FXShold
Signal
S5TIME
Description
CloseBrake
BOOL
Request, close brake
MoveAxis
BOOL
Request, initiate traversing motion
Done
BOOL
Test successfully completed
Error
BOOL
An error occurred
State
BYTE
See paragraph "Error identifiers"
Monitoring time value test brake
Fault IDs
State
Description
No error
Start conditions not fulfilled, e.g. the axis is not in closed-loop control / brake closed / axis
inhibited
No NC checkback in "Brake test active" signal on selection of brake test
No "Brake applied" checkback by input signal Bclosed
No travel command output (e.g., axis motion has not been started)
Fixed end stop will not be reached axis RESET was initiated.
Traversing inhibit/Approach too slow fixed stop cannot be reached. TV FXSreached mon
itoring timeout
Brake is not holding at all (the end position is reached)/approach speed is too high
Brake opens during the holding time
Error when deselecting the brake test
10
Internal error
11
"PLC-controlled axis" signal not enabled in the user program
Example of calling FB11:
UN
111.1;
//Request to close brake, Z axis of FB
85.0;
//Brake control, Z axis
AUF
984
Axis3"; //Brake test, Z axis
73.0;
//Brake test trigger, Z axis
110.7;
//Brake test running
FP
110.0;
UN
111.4;
//Error has occurred
110.7;
//Brake test running
110.6;
//Next step
JCN
m001
DBB
AW
W#16#F;
MB
B#16#10
DBB
68;
115;
//flag channel state
8;
//Request neutral axis
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13.17 Block descriptions
m001:
DBX
68.6;
//Checkback signal, axis is neutral
110.6;
FP
110.1;
110.6;
110.5;
//Next step
DBX
28.7;
//Request PLC-monitored axis
DBX
63.1;
//Checkback signal, axis monitored by PLC
110.5;
FP
110.2;
110.5;
111.0;
//Start brake test for FB
CALL FB11, DB211 (//brake test block
Start
:=M
111.0,
//Start brake test
Ackn
:= I
3.7,
//Acknowledge error with RESET
key
Bclosed
:= I
54.0,
//Return message close brakes
//controlled
Axis
:= 3,
TimerNo
:= T
TV_BTactiv
:= S5T#200MS, //Monitoring time value:
//Brake test active DBX71.0
TV_Bclose
:= S5T#1S,
//Monitoring time value:
//Brake closed
TV_FeedCommand
:= S5T#1S,
//Monitoring time value:
//Traversing command output
TV_FXSreache
:= S5T#1S,
//Monitoring time value:
//Fixed stop reached
TV_FXShold
:= S5T#2S,
//Monitoring time value:
//Brake test time
CloseBrake
:=M
111.1,
//Request to close brake
MoveAxis
:=M
111.2,
Initiate //Request traversing
motion //
Done
:=M
111.3,
//Test successfully completed
Error
:=M
111.4,
//Error has occurred
State
:= MB 112);
AUF
//Axis number of axis to be
tested
//Z axis
110,
//Timer number
//Error status
"Axis3"; //Brake test, Z axis
111.2;
//Moveaxis
FP
111.5;
//FC18 Start
111.7;
//Start FC18
111.3;
//Test successfully completed
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13.17 Block descriptions
O
111.4;
//Error has occurred
FP
110.3;
DBX
28.7;
//Request, PLC-monitored axis
UN
DBX
63.1;
//Checkback signal, axis monitored by PLC
111.0;
//Start brake test for FB
110.7;
//Brake test running
FP
110.4;
111.0;
//Start brake test for FB
110.7;
//Brake test running
115;
//old channel status
8;
//Request channel axis
//optional begin
m002:
JCN
m002:
MB
OW
W#16#10;
DBB
NOP
0;
//optional end
CALL "SpinCtrl" (//Traverse Z axis
Start
:=M
Stop
:= FALSE,
Funct
:= B#16#5,
//Start traversing motion
//Mode: Axis mode
Mode
:= B#16#1,
//Procedure: Incremental
AxisNo
:= 3,
//Axis number of axis to be
traversed
//axis Z-axis
Pos
:= -5.000000e+000, //Traversing distance: Minus 5 mm
FRate
:= 1.000000e+003, //Feedrate: 1000 mm/min
InPos
:=M
113.0,
//Position reached
Error
:=M
113.1,
//Error has occurred
State
:= MB
114);
//Error status
AUF
986
111.2,
"Axis3"; //Brake test, Z axis
113.0;
//Position reached
113.1;
//Error has occurred
FP
113.2;
111.7;
//Start FC18
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.10
FB29: Signal recorder and data trigger diagnostics
Function
Signal recorder
FB29 "Diagnostics" allows various diagnostic routines to be performed on the PLC user
program. A diagnostic routine logs signal states and signal changes. In this diagnostic routine,
function number 1 is assigned to the "Func" parameter. Up to 8 signals of the parameters
"Signal_1" to "Signal_8" are recorded in a ring buffer each time one of the signals changes.
The current information of parameters "Var1" as BYTE value, and "Var2" and "Var3" as
INTEGER values are also stored in the ring buffer.
The number of past OB1 cycles is also stored in the buffer as additional information. This
information enables the graphical evaluation of signals and values in OB1 cycle grid.
Call rule
First call of FB29 in OB1 cycle: Parameter "NewCycle" = 1
All other calls of FB29 in the same OB1 cycle: Parameter "NewCycle" = 0
Ring buffer
The ring buffer, which must be defined by the user, must have an ARRAY structure specified
as in the source code. The array can have any number of elements. A size of 250 elements
is recommended. The "ClearBuf" parameter is used to clear the ring buffer and set the
"BufAddr" pointer to the start. The instance DB related to the FB29 is a DB from the user area
and is to be transferred to the FB Diagnostics with the parameter "BufDB".
Data trigger
The data trigger function is intended to allow triggering on specific values (or bits) at any
permissible memory cell. The cell to be triggered is "rounded" with a bit mask ("AndMask"
parameter) before the "TestVal" parameter is compared in the diagnostic block.
Note
The source code for the function is available in the source container of the basic-program
library under the name "Diagnose.awl". The instance DB and the ring buffer DB are also defined
in this source block. The function call is also described in the function. The DB numbers and
the call must be modified.
Declaration of the function
FUNCTION_BLOCK FB29
VAR_INPUT
Func
: INT;
Signal_1
: BOOL;
Signal_2
: BOOL;
Signal_3
: BOOL;
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13.17 Block descriptions
Signal_4
: BOOL;
Signal_5
: BOOL;
Signal_6
: BOOL;
Signal_7
: BOOL;
Signal_8
: BOOL;
NewCycle
: BOOL;
Var1
: BYTE ;
Var2
: INT;
Var3
: INT;
BufDB
: INT;
ClearBuf
: BOOL;
DataAdr
: POINTER;
TestVal
: WORD;
AndMask
: WORD;
END_VAR
VAR_OUTPUT
TestIsTrue
: BOOL;
END_VAR
VAR_IN_OUT
BufAddr
: INT;
END_VAR
Structure of the ring buffer
TITLE =
//Ring buffer DB for FB29
VERSION : 1.0
STRUCT
Field: ARRAY [0 .. 249 ] OF
STRUCT
//can be any size of this struct
Cycle : INT;
//Delta cycle to last storage in buffer
Signal_1 : BOOL;
//Signal names same as FB29
Signal_2 : BOOL;
Signal_3 : BOOL;
Signal_4 : BOOL;
Signal_5 : BOOL;
Signal_6 : BOOL;
Signal_7 : BOOL;
Signal_8 : BOOL;
Var1 : BYTE ;
Var2 : WORD;
Var3 : WORD;
988
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13.17 Block descriptions
END_STRUCT;
END_STRUCT;
BEGIN
END_DATA_BLOCK
Description of formal parameters
Signal
Type
Type
Value range
Func:
INT
0, 1, 2
Description
Function
0: Switch off
1: Signal recorder
2: Data trigger
Parameters for function 1
Signal_1 ...
Signal_8:
BOOL
0 (FALSE), 1
(TRUE)
Bit signals checked for change
NewCycle:
BOOL
0 (FALSE), 1
(TRUE)
See paragraph "Function" above
Var1 :
BYTE
Additional value
Var2 :
INT
Additional value
Var3 :
INT
Additional value
BufDB:
INT
Ring buffer DB no.
ClearBuf:
BOOL
BufAddr:
I/O
INT
0 (FALSE), 1
(TRUE)
Delete ring buffer DB and reset pointer Bu
fAddr
Target area for read data
Parameters for function 2
DataAdr:
POINTER
Pointer to word to be tested
TestVal:
WORD
Comparison value
AndMask:
WORD
See paragraph "Function" above
TestIsTrue:
BOOL
0 (FALSE), 1
(TRUE)
Result of comparison
Configuration steps
Select function of diagnostics block.
Define suitable data for the recording as signal recorder or data triggering.
Find a suitable point or points in the user program for calling the diagnostics FB.
Create a data block for the ring buffer, see call example.
Call the diagnostics FB with parameters in the user program.
In function 1, it is advisable to clear the ring buffer with the "ClearBuf" parameter. When the
recording phase with function 1 is completed, read out the ring buffer DB in STEP7 with the
function "opening the data block in the data view". The content of the ring buffer DB can now
be analyzed.
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Call example
FUNCTION FC99: VOID
TITLE =
VERSION : 0.0
BEGIN
NETWORK
TITLE = NETWORK
CALL FB29, DB80(
Func
:= 1,
Signal_1
:=M
100.0,
Signal_2
:=M
100.1,
Signal_3
:=M
100.2,
Signal_4
:=M
100.3,
Signal_5
:=M
10.4,
Signal_6
:=M
100.5,
Signal_7
:=M
100.6,
Signal_8
:=M
100.7,
NewCycle
:= TRUE,
Var1
:= MB
BufDB
:= 81,
ClearBuf
:=M
100,
50.0);
END_FUNCTION
13.17.11
FC2 : GP_HP - basic program, cyclic section
Function
The NC/PLC interface is processed by the basic program in cyclic mode (OB1). To keep the
runtime to a minimum, only the control and status signals are cyclically transferred. The transfer
of auxiliary and G-functions is only processed upon request from the NC.
Furthermore, the data for handwheel selection, modes, and other operating signals are
transferred from the operator panel (HMI) to the NC/PLC interface so that the modes support
the selection from the MCP or HMI as required.
The transfer of HMI signals to the NC/PLC interface can be deactivated by setting the value
of the parameter "MMCToIF" to "FALSE" in FB1 (DB7).
Handwheel selection signals
Requirement: FB1, parameter "HWheelMMC == "TRUE"
The handwheel selection signals from the HMI are decoded and activated in the respective
machine or geometry axis of the respective handwheel.
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13.17 Block descriptions
Declaration
FUNCTION FC2: VOID
// no parameters
Call example
As far as the time is concerned, the basic program must be executed before the user program.
It is, therefore, called first in OB1.
The following example contains the standard declarations for OB1 and the calls for the basic
program (FC2), the transfer of the MCP signals (FC19), and the acquisition of error and
operating messages (FC10).
ORGANIZATION_BLOCK OB1
VAR_TEMP
OB1_EV_CLASS :
BYTE ;
OB1_SCAN_1 :
BYTE ;
OB1_PRIORITY :
BYTE ;
OB1_OB_NUMBR :
BYTE ;
OB1_RESERVED_1 : BYTE ;
OB1_RESERVED_2 : BYTE ;
OB1_PREV_CYCLE : INT;
OB1_MIN_CYCLE :
INT;
OB1_MAX_CYCLE :
INT;
OB1_DATE_TIME :
DATE_AND_TIME;
END_VAR
BEGIN
CALL FC2;
//Call basic program as first FC
//INSERT USER PROGRAM HERE
CALL FC19(
//MCP signals to interface
BAGNo :=
B#16#1,
// Mode group no. 1
ChanNo :=
B#16#1,
// Channel no. 1
SpindleIFNo :=
B#16#4,
//Spindle interface number = 4
// (Number of the associated machine
axis)
FeedHold :=
m22.0,
//Feed stop signal
//modal
SpindleHold :=
db2.dbx151.0);
//Spindle stop modal
//in message DB
CALL FC10(
// Error and operating messages
ToUserIF := TRUE,
//Signals transferred from DB2
//to interface
Ackn :=
//Acknowledgment of error messages
//via I6.1
I6.1);
END_ORGANIZATION_BLOCK
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13.17 Block descriptions
13.17.12
FC3: GP_PRAL - basic program, interruptdriven section
Function
Blocksynchronized transfers from the NCK to the PLC (auxiliary and G functions) are carried
out in the interruptdriven part of the basic program. Auxiliary functions are subdivided into
normal and highspeed auxiliary functions.
The highspeed functions of an NC block are buffered and the transfer acknowledged to the
NC. These are transferred to the application interface at the start of the next OB1 cycle.
Highspeed auxiliary functions programmed immediately one after the other, are not lost for the
user program. This is ensured by a mechanism in the basic program.
Normal auxiliary functions are acknowledged to the NC only after one completed cycle
duration. This allows the application to issue a read disable to the NC.
The G Functions are evaluated immediately and passed to the application interface.
NC process interrupts
If the interrupt is triggered by the NC (possible in each IPO cycle), a bit in the local data of
OB40 ("GP_IRFromNCK") is set by the basic program, when the FB1 parameter "UserIR": =
TRUE"). This data is not set on other events (process interrupts through I/Os). This information
makes it possible to branch into the associated interrupt routine in the user program in order
to initiate the necessary action.
To be able to implement highspeed, jobdriven processing of the user program for the machine,
the following NC functions are available in the interrupt processing routine (OB40 program
section) for the PLC user program:
Selected auxiliary functions
Tool-change function for tool-management option
Position reached for positioning axes, indexing axes and spindles with activation via PLC
The functions listed above can or must be evaluated by the user program in OB40 in order to
initiate reactions on the machine. As an example, the revolver switching mechanism can be
activated when a T command is programmed on a turning machine.
For further details on programming hardware interrupts (time delay, interruptibility, etc.) refer
to the corresponding SIMATIC documentation.
Auxiliary functions
Generally, high-speed or acknowledging auxiliary functions are processed with or without
interrupt control independently of any assignment.
Basic-program parameters in FB1 can be set to define which auxiliary functions (T, H, DL)
must be processed solely on an interruptdriven basis by the user program.
Functions which are not assigned via interrupts are only made available by the cyclic basic
program as in earlier versions. The change signals of these functions are available in a PLC
cycle.
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Even if the selection for the auxiliary function groups (T, H, DL) is made using interrupt control,
only one interrupt can be processed by the user program for the selected functions.
A bit is set channelspecifically in the local data "GP_AuxFunction" for the user program (if
"GP_AuxFunction[1]" is set, then an auxiliary function is available for the 1st channel).
In the related channel-DB the change signal and the function value are available for the user.
The request signal of this interrupt-driven function is reset to zero in the cyclic basic program
section after the execution of at least one full OB1 cycle (max. approx. two OB1 cycles).
Tool change
With the tool-management option, the tool-change command for revolver and the tool change
in the spindle is supported by an interrupt. The local data bit "GP_TM" in OB40 is set for this
purpose. The PLC user program can thus check the tool management DB (DB72 or DB73) for
the tool change function and initiate the tool change operation.
Position reached
In the bit structure, "GP_InPosition" of the local data of OB40 is specific to the machine axis
(each bit corresponds to an axis/spindle, e.g. GP_InPosition[5] corresponds to axis 5).
If a function has been activated via FC18 (spindle control, positioning axis, indexing axis) for
an axis or spindle, the associated "GP_InPosition" bit can be used to implement instantaneous
evaluation of the "InPos" signal of the FCs listed above. This feature can be used, for example,
to obtain immediate activation of clamps for an indexing axis.
Declaration
FUNCTION FC3: VOID
// no parameters
Call example
As far as the time is concerned, the basic program must be executed before other interruptdriven user programs. It is, therefore, called first in OB40.
The following example contains the standard declarations for OB40 and the call for the basic
program.
ORGANIZATION_BLOCK OB40
VAR_TEMP
OB40_EV_CLASS :
BYTE ;
OB40_STRT_INF :
BYTE ;
OB40_PRIORITY :
BYTE ;
OB40_OB_NUMBR :
BYTE ;
OB40_RESERVED_1 :
BYTE ;
OB40_MDL_ID :
BYTE ;
OB40_MDL_ADDR :
INT;
OB40_POINT_ADDR :
DWORD;
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OB40_DATE_TIME :
DATE_AND_TIME;
//Assigned to basic program
GP_IRFromNCK : BOOL;
//Interrupt by NCK for user
GP_TM : BOOL;
//Tool management
GP_InPosition : ARRAY [1..3] OF BOOL;
//Axis-oriented for positioning,
//Indexing axes, spindles
GP_AuxFunction : ARRAY [1..10] OF BOOL; //Channel-oriented for auxiliary
functions
GP_FMBlock : ARRAY [1..10] OF BOOL;
//Currently not used
//Further local user data may be defined from this point onwards
END_VAR
BEGIN
CALL FC3;
//INSERT USER PROGRAM HERE
END_ORGANIZATION_BLOCK
13.17.13
FC5: GP_DIAG - basic program, diagnostic alarm and module failure
Function
The block FC5 "GP_DIAG" is used to record assembly disruptions and failures.
A PLC stop can be triggered via the parameter "PlcStop". The PLC stop is only triggered for
incoming events. The MCPs connected to the parameterized PROFIBUS (DP1) at FB1 are
excluded from this.
Declaration
FUNCTION FC5: VOID
VAR_INPUT
PlcStop: BOOL:= TRUE;
END_VAR
Call example
The basic program should be run through after processing of the user programs. This is
recommended because a PLC stop can be triggered by the FC5.
The example contains the standard declaration for OB82 and OB86 and the call of the FC5.
ORGANIZATION_BLOCK OB82
VAR_TEMP
OB82_EV_CLASS : BYTE ;
OB82_FLT_ID : BYTE ;
OB82_PRIORITY : BYTE ;
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OB82_OB_NUMBR : BYTE ;
OB82_RESERVED_1 : BYTE ;
OB82_IO_FLAG : BYTE ;
OB82_MDL_ADDR : INT ;
OB82_MDL_DEFECT : BOOL;
OB82_INT_FAULT : BOOL;
OB82_EXT_FAULT : BOOL;
OB82_PNT_INFO : BOOL;
OB82_EXT_VOLTAGE : BOOL;
OB82_FLD_CONNCTR : BOOL;
OB82_NO_CONFIG : BOOL;
OB82_CONFIG_ERR : BOOL;
OB82_MDL_TYPE : BYTE ;
OB82_SUB_NDL_ERR : BOOL;
OB82_COMM_FAULT : BOOL;
OB82_MDL_STOP : BOOL;
OB82_WTCH_DOG_FLT : BOOL;
OB82_INT_PS_FLT : BOOL;
OB82_PRIM_BATT_FLT : BOOL;
OB82_BCKUP_BATT_FLT : BOOL;
OB82_RESERVED_2 : BOOL;
OB82_RACK_FLT : BOOL;
OB82_PROC_FLT : BOOL;
OB82_EPROM_FLT : BOOL;
OB82_RAM_FLT : BOOL;
OB82_ADU_FLT : BOOL;
OB82_FUSE_FLT : BOOL;
OB82_HW_INTR_FLT : BOOL;
OB82_RESERVED_3 : BOOL;
OB82_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC5
(PlcStop := FALSE) ;
END_ORGANIZATION_BLOCK
ORGANIZATION_BLOCK OB86
VAR_TEMP
OB86_EV_CLASS : BYTE ;
OB86_FLT_ID : BYTE ;
OB86_PRIORITY : BYTE ;
OB86_OB_NUMBR : BYTE ;
OB86_RESERVED_1 : BYTE ;
OB86_RESERVED_2 : BYTE ;
OB86_MDL_ADDR : WORD;
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OB86_RACKS_FLTD : ARRAY [0 .. 31]OF BOOL;
OB86_DATE_TIME : DATE_AND_TIME;
END_VAR
BEGIN
CALL FC5
(PlcStop := TRUE) ;
END_ORGANIZATION_BLOCK
13.17.14
FC6: TM_TRANS2 - transfer block for tool management and multitool
Function
The block FC6 "TM_TRANS2" is used for position changes of the tools, status changes, and
multitool.
The FC6 block has the same functionality as the FC8 block, plus the multitool functionality.
The description of FC6 only contains the multitool functionality.
The functionality of FC8 is described in "FC8: TM_TRANS - transfer block for tool
management (Page 1000)".
Declaration of the function
FUNCTION FC6: VOID
VAR_INPUT
Start:
BOOL;
TaskIdent:
BYTE ;
TaskIdentNo:
BYTE ;
NewToolMag:
INT;
NewToolLoc:
INT;
OldToolMag:
INT;
OldToolLoc:
INT;
Status:
INT;
MtoolPlaceNum:
INT;
END_VAR
VAR_OUTPUT
Ready:
BOOL;
Error:
INT;
END_VAR
BEGIN
END_FUNCTION
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Description of formal parameters
13.17.15
Signal
Type
Type
Value range
Start:
BOOL
0 (FALSE), 1
(TRUE)
TaskIdent:
BYTE
See block description FC8
TaskIdentNo:
BYTE
See block description FC8
NewToolMag:
INT
See block description FC8
NewToolLoc:
INT
See block description FC8
OldToolMag:
INT
See block description FC8
OldToolLoc:
INT
See block description FC8
Status:
INT
See block description FC8
MtoolPlaceNum:
INT
Ready:
BOOL
Error:
INT
Description
See block description FC8
Multitool location No.
0 (FALSE), 1
(TRUE)
See block description FC8
See block description FC8
FC7: TM_REV - transfer block for tool change with revolver
Function
After a revolver has been changed, the user will call the block FC7 "FC TM_REV". The revolver
number corresponding to interface number in DB73 must be specified in parameter
"ChgdRevNo" for this purpose. As this block is called, the associated "Interface active" bit in
data block DB73.DBW0 of FC7 is reset after parameter "Ready" == TRUE is returned.
Job executed correctly
If the job was executed correctly, then "Ready" == 1. The user must then set the parameter
"Start" = 0 or no longer call FC7.
Job executed with errors
If the job was executed with errors, then parameter "Ready" == 0 and parameter "Error" == 1.
The job must be repeated in the next PLC cycle. Since the parameter "Start" does not need a
positive edge for a subsequent job, "Start" = 1 remains, because the job has not yet been
completed. See "Call example" and "Pulse diagram" below.
General conditions
Block FC7 may only be started with parameter "Start" = 1 if an activation signal for the
associated interface (DB73.DBW0) for this transfer has been supplied by the tool
management function.
A cancellation of a transfer, e.g. by a channel reset, is not permitted.
Parameter "Start" = 1, until parameter "Ready" == 1 or "Error" == 1
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13.17 Block descriptions
References
For detailed information about tool management, refer to
the Function Manual Tool Manager.
PI services for tool management
FB4: Request PI service (Page 937)
FC8: TM_TRANS - transfer block for tool management (Page 1000)
FC22: TM_DIR - direction selection for tool management (Page 1044)
Manual revolver switching
If the revolver is rotated in manual operation, neither a tool change nor an offset selection is
associated with this operation. The first step is the removal of the tool from the toolholder back
to its location in the revolver. An asynchronous transfer must be performed with FC8
(alternative: FC6). The associated parameter settings are shown below:
TaskIdent = 4
TaskIdentNo = Channel no.
NewToolMag = Magazine no. of the revolver
NewToolLoc = Original location of the tool
OldToolMag = Magazine no. of the buffer storage (spindle) = 9998
OldToolLoc = Buffer storage no. of the spindle
Status = 1
If the revolver is now turned to an arbitrary position at which a tool is located, this tool must be
activated. This is done easiest by the new T programming in the part program. However, if this
should take place, for example, at the end of revolver switching from the PLC user program,
an ASUB must be started for this purpose. The current revolver position must be transferred
to the ASUB. In this way, the tool at this location is determined in the ASUB and is selected
(see Jobshop example in the toolbox).
Declaration of the function
FUNCTION FC7:
VOID
//NAME :TM_REV
VAR_INPUT
Start :
ChgdRevNo:
BOOL;
BYTE ;
END_VAR
VAR_OUTPUT
Ready:
BOOL;
Error :
INT;
END_VAR
BEGIN
END_FUNCTION
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13.17 Block descriptions
Description of formal parameters
Signal
Typ
e
Type
Value range
Start:
BOOL
0 (FALSE), 1
(TRUE)
ChgdRevNo:
BYTE
1, 2, 3, ...
Ready:
BOOL
0 (FALSE), 1
(TRUE)
Error:
INT
0, 1 ,2, 3
Description
1 = start transfer
Number of revolver interface
1 = Transfer complete
Error checkback
0: No error has occurred
1: No revolver present
2: Illegal revolver number in parameter "ChgdRev
No"
3: Illegal job ("interface active" signal for selected
revolver = "FALSE")
Pulse diagram
6WDUW
5HDG\
(UURU
!
User: Set request, Start = 0 1
FB4: PI service successfully completed, Ready = 1
User: Reset request, IF Ready == 1 THEN Start = 0
User: IF Ready == 1 THEN reset request: 1 0
FB4: Reset job confirmation, Ready = 0
User: IF Ready == 0 AND Error == 0 THEN reset request Start = 1 0 not permissible
FB4: PI service completed with errors, Error = 1
User: Reset request, IF Ready == 1 OR Error == 1 THEN Start = 0, possible further error handling
Call example
CALL
FC7(
// Tool management: Transfer block for revolver
Start :=
m 20.5,
ChgdRevNo :=
DB61.DBB1,
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// Start := "1 " => initiate the
transfer
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Ready :=
m 20.6,
Error :=
DB61.DBW12
};
u
m 20.6;
// Poll ready
m 20.5;
// Reset start
spb
m001;
// Jump, if everything OK
db61.dbw 12;
// Error information
ow
w#16#0;
// Evaluate error
spn
error:
// Jump to troubleshooting, if <> 0
m001:
// Start of another program
error:
r
13.17.16
m 20.5;
// Start reset, if an error has
occurred
FC8: TM_TRANS - transfer block for tool management
Function
The user calls this block FC TM-TRANS when the position of the tool or the status of the
transfer operation changes. The parameter "TaskIdent" specifies the transfer job for the block
FC8 at the tool management interface:
For loading/unloading positions
For spindle change positions
For revolver change positions as transfer identifier
Asynchronous transfer
Asynchronous transfer with location reservation
The interface number is indicated in parameter "TaskIdentNo".
Example for loading point 5:
Parameter "TaskIdent":= 1 and "TaskIdentNo":= 5.
Furthermore, the current tool positions and status data (list of "Status" parameter in the
following text) are also transferred for this transfer function.
Note
FC8 informs the NCK of the current positions of the old tool.
The NCK knows where the old and the new tool have been located until the position change.
In the case of a transfer without a socalled "old tool" (e.g. on loading), the value 0 is assigned
to parameters "OldToolMag", "OldToolLoc".
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Block FC TM_TRANS may be started only with "Start" parameter = "TRUE" if an activation
signal for the appropriate interface (DB71, DB72, DB73 in word 0) for this transfer has been
supplied by the tool management function.
When this job is executed correctly, the output parameter "Ready" contains the value TRUE.
The user must then set the"Start" parameter to FALSE or not call the block again.
If the "Ready" parameter = FALSE, the error code in the "Error" parameter must be interpreted
(see Call example FC8 and pulse diagram).
If the error code = 0, then this job must be repeated in the next PLC cycle (e.g. "Start" remains
set to "TRUE"). This means that the transfer operation has not yet been completed.
If the user assigns a value of less than 100 to the "Status" parameter, then the associated
interface in data block DB71 or DB72 or DB73, word 0 is deactivated (process completed).
The appropriate bit for the interface is set to 0 by FC8.
The "Start" parameter does not need a signal edge for a subsequent job. This means that new
parameters can be assigned with "Start = TRUE" immediately when "Ready = TRUE" is
received.
Asynchronous transfer
To ensure that changes in the position of a tool are automatically signaled from PLC to the
tool management (e.g. power failure during an active command or independent changes in
the position by the PLC), FC8 is called with "TaskIdent" = 4 or 5. This call does not require
interface activation by tool management.
If parameter "TaskIdent" = 5, the tool management reserves the location in addition to changing
the position. The location is only reserved if the tool has been transported from a real magazine
to a buffer storage.
A relevant NC channel must be parameterized in the "TaskIdentNo" parameter.
The previous location of the tool is specified in the parameters "OldToolMag" and "OldToolLoc".
The current location of the tool is specified in the parameters "NewToolMag", "NewToolLoc".
"Status" = 1 must be specified.
With "Status" = 5, the specified tool remains at location "OldToolMag", "OldToolLoc". This
location must be a buffer (e.g. spindle). The real magazine and location must be specified in
the parameters "NewToolMag", "NewToolLoc"; the location is at the position of the buffer. This
procedure must always be used if the tool management is to be informed of the position of a
specific magazine location. This procedure is used for alignment in search strategies.
General conditions
A cancellation of a transfer, e.g. by a channel reset, is not permitted.
Parameter "Start" = 1, until parameter "Ready" == 1 or "Error" == 1
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13.17 Block descriptions
References
For detailed information about tool management, refer to
the Function Manual Tool Manager.
PI services for tool management
FB4: Request PI service (Page 937)
FC7: TM_REV - transfer block for tool change with revolver (Page 997)
FC22: TM_DIR - direction selection for tool management (Page 1044)
Declaration of the function
FUNCTION FC8: VOID
//NAME :TM_TRANS
VAR_INPUT
Start :
BOOL;
TaskIdent:
BYTE ;
TaskIdentNo:
BYTE ;
NewToolMag:
INT;
NewToolLoc:
INT;
OldToolMag:
INT;
OldToolLoc:
INT;
Status:
INT;
END_VAR
VAR_OUTPUT
Ready
BOOL;
Error :
INT;
END_VAR
BEGIN
END_FUNCTION
Description of formal parameters
Signal
Type
Type
Value range
Start:
BOOL
0 (FALSE), 1
(TRUE)
TaskIdent:
BYTE
1, 2, 3, 4, 5
Description
1: Start transfer
Interface or task identifier
1: Loading/unloading location
2: Spindle change position
3: Revolver change position
4: Asynchronous transfer
5: Asynchronous transfer with location reserva
tion
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Signal
TaskIdentNo:
Type
Type
Value range
Description
BYTE
1, 2, 3 ... 10
Number of the associated interface or channel
number.
For the asynchronous transfer, the interface num
ber can be specified in the upper nibble.
Example: 1. Interface, 2. Channel B#16#12
NewToolMag:
INT
-1, 0, 1, 2 ...
Current magazine number of tool to be replaced
-1: Tool remains at its location
NewToolLoc = any value
Only permissible if TaskIdent = 2
NewToolLoc:
INT
0, 1, 2 max.
location no.
OldToolMag:
INT
-1, 0 ...
Current location number of new tool
Current magazine number of tool to be replaced
-1: The tool remains at its location. "OldToolLoc"
= <any value>. Only permissible if "TaskIdent" =
2.
OldToolLoc:
INT
Max. location
number
Status:
INT
1, 2, 3 ... 7, 103,
104, 105
Ready:
BOOL
0 (FALSE), 1
(TRUE)
Error:
INT
0 ... 65535
Current location number of tool to be replaced
Status information about transfer operation
1: Transfer completed
Error checkback
0: No error has occurred
1: Unknown "TaskIdent"
2: Unknown "TaskIdentNo"
3: Impermissible job, ("Interface active" signal for
selected revolver == 0)
Other value: The number corresponds to the er
ror message of the tool management function in
the NC caused by this transfer.
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Pulse diagram
6WDUW
5HDG\
(UURU
1004
!
Activation of function by means of a positive edge
Positive acknowledgment: Tool management has been transferred
Reset function activation after receipt of acknowledgment
Signal change using FC
This signal chart is not permissible. The job must generally be terminated since the new tool
positions must be conveyed to the tool management in the NCK.
Negative acknowledgement: Error occured, error code in the output parameter Error
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Status
Status Description
1
The WZV job has been completed.
The parameters "NewToolMag", "NewToolLoc", "OldToolMag", "OldToolLoc" of the FC8 block
should be parameterized to the actual positions of the tools involved. Except in the case of
preparing change these are normally the specified target position of the tools of the associated
WZV interface, see also "Explanations of the formal parameters".
1. In the case of loading/unloading/reloading, the tool has arrived at the required target
address. If the bit in the interface in DB 71.DBX (n+0).3 "position at loading point" is enabled,
status 1 cannot be used for the function termination. Status 5 must be used for correct
termination.
2. In the case of "Prepare change", the new tool is now available. The tool may, for example,
be positioned in a buffer (gripper). In some cases, the target (magazine, location) of the
old tool has been moved to the toolchange position after placement of the new tool in a
buffer. However, the old tool still remains in the spindle. The preparations for a tool change
are thus complete. After this acknowledgement, the "Change" command can be received.
The positions in parameters "NewToolMag", "NewToolLoc", "OldToolMag" and
"OldToolLoc" correspond to the current tool positions.
3. In the case of "Change" (spindle or revolver), the tools addressed in the interface have now
reached the required target addresses.
The tool change operation is thus completed.
The "new" tool cannot be made available
This status is only admissible in conjunction with the "Prepare Change" command. When this
status is applied, the PLC must be prevented from making a change with the proposed tool.
The proposed (new) tool is disabled by the tool management function in the NCK. A new
command is then output by the tool management with a duplo tool. The positions in parameters
"NewToolMag", "NewToolLoc", "OldToolMag", and "OldToolLoc" correspond to the original
tool positions.
An error has occurred
The tool positions must not have been changed. Any changes to the magazine positions that
have taken place in the meantime must be notified beforehand, for example, with status = 105
via FC8 transfer block Only then will the tool positions be taken into account by the tool man
agement function.
It would be better to position the "old" tool in the magazine position specified in parameters
"OldToolMag" and "OldToolLoc"
This status is permissible only in conjunction with preparation for tool change (change into
spindle). After this status has been transferred to the tool management in the NCK, the tool
management tries to consider the specified magazine position in the next command. But this
is done only when this position is free. Parameters "NewToolMag" and "NewToolLoc" are not
taken into account.
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13.17 Block descriptions
Status Description
5
The operation is complete
The "new" tool is in the position specified in parameters "NewToolMag", "NewToolLoc". In this
case, the specified tool is not really in this position, but is still in the same magazine location.
However, this magazine location has been moved to the position set in the parameters (e.g.
tool change position). This status may be used only for revolvers, chain-type magazines and
disk magazines. The status enables the tool management function to adjust the current position
of a magazine and to improve the search strategy for subsequent commands. This status is
permissible only in conjunction with loading, unloading, and reloading operations and with
preparations for a tool change. The "OldToolMag" and "OldToolLoc" parameters must be par
ameterized with the data of a buffer.
Loading, reloading:
On loading or reloading, a location for the tool is already reserved in the NCK. The machine
operator must then insert the tool at the target location. Notice: The location reservation is
canceled when the control system is switched on again.
Tool-change preparation:
Tool motions still to be executed are not carried out until after the tool has been changed.
Positioning to load point:
If the bit in the interface in DB 71.DBX (n+0).3 "position at loading point" is enabled, then
only status 5 be used for the function termination (not status 1).
The WZV job has been completed
This status has the same function as status 1, but, in addition, a reservation of the source
location is carried out. This status is only permitted when reloading. The command is ended
and the source location of the tool is reserved if the target location is in a buffer magazine.
Initiate repetition of the command "Prepare Tool"
This status is only admissible in conjunction with the "Change tool" command. This status is
intended for use when the "new" tool has changed its position (e.g. via an asynchronous com
mand of the "new" tool). After "Ready = 1" has been provided by FC8, the "Prepare Change"
command is repeated automatically with the same tool. For the automatic repetition, a new
tool search is carried out. The positions in parameters "NewToolMag", "NewToolLoc", "Old
ToolMag", and "OldToolLoc" correspond to the original tool positions.
103
The "new" tool can be inserted
This status is permitted only in the tool change preparation, when the PLC may reject the new
tool (e.g. in case of MD20310 $MC_TOOL_MANAGEMENT_MASK, bit 4=1 for the possibility,
request changed parameter from PLC once again). The tool positions have remained un
changed. This status is thus necessary, when the processing is to be continued in the NCK
without an unnecessary stop.
104
The "new" tool is in the position specified in parameters "NewToolMag", "NewToolLoc"
This status is only permissible if the tool is still in the magazine in the same location. The "old"
tool is in the position (buffer) specified in parameters "OldToolMag", "OldToolLoc". In this case,
however, the new tool is not really in this position, but is still in the same magazine location.
However, this magazine location has been moved to the position set in the parameters (e.g.
tool change position). This status may be used only in conjunction with revolvers, chaintype
magazines and disk magazines for the "Tool change preparation" phase. Status enables the
tool management to adjust the current position of a magazine and to improve the search strat
egy for subsequent commands.
105
The specified buffer location has been reached by all tools involved
Standard case if the operation has not yet been completed.
The tools are in the specified tool positions (parameters "NewToolMag", "NewToolLoc", "Old
ToolMag", "OldToolLoc").
1006
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13.17 Block descriptions
Status definition
A general rule for the acknowledgement status is that the status information 1 to 7 leads to the
termination of the command. If FC8 receives one of the statuses, the "Interface active bit" of
the interface specified in FC8 is reset to "0" (see also interface lists DB 71 to DB 73), thus
completing the operation. The response is different in the case of status information 103 to
105. When the FC8 receives one of these items of status information, the Interface active bit
of this interface remains at 1. Further processing is required by the user program in the PLC
(e.g. continuation of magazine positioning). This item of status information is generally used
to transfer changes in position of one or both tools while the operation is still in progress.
Call example
CALL FC8(
13.17.17
//Tool-management transfer block
Start :=
m 20.5,
TaskIdent :=
DB61.DBB0,
TaskIdentNo :=
DB61.DBB1,
NewToolMag :=
DB61.DBW2,
NewToolLoc :=
DB61.DBW4,
OldToolMag :=
DB61.DBW6,
OldToolLoc :=
DB61.DBW8,
Status :=
DB61.DBW10,
Ready :=
m 20.6,
Error :=
DB61.DBW12);
// Start := "1 " => initiate the transfer
// Current position of new tool
// Current position of old tool
// Status
u m 20.6;
// Poll ready
r m 20.5;
// Reset start
spb m001;
// Jump if everything OK
l DB61.dbw12;
// Error information
ow w#16#0;
// Evaluate error
JC error;
// Jump to troubleshooting
m001:
// Normal branch
error:
//Troubleshooting
r m 20.5:
// Reset start
FC9: ASUB - start of asynchronous subroutines
Function
The block FC9 "ASUP" can be used to trigger any functions in the NC. Before an ASUB can
be started from the PLC, it must have been selected and parameterized by an NC program or
by FB4 (PI service ASUB). In this case, the channel and the interrupt numbers must match
the parameters in FC9.
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13.17 Block descriptions
Once prepared in this way, it can be started at any time from the PLC. The NC program running
on the channel in question is interrupted by the asynchronous subprogram.
Only one ASUB can be started in the same channel at a time. If several ASUBs are started in
one PLC cycle, the ASUBs are started in this order in the NC.
Parameter "Start" = 0 must be set by the user if the ASUB has been terminated ("Done" == 1)
or an error has occurred ("Error" == 1).
For processing jobs, each FC9 needs its own parameter "Ref" from the global user area. This
parameter is for internal use only and must not be changed by the user. The parameter "Ref"
is initialized with the value 0 in the first OB1 cycle and, for this reason, every FC9 must be
called absolutely. Alternatively, the user can initialize parameter "Ref" with a value of 0 during
startup. This option makes conditional calls possible. A conditional call requires parameter
"Start" = 1 during activation of FC9 until a negative edge change has occurred at parameter
"Done" (1 0).
General conditions
The function block FB4 must be terminated before the block FC9 is started.
The block FC9 cannot be started if DB10, DBX56.1 == 1 (emergency stop).
Block FC9 must not be started if channel reset is active in the channel in which the ASUB
is to be started.
Declaration of the function
FUNCTION FC9: VOID
//NAME :ASUP
VAR_INPUT
Start :
BOOL;
ChanNo:
INT;
IntNo:
INT;
END_VAR
VAR_OUTPUT
Active:
BOOL;
Done :
BOOL;
Error :
BOOL;
StartErr:
BOOL;
END_VAR
VAR_IN_OUT
Ref:
WORD;
END_VAR
1008
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13.17 Block descriptions
Description of formal parameters
The table below lists all formal parameters of the ASUB function.
Signal
Typ
e
Type
Value range
Description
Start:
BOOL
0 (FALSE), 1
(TRUE)
ChanNo:
INT
1, 2, 3 ... 10
Channel number
IntNo:
INT
1, 2, 3 ... 8
Interrupt number
Active:
BOOL
0 (FALSE), 1
(TRUE)
1: active
Done:
BOOL
0 (FALSE), 1
(TRUE)
1: ASUB completed
Error:
BOOL
0 (FALSE), 1
(TRUE)
1: Interrupt switched off
StartErr:
BOOL
0 (FALSE), 1
(TRUE)
1: Interrupt number not assigned or de
leted
Ref:
I/O
WORD
Global variable
(MW, DBW,..)
Job start with positive signal edge
1 word per FC9 (for internal use)
Pulse diagram
6WDUW
$FWLY
'RQH
(UURU
(1)
Activation of function
(2)
ASUB is active
(3)
Positive acknowledgment: ASUB completed
(4)
Reset function activation after receipt of acknowledgment
(5)
Signal change using FC
(6)
Not permitted If function activation is reset prior to receipt of acknowledgement, the output signals
are not updated without the operational sequence of the activated function being affected.
(7)
Negative acknowledgement: An error occurred
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13.17 Block descriptions
Call example
CALL FC9(
13.17.18
//Start an asynchronous subprogram
//in channel 1 interrupt number 1
Start :=
I 45.7,
ChanNo :=
1,
IntNo :=
1,
Active :=
M 204.0,
Done :=
M204.1,
Error :=
M 204.4,
StartErr :=
M 204.5,
Ref :=
MW 200);
FC10: AL_MSG - error and operating messages
Function
With block FC10 "AL_MSG", the signals entered in DB2 are evaluated and displayed as
incoming or outgoing error messages and operating messages on the user interface.
The incoming signals (positive edge) are displayed immediately in the case of both error and
operational messages.
Outgoing signals (negative edge) are deleted immediately only for operating messages. In the
event of error messages, the messages that are no longer pending are only deleted with the
parameter "Quit", i.e. errors remain displayed on the user interface until they have been
acknowledged by the user even if the signals are no longer pending.
The "ToUserIF" parameter can be used to transfer the group signals for the feed, read and NC
start disabling signals and feed stop signal to the existing axis, spindle and channel interfaces.
The group signals are transferred to the user interface directly from the status information in
DB2 irrespective of an interrupt acknowledgment.
1. If parameter "ToUserIF" = 0, there is no transfer of the signals to the user interface. In this
case, the user must take measures in his PLC program to ensure that these signals are
influenced in the interface.
2. If parameter "ToUserIF" = 1, all signals listed above are sent to the user interface as a group
signal in each case. The user PLC program can, therefore, influence these signals only via
DB2 in conjunction with a message or interrupt output. The appropriate information is
overwritten in the user interface.
Alternatively to the response described in paragraph 2, the disable and hold signals can be
influenced without a message being output by influencing the interface signals with a disable
or stop signal state after FC10 is called.
The following program illustrates this method:
CALL FC10(
1010
ToUserIF :=
TRUE,
Ackn :=
I 6.1);
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13.17 Block descriptions
u m 50.0;
// Feed disable for channel 1
to DB 21;
s dbx 6.0;
// Setting the blocking condition,
// Resetting is done via FC AL_MSG,
// if M 50.0 outputs the signal "0".
FB1 parameter ExtendAlMsg
With FB1 parameter "ExtendAlMsg" = 1, the new DB2 structure becomes effective (see
"Interface PLC/HMI (Page 842)"). Upon activation, bit arrays are available for the disable and
stop signals which do not generate any alarms or messages. As a result, the above measures
do not need to be implemented. The desired functionality is automatically obtained by a simple
setting/resetting signals in DB2.
The error and operating messages in data block DB2 must be provided in a user-specific way.
Note
In DB2, a "1" signal must be present for several OB1 cycles to ensure that a message can
also be displayed on the HMI. There is an upper limit for the number of interrupts and messages
that can be pending at the same time. This upper limit is dependent on the PLC CPU. On PLC
317-2DP, the upper limit for messages pending simultaneously is 60.
References
List Manual for NC variables and interface signals, Chapter "PLC user interface" > "PLC alarms/
messages"
Declaration of the function
FUNCTION FC10:
VOID
// NAME:
AL_MSG
VAR_INPUT
ToUserIF :
BOOL;
Ackn :
BOOL;
END_VAR
END_FUNCTION
Description of formal parameters
Signal
Type
Type
Value range
ToUserIF :
BOOL
0 (FALSE), 1
(TRUE)
1: Transfer of the signals to the user inter
face in each cycle
Ackn:
BOOL
0 (FALSE), 1
(TRUE)
1: Acknowledgment of error messages
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Description
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13.17 Block descriptions
Call example
CALL FC10(
13.17.19
// Error and operating messages
ToUserIF :=
TRUE,
// Signals from DB2 are transferred to interface.
Ackn :=
I6.1);
// Acknowledgment of error message via input I6.1
FC12: AUXFU - call interface for user with auxiliary functions
Function
The block FC12 "AUXFU" is called on an eventdriven basis in the basic program if the channel
transferred in the input parameter contains new auxiliary functions. The PLC user can extend
FC AUXFU with program instructions for processing his auxiliary function to avoid cyclic polling
of the channel DBs. This mechanism permits auxiliary functions to be processed on a jobdriven
basis. FC AUXFU is supplied as a compiled empty block in the basic program. In this case,
the basic program supplies parameter "Chan" with the channel number. The PLC user knows
which channel has new auxiliary functions available. The new auxiliary functions can be
determined by the auxiliary-function change signals in the channel concerned.
Declaration of the function
FUNCTION FC12: VOID
// Event control of auxiliary functions
VAR_INPUT
Chan:
BYTE ;
END_VAR
BEGIN
BE;
END_FUNCTION
Explanation of formal parameters
Signal
Type
Type
Value range
Description
Chan:
BYTE
0, 1, 2 ... 9
Index of the channel = channel number -1
Example
FUNCTION FC12: VOID
// Event control of auxiliary functions
VAR_INPUT
Chan:
BYTE ;
// Parameter is supplied by basic program
END_VAR
VAR_TEMP
ChanDB:
INT;
END_VAR
1012
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13.17 Block descriptions
BEGIN
L Chan;
// Channel index
+ 21;
// Channel DB offset
T ChanDB;
// Save channel DB no.
TO DB[ChanDB];
// Channel DB is opened indirectly
// Auxiliary-function change signals are now scanned, etc.
BE;
END_FUNCTION
13.17.20
FC13: BHGDisp - display control for handheld unit
Function
This block FC13 "BHGDisp" handles the display control for the handheld unit (HHU or HT 2).
The information that is to appear on the display must be saved to a string variable. The pointer
to the string is specified in the parameter "ChrArray". To do this, a fixed text assignment of 32
characters (HHU) or 64 characters (HT 2) is needed when the data block for this string is
created.
16 characters are sent to the HHU per job. The assignment of the characters in the "ChrArray"
for the respective line is unambiguous. For line 1 the characters 1 to 16 and for the line 2 the
characters 17 to 32 of the string data ChrArray are transferred. In addition, for HT 2 line 3 with
characters 33 to 48 is displayed and line 4 with characters 49 to 64. A job takes several OB1
cycles.
Display
Block FC13 checks whether the necessary minimum length of the "ChrArray" exists for
operating the handheld unit. If fewer characters exist in the string variables than should be
displayed, the line is filled with blank spaces. If several variables are to be entered in the string
in one or more PLC cycles without a display output, the display output can be suppressed by
parameter "Row" = 0. The transfer of the characters to the rows takes several OB1 cycles. If
several rows are to be updated "simultaneously" (parameter "Row" > 1), the rows are updated
successively with 16 characters per row.
Variable portions
Variable portions within the string can be inserted using the optional number converter
functionality with the parameter "Convert" = 1. The variable to be displayed is referenced via
the parameter "Addr". The format of the variables is described in the parameter "DataType".
The number of bytes of the variable is linked to the format description. The address justified
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13.17 Block descriptions
to the right within the string is specified by parameter "StringAddr". The number of written
characters is shown in the parameter table.
Note
Numerical conversion
If the numerical converter is used to display information, then it is better to avoid performing
a conversion in every PLC cycle for the sake of reducing the PLC cycle time.
The conversion routine can be used independently of the display control. This is to be queried
in parameter row "0", although the convert parameter should be set. Consequently, only the
string is processed, and the converter routine is executed.
High display resolution
If, for example, the axis value is to be displayed with a higher resolution, the following must
be observed:
The variables are read as before with FB2 or FB5. Instead of anypointer BYTE 8 as criterion
for output as 64-bit floating point number, REAL 2 is used (e.g.: P#M100.0 REAL 2).
When specifying the 64-bit floating point number on the HHU/HT 2, you can select the
output format with up to 14 places, distributed freely before and after the decimal point,
instead of fixed, specified formats.
HHU output signals
Byte 1 is used by the HHU output signals and the character specifications are used by the
block FC13. These may not be written by the PLC user program.
Relevant FB1 parameters
Handheld unit HHU
In OB100, the FB1 parameters must be set for the input and output data of the handheld unit:
Parameter "BHGIn" corresponds to the input data of the PLC from the handheld unit (data
received by PLC)
Parameter "BHGOut" corresponds to the output data of the PLC to the handheld unit (data
transmitted by PLC).
The two pointers must be set to the starting point of the relevant data area, which is also
parameterized in SDB 210 with an MPI link.
The FB1 parameter "HHU" = 2 must be set for operating an HHU.
HT 2 handheld terminal
If HT 2 is used, FB1 parameter "HHU" = 5 must be set. The parameters of the input and output
data must be set, as described in the above paragraph "Handheld Unit HHU".
The value that was configured at S2 of the DIP-Fix switch (rotary coding switch) of the
connecting module of the HT 2 must be assigned to the parameters "BHGRecGDNo" and
"BHGRecGBZNo".
1014
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13.17 Block descriptions
Declaration of the function
DATA_BLOCK "strdat"
STRUCT
disp:
STRING [32]:= 'character_line1 character_line2';
END_STRUCT;
BEGIN
END_DATA_BLOCK
FUNCTION FC13: VOID
VAR INPUT
Row :
BYTE ;
ChrArray :
STRING ;
Convert :
BOOL;
Addr:
POINTER;
DataType :
BYTE ;
StringAddr : INT;
Digits :
BYTE ;
END VAR
VAR OUTPUT
Error :
BOOL;
END VAR
Description of formal parameters
Signal
Type
Type
Value range
Description
Row :
BYTE
0, 1, 2 ... 8,
Display line "binary" evaluation
B#16#F
0: no display output
1: Line 1
2: Line 2
3: Line 1 and line 2 to be changed
4: Line 3
5: Line 1 and line 3 to be changed
8: Line 4
B#16#F automatic change of all 4 lines
ChrArray :
STRING
"DBName".<VarName> Display content as pointer to string
string[32]: not HT 2
string[64]: HT 2
Convert :
BOOL
Addr:
Pointer
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0 (FALSE), 1 (TRUE)
Activation of numerical conversion
Pointer to the variable to be converted
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13.17 Block descriptions
Signal
DataType:
Type
Type
Value range
Description
BYTE
1, 2, 3 ... 8,
Data type of the tag
B#16#13,
1: BOOL, 1 character
B#16#30
2: BYTE, 3 characters
3: CHAR, 1 character
4: WORD, 5 characters
5: INT, 6 characters
6: DWORD, 7 characters
7: DINT, 8 characters
8: REAL, 9 characters
(7 digits plus a sign and a decimal point;
for places after the decimal point, refer
to the Digits Parameter)
B#16#13: String, up to 32/64 charac
ters, "Addr" must be a pointer to a
STRING.
B#16#30: REAL64,
(12 characters: 10 digits plus a sign and
a decimal point; for places after the dec
imal point, refer to the Digits Parameter)
StringAddr :
INT
1 ... 32 / 64
Right-justified address within variable
from "ChrArray"
Digits :
BYTE
1, 2, 3 ... 9
Number of places after the decimal
point:
1 ... 4: DataType REAL
1 ... 9: DataType REAL64
Error:
BOOL
0 (FALSE), 1 (TRUE)
Error
1: An error occurred
Ranges of values
Ranges of values of data types
Data type
1016
Representable numerical range
BOOL
0, 1
BYTE
0 ... 255
WORD
0 ... 65535
INT
- 32768 ... 32767
DWORD
0 ... 9999999
DINT
-9999999 ... 9999999
REAL (Digits := 1)
-999999.9 ... 999999.9
REAL (Digits := 2)
-99999.99 ... 99999.99
REAL (Digits := 3)
-9999.999 ... 9999.999
...
...
REAL (Digits := 9)
-0.9999999 ... 0.9999999
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13.17 Block descriptions
Call example
// DB with the name strdat is declared in symbol table, data element disp is declared as
String[32] (in HT 2:
// String[64]) and completely assigned with characters
CALL FC13(
Row :=
MB 26,
ChrArray :=
"strdat".disp,
Convert :=
M 90.1,
Addr :=
P#M 20.0,
// Number to be converted
DataType :=
MB 28,
// Data type of the variables
StringAddr := MW 30,
13.17.21
Digits :=
B#16#3,
Error :=
M 90.2);
// 3 decimal places
FC17: Star-delta - star-delta changeover
Function
Block FC17 is used for star-delta changeover for digital main spindle drives. The changeover
can be made in both directions (star > delta or delta > star).
Prerequisite
The prerequisite is two isolated contactors. The contactors are controlled via the peripheral
output signals configured at the FC17 outputs: "Y" or "Delta".
Internal sequence
The internal sequence when changing over between star and delta after switching over the
FC17 control signal is described in the following: "YDelta" displayed.
1. DB31, ... .DBX21.5 = 0 (reset feedback signal "motor selected")
DB31, ... .DBX21.x = 1 (set request "2nd motor data set" corresponding to the interface
parameterization DB31, ... .DBX130.0 - 4 (Page 65))
2. DB31, ... .DBX93.7 == 0 (feedback signal "pulses enabled" was reset)
Start FC17 timer
FC17: "Y" = 0 (reset output for star contactor)
3. After the FC17 timer elapses (FC17: "TimeVal")
FC17: "Y" = 1 (set output for delta contactor)
4. After the FC17 timer elapses again (FC17: "TimeVal")
The pulses are again internally set
DB31, ... .DBX93.7 == 1 (feedback signal "pulses enabled" was set)
DB31, ... .DBX21.5 = 0 (feedback signal "motor selected" was set)
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13.17 Block descriptions
Signal flow
)& <'HOWD (
'%'%;
'%'%;
'%'%;
LQWHUQDOSXOVHV
'%'%;
)& 7LPHU
)& < $
)& 'HOWD $
&KDQJHRYHU VWDU!GHOWD
&KDQJHRYHU GHOWD!VWDU
FC17 input: Signal for star-delta changeover
- Changeover: Star > delta
- Changeover: Delta > star
FC17 input: Parameterizable changeover time ""TimeVal"
- Wait time until the control of the output signal: "Y" or "delta"
- Wait time until pulse enable
FC17 output: Signals for contactor control
References
For additional explanations of motor speed adjustments, see:
Function Manual, Basic Functions; Spindles (S1); Chapter "Configurable gear adaptation"
Functions Manual, Basic Functions; Velocities, Setpoint/Actual-Value Systems, ClosedLoop Control (G2)
Note
Drive parameters
The following drive parameters must be considered for a star-delta changeover:
p833 (dataset changeover configuration)
Bit 0 = 1 (contactor switchover via application)
Bit 1 = 0 (pulse cancellation by drive)
p826 (motor changeover motor number)
p827 (motor changeover status word bit number)
1018
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13.17 Block descriptions
General conditions
Block FC17 must be called absolutely and separately for each spindle.
The drive pulses are deactivated during a star-delta changeover. The feedback signal to
the PLC is realized using:
DB31, ... .DBX93.7 == 0 (pulses enabled)
DB31, ... .DBX61.7 == 0 (current controller active)
DB31, ... .DBX61.6 == 0 (speed controller active)
For a spindle which is located in an axis mode such as M70 or SPOS, a start-delta
changeover is not carried out.
For a closed-loop position controlled spindle (DB31, ... .DBX61.5 == 1 (position control
active) ), while the spindle is moving it is not permissible to carry out a star-delta changeover.
In the case of a fault, Alarm 25050 "Contour monitoring" is displayed, and the star-delta
changeover is not executed.
Once the star-delta changeover has been initiated using FC17, it cannot be delayed by the
user, e.g. by waiting until the star-delta contactors change over during the course of
operation. A delay such as this must be implemented by the user in the PLC user program.
Declaration of the function
VAR_INPUT
YDelta:
BOOL;
SpindleIFNo:
INT;
TimeVal:
S5TIME ;
TimerNo :
INT;
END_VAR
VAR_OUTPUT
Y:
BOOL;
Delta:
BOOL;
END_VAR
VAR_IN_OUT
Ref:
WORD;
END_VAR
Description of formal parameters
Signal
Type
Type
Value range
YDelta:
BOOL
0 (FALSE), 1
(TRUE)
Description
Input signal for star-delta changeover
The changeover is initiated by a signal
change:
0 (FALSE): Star
1 (TRUE): Delta
SpindleIFNo:
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INT
1 ...
Number of the spindle interface (number of
the associated machine axis)
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13.17 Block descriptions
Signal
Type
Type
Value range
Description
S5time
0, 50 ms ...
Switchover time
TimeVal:
Configured
Internally effective
100
< 50
50
TimerNo:
INT
10 ...
Y:
BOOL
0 (FALSE), 1
(TRUE)
Number of the timer being used
Peripheral output for controlling the star
contactor
Delta:
BOOL
0 (FALSE), 1
(TRUE)
Peripheral output for controlling the delta
contactor
Ref:
I/O
WORD
Instance for status information Internal use
Call example
CALL FC17 (
YDelta :=
I 45.7,
// Accept star/delta changeover from
input 45.7
SpindleIFNo :=
4,
// Spindle interface number: 4
// (Number of the associated machine
axis)
TimeVal :=
S5T#150ms,
// Changeover time: 150 ms
TimerNo :=
10,
// Timer: 10
Y :=
O 52.3,
// Control of the star contactor:
Output 52.3
Delta :=
O 52.4,
// Control of the delta contactor:
Output 52.4
Ref :=
MW 50
// Bit memory word 50
};
13.17.22
FC18: SpinCtrl - spindle control
Function
Block FC18 (SpinCtrl) can be used to control spindles and axes from the PLC. The block
supports the following functions:
Position spindle
Rotate spindle
Oscillate spindle
Traverse indexing axis
Traverse positioning axis
Each function is activated by the positive edge of the appropriate initiation signal (start, stop).
This signal must remain at a logical "1" until the function has been acknowledged positively or
1020
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13.17 Block descriptions
negatively by InPos="1" or Error = "1". The output parameters are deleted when the relevant
trigger signal is reset and the function has been completed.
To be able to control an axis or spindle via the PLC, it must be activated for the PLC. This can,
for example, be achieved by calling the block with activation of the "Start" or "Stop" parameter.
When you do this, the block requests control of the spindle/axis from the NC.
The NC signals the status of the spindle/axis in the associated axis-specific interface DB31, ...
DBX68.4 - 7. Once the axis/spindle is operating under PLC control, the travel command for
the active status can be evaluated via the relevant axis-specific interface.
Upon completion ("InPos" is True, "Start" changes to zero), the axis/spindle check function is
switched to a neutral status using block FC18.
Alternatively, the PLC user program can also request control for the PLC before calling FC18.
By calling this function several times in succession, a better response by the spindle/axis can
be obtained as the changeover process in the FC can be omitted.
Activation through the PLC user program is executed in the corresponding spindle interface
in byte 8.
After return of the check, the spindle can again be programmed by the NC program.
References
Function Manual, Basic Functions; Spindles (S1)
Function Manual, Extended Functions; Positioning Axes (P2)
Function Manual Expanded Functions; Indexing Axes (T1)
WARNING
Changed response behavior of the axis/spindle
If several block calls (FC18) have been programmed for the same axis/spindle in the PLC
user program, then the functions concerned must be interlocked by conditional calls in the
user program. The conditional call of a started block (parameter Start or Stop = TRUE) must
be called cyclically until the signal state of output parameter "Active" or "InPos" changes from
1 to 0.
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13.17 Block descriptions
Note
Call note
FC18 must be called cyclically until signal "InPos" or, in the case of an error "Error", produces
an edge transition of 1 to 0. Only when the "InPos"/"Error" signal has a 0 state can the axis/
spindle concerned be "started" or "stopped" again (the next "start" must be delayed by at least
one PLC cycle). This also applies when the assignment in data byte 8 on the axial interface
has been changed.
Cancel
The function cannot be aborted by means of parameter "Start" or "Stop", but only by means
of the axial interface signals (e.g. delete distance-to-go). The axial interface also returns status
signals of the axis that may need to be evaluated (e.g. exact stop, traverse command).
Simultaneity
Several axes can be traversed simultaneously or subject to a delay by FC18 blocks. The upper
limit is only limited by the maximum number of axes of the NC.
Axis disable
For a set axis inhibit (DB31, ... .DBX1.4 == 1), the axis controlled via FC18 does not move.
Only a simulated actual value is generated Same behavior as when traversing the axis for an
axis inhibit by the NC.
Functions
Function 1: Position spindle
Parameter
Description
Start :
0 1: Start the function
Funct :
1: Function number for "Position spindle"
Mode :
Positioning modes 1, 2, 3, 4 (refer to the paragraph below, "Explanation of
the formal parameters"
AxisNo :
Number of machine axis
Pos :
Position
FRate :
FRate 0: Positioning velocity
FRate = 0: Velocity corresponding to MD35300 $MA_SPIND_POSCTRL_VE
LO
InPos :
1: Position reached with "Exact stop fine"
Error :
1: Positioning error
State :
Error code
Function 2: Rotate spindle
1022
Parameter
Description
Start :
0 1: Start the function
Stop :
0 1: Stop the function
Funct :
2: Function number for "Rotate spindle"
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13.17 Block descriptions
Parameter
Description
Mode :
Mode = 5: direction of rotation M4
Mode 5: direction of rotation M3
AxisNo :
Number of machine axis
FRate :
Spindle speed
InPos :
1: Setpoint speed is output, also see DB31, ... DBX83.5 (spindle in the set
point range)
Error :
1: Positioning error
State :
Error code
Function 3: Oscillate spindle
Parameter
Description
Start :
0 1: Start the function
Stop :
0 1: Stop the function
Funct :
3: Function number for "Oscillate spindle"
AxisNo :
Number of machine axis
Pos :
Setpoint gear stage
InPos :
1: Setpoint speed is output, also see DB31, ... DBX83.5 (spindle in the set
point range)
Error :
1: Positioning error
State :
Error code
Parameterized oscillation speed: MD35400 $MA_SPIND_OSCILL_DES_VELO
The function of the parameter "Pos" depends on the setting in MD35010
$MA_GEAR_STEP_CHANGE_ENABLE = <value>
<value>
Pos
Function
0, 1, 2, ... 5
Oscillation with gear stage change M40
Oscillation with gear stage change M41
Oscillation with gear stage change M42
Oscillation with gear stage change M43
Oscillation with gear stage change M44
Oscillation with gear stage change M45
Oscillating
Function 4: Traverse indexing axes
Note
The modulo conversion can be compared with approaching the indexing position via POS[AX]
= CIC (value) in the part program.
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13.17 Block descriptions
Parameter
Description
Start :
0 1: Start the function
Funct :
4: Function number for "Indexing axis"
Mode :
Positioning mode 0, 1, 2, 3, 4
AxisNo :
Number of machine axis
Pos :
Indexing position
FRate :
FRate 0: Positioning velocity
FRate = 0: Velocity corresponding to MD32060 $MA_POS_AX_VEL
InPos :
1: Position reached with "Exact stop fine"
Error :
1: Positioning error
State :
Error code
Function 5, 6, 7, 8: Position axes
Parameter
Description
Start :
0 1: Start the function
Funct :
5, 6, 7, 8: Function number for "Position axes"
Mode :
Positioning mode 0, 1, 2, 3, 4
AxisNo :
Number of machine axis
Pos :
Position
FRate :
FRate 0: Positioning velocity
FRate = 0: Velocity corresponding to MD32060 $MA_POS_AX_VELO
InPos :
1: Position reached with "Exact stop fine"
Error :
1: Positioning error
State :
Error code
Function 9: Rotate spindle with automatic gear stage selection:
Parameter
Description
Start :
0 1: Start the function
Stop :
0 1: Stop the function
Funct :
9: Function number for "Rotate spindle with gearbox stage selection"
Mode :
Mode = 5: direction of rotation M4
Mode 5: direction of rotation M3
1024
AxisNo :
Number of machine axis
FRate :
Spindle speed
InPos :
1: Setpoint speed is output
Error :
1: Positioning error
State :
Error code
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13.17 Block descriptions
Function 10, 11: Rotate spindle with constant cutting rate
The "Constant cutting rate" function (G96) must be active in the NC.
Parameter
Description
Start :
0 1: Start the function
Stop :
0 1: Stop the function
Funct :
10: Function number for "Constant cutting rate (m/min)"
11: Function number for "Constant cutting rate (feet/min)"
Mode :
Mode = 5: direction of rotation M4
Mode 5: direction of rotation M3
AxisNo :
Number of machine axis
FRate :
Cutting rate
InPos :
1: Setpoint speed is output
Error :
1: Positioning error
State :
Error code
Declaration of the function
FUNCTION FC18: VOID
//SpinCtrl
VAR_INPUT
Start :
BOOL;
Stop:
BOOL;
Funct:
BYTE ;
Mode:
BYTE ;
AxisNo:
INT;
Pos:
REAL;
FRate:
REAL;
END_VAR
VAR_OUTPUT
InPos:
BOOL;
Error :
BOOL;
State :
BYTE ;
END_VAR
Description of formal parameters
Signal
Typ
e
Type
Value range
Start:
BOOL
0 (FALSE), 1
(TRUE)
0 1: Start the function
Stop:
BOOL
0 (FALSE), 1
(TRUE)
0 1: Stop the function
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Description
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13.17 Block descriptions
Signal
Typ
e
Type
Value range
Description
Funct:
BYTE
1, 2, 3, ... 11
1: Position spindle
2: Rotate spindle
3: Oscillate spindle
4: Indexing axis
5: Positioning axis metric
6: Positioning axis inch
7: PosAxis metric with handwheel override
8: PosAxis inch with handwheel override
9: Rotate spindle with automatic gear stage selec
tion
10: Rotate spindle with constant cutting rate (m/
min)
11: Rotate spindle with constant cutting rate (feet/
min)
Mode:
BYTE
0, 1, 2, ... 5
0: Positioning to absolute position
1: Positioning incremental
2: Positioning along the shortest path
3: Positioning absolute, positive approach direc
tion
4: Positioning absolute, negative approach direc
tion
5: Direction of rotation as for M4
AxisNo:
INT
1, 2, 3, ... 31
Pos:
REAL
0.1469368 I -38 to
0.1701412 I +39
Rotary axis: Degrees
Indexing axis: Indexing position
Linear axis: mm or inches
Number of the axis/spindle to be traversed
FRate:
REAL
0.1469368 I -38 to
0.1701412 I +39
Rotary axis and spindle: [rev/min]
InPos:
BOOL
0 (FALSE), 1
(TRUE)
1: Position reached or function executed
Error:
BOOL
0 (FALSE), 1
(TRUE)
1: Error
State:
BYTE
0, 1, 2, ... 255
Error detection
Linear axes: [m/min] or [ft/min]
Error identifiers
An error is active, if: Parameter "Error" == 1 (TRUE)
The cause of the error is displayed in: Parameter "State"
State
Description
Cause of the error on the PLC side:
1026
Several functions of the axis/spindle were activated simultaneously
20
A function was started without the position being reached
30
The axis/spindle was transferred to the NC while still in motion
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13.17 Block descriptions
State
Description
40
The axis is programmed by the NC program, NC internal error
50
Permanently assigned PLC axis. Traverses (JOG) or is referencing
60
Permanently assigned PLC axis. Channel status does not permit a start
Cause of the error on the NC side
100
Incorrect position programmed for axis/spindle (corresponds to alarm 16830)
101
Programmed speed is too high
102
Incorrect value range for constant cutting rate (corresponds to alarm 14840)
104
Following spindle: Illegal programming (corresponds to alarm 22030)
105
No measuring system available (corresponds to alarm 16770)
106
Axis positioning still active (corresponds to alarm 22052)
107
Reference mark not found (corresponds to alarm 22051)
108
No transition from speed control to position control (corresponds to alarm 22050)
109
Reference mark not found (corresponds to alarm 22051)
110
Velocity/speed is negative
111
Setpoint speed == zero
112
Invalid gear stage
115
Programmed position has not been reached
117
G96/G961 is not active in the NC
118
G96/G961 is still active in the NC
120
Axis is not an indexing axis (corresponds to alarm 20072)
121
Indexing position error (corresponds to alarm 17510)
125
DC (shortest distance) not possible (corresponds to alarm 16800)
126
Absolute value minus not possible (corresponds to alarm 16820)
127
Absolute value plus not possible (corresponds to alarm 16810)
128
No transverse axis available for diameter programming (corresponds to alarm 16510)
130
Software limit switch plus (corresponds to alarm 20070)
131
Software limit switch minus (corresponds to alarm 20070)
132
Working area limit plus (corresponds to alarm 20071)
133
Working area limit minus (corresponds to alarm 20071)
134
Frame not permitted for indexing axis
135
Indexing axis with "Hirth toothing" is active (corresponds to alarm 17501)
136
Indexing axis with "Hirth toothing" is active and axis not referenced (corresponds to alarm
17503)
137
Spindle operation not possible for transformed spindle/axis (corresponds to alarm 22290)
138
Axis: Coordinate system-specific working area plus violated (corresponds to alarm 20082)
139
Axis: Coordinate system-specific working area minus violated (corresponds to alarm 20082)
200
corresponds to alarm 450007
System error
Alarm numbers: ReferencesDiagnostics Manual
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13.17 Block descriptions
Signal sequence: Normal case
6WDUW
,Q3RV
(UURU
6WDUW(UU
PLC user program: Function start using a positive edge: 0 1
NC: Positive acknowledgment, function executed / position reached
PLC user program: Reset after detecting the positive acknowledgment
FC18: Reset of the positive acknowledgment
Signal sequence: Error
6WDUW
,Q3RV
(UURU
6WDUW(UU
PLC user program: Function start using a positive edge: 0 1
NC: Negative acknowledgement, error occurred
PLC user program: Reset after detecting the negative acknowledgment
FC18: Reset of the negative acknowledgment
Call examples
Example 1: Position spindle:
//Positive acknowledgement resets Start:
U M112.0;
1028
//InPos
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13.17 Block descriptions
R
100.0;
//Start
//Negative acknowledgement, after error evaluation (state: MB114) reset with T12
start
U M113.0;
// Error
U I 6.4;
//Key T12
100.0;
//Start
//Start with T13
U I 6.3;
//Key T13
AN F 112.0;
//Restart only when InPos or Error = 0
AN F 113.0;
CALL FC18(
Start :=
M100.0,
Stop :=
FALSE,
Funct :=
B#16#1,
Mode :=
B#16#2,
AxisNo :=
Pos :=
//Position spindle
//Shortest path
5,
MD104,
FRate :=
MD108,
InPos :=
M112.0,
Error :=
M113.0,
State :=
MB114);
Example 2: Start spindle rotation:
CALL FC18(
Start :=
M100.0,
Stop :=
FALSE,
Funct :=
B#16q#,
Mode :=
B#16#5,
AxisNo :=
Pos :=
//Rotate spindle
//Direction of rotation as for M4
5,
0.0,
FRate :=
MD108,
InPos :=
M112.0,
Error :=
M113.0,
State :=
MB114);
Example 3: Start spindle oscillation
CALL FC18(
Start :=
M100.0,
Stop :=
FALSE,
Funct :=
Mode :=
B#16#3,
B#16#0,
AxisNo :=
Pos :=
//Oscillate spindle
5,
0.0,
FRate :=
MD108,
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13.17 Block descriptions
InPos :=
M112.0,
Error :=
M113.0,
State :=
MB114);
Example 4: Traverse indexing axis
CALL FC18(
Start :=
M100.0,
Stop :=
Funct
FALSE,
:=B#16#4,
Mode :=
B#16#0,
AxisNo :=
Pos :=
//Not used
//Traverse indexing axis
//Position absolutely
4,
MD104,
FRate :=
MD108,
InPos :=
M112.0,
Error :=
M113.0,
State :=
MB114);
//Default setting in REAL: 1.0;2.0;..
Example 5: Position axes
CALL FC18(
Start :=
M100.0,
Stop :=
FALSE,
Funct :=
B#16#5,
Mode :=
B#16#1,
AxisNo :=
Pos :=
13.17.23
//Not used
//Position axes
//Position incrementally
6,
MD104,
FRate :=
MD108,
InPos :=
M112.0,
Error :=
M113.0,
State :=
MB114);
FC19: MCP_IFM - transfer of MCP signals to interface
Function
The block FC19 (MCP_IFM, M variant, e.g. MCP 483) is used for transferring data from the
machine control panel to the NC/PLC interface:
Modes
Axis selections
WCS/MCS switchover commands
Traversing keys
1030
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13.17 Block descriptions
Overrides
Key-operated switch
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
Feed override
The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB5) interface byte if the "Feed override for rapid traverse effective"
HMI signal is set (exception: Switch setting "Zero"). "Rapid traverse override effective"
is also set with this HMI signal.
Machine functions INC and axis travel keys
When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
When the WCS is selected, the signals are transferred to the geometry axis interface
of the parameterized channel.
When the system is switched between MCS and WCS, the active axes are generally
deselected.
The LEDs on the machine control panel derived from the selections in the acknowledgement.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g. using the appropriate input signals in
FC10: AL_MSG). The associated LEDs are activated at the same time.
If the machine control panel fails, the signals it outputs are preset to zero; this also applies to
"FeedHold" and "SpindleHold" output signals.
FC19 or also FC24, FC25, FC26 can be called a multiple number of times in a single PLC
cycle. In this case, the first call in the cycle drives the LED displays. Furthermore, all actions
of the parameterized block are carried out in the first call. In the following calls, only a reduced
level of processing of the channel and mode group interface takes place. The geometry axes
are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first call in the cycle.
The second machine control panel can be processed if parameter "ModeGroupNo" has been
increased by B#16#10. When parameterizing, the mode group number is contained in the
lower nibble.
"BAGNo" = 0 or B#16#10 mode group signals are not processed.
"ChanNo" = 0 no processing of the channel signals.
The INC selections are transferred to the mode group interface. The activation for this
specification is done via the DB10.DBX57.0 (INC inputs in BAG area active) through this block
once after power up.
Furthermore, two machine control panels can still be handled in parallel by the FC19 block.
The block call for the 2nd machine control panel in OB1 cycle must be set after the call of the
1st machine control panel. Support of 2 machine control panels exists to a limited extent in the
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13.17 Block descriptions
machine control panel blocks. Mutual locking of the axis selections for equally assigned axes
for 2 machine control panels is not supported.
Flexible axis configuration
It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Better support is now provided by the MCP blocks for the use of two MCPs, which are to run
in parallel, in particular for an application using two channels and two mode groups. Note that
the axis-numbers are also specified in the parameterized mode group number of the MCP
block in the axis tables of the relevant MCP.
To provide this flexibility, tables for axis numbers are stored in DB10.
For the first machine control panel the table starts at byte 8 (symbolic name:
MCP1AxisTbl[1..22]) and for the second machine control panel starting at byte 32 (symbolic
name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis numbers must be entered
byte-wise here.
It is permissible to enter a value of 0 in the axis table. Checks are not made to find illegal axis
numbers, meaning that false entries can lead to a PLC Stop.
For FC19, the maximum possible number of axis selections can also be restricted. This upper
limit is set for the first Machine control panel in DB10.DBW30 (symbolic name: MCP1MaxAxis)
or for the second Machine control panel in DB10.DBW54 (symbolic name: MCP2MaxAxis) set.
The default setting is 0, corresponding to the maximum number of configured axes. The axis
numbers and the limit can also be adapted dynamically. Afterwards, a new axis must be
selected for FC19. Axis numbers may not be switched over while the axes are traversing the
relevant direction keys.
The compatibility mode is preset with axis numbers 1 to 9 for both MCPs and restricted to the
configured number of axes.
Example
More than nine axes are to be controlled with FC19 using a special application. We recommend
that you proceed as follows:
Reserve free key on MCP.
Evaluate this key as a flipflop.
Evaluate the flipflop output as pos. and neg. edge.
For a positive edge write one set of axis numbers in the axis table (DB10) and switch on
LED via this key
For a negative edge write a different set of axis numbers in the axis table (DB10) and switch
off LED via this key.
Declaration of the function
FUNCTION FC19: VOID
1032
//symbolic name: MCP_IFM
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13.17 Block descriptions
VAR_INPUT
BAGNo :
BYTE ;
ChanNo:
BYTE ;
SpindleIFNo:
BYTE ;
END_VAR
VAR_OUTPUT
FeedHold :
BOOL;
SpindleHold :
BOOL;
END_VAR
BEGIN
END_FUNCTION
Description of formal parameters
Signal
BAGNo :
Type
Type
Value range
Description
BYTE
B#16#00 B#16#0A
1st MCP: Number of mode group to which the mode
signals are transferred
B#16#10 B#16#1A
2nd MCP: Number of mode group to which the
mode signals are transferred
ChanNo:
BYTE
B#16#00 B#16#0A
Number of the channel to which the channel signals
are transferred
SpindleIFNo:
BYTE
0 - 31
(B#16#1F)
Number of the axis/spindle to which the spindle da
ta is transferred (number of the associated machine
axis)
FeedHold :
BOOL
0 (FALSE), 1
(TRUE)
Feed stop from MCP, modal
SpindleHold :
BOOL
0 (FALSE), 1
(TRUE)
Spindle stop from MCP, modal
MCP selection signals to the user interface
Table 13-2
Key-operated switch
Source:
MCP - Switch
Destination:
Interface DB
Position 0
DB10.DBX56.4
Position 1
DB10.DBX56.5
Position 2
DB10.DBX56.6
Position 3
DB10.DBX56.7
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13.17 Block descriptions
Table 13-3
Operating modes and machine functions
Source:
Destination:
MCP - Key
Interface DB (parameter BAGNo)
Display for BAG 1
Table 13-4
AUTOMATIC
DB11.DBX0.0
MDI
DB11.DBX0.1
JOG
DB11.DBX0.2
REPOS
DB11.DBX1.1
REF
DB11.DBX1.2
TEACH IN
DB11.DBX1.0
INC 1 ... 10 000, INC Var.
DB11.DBX2.0 - 2.5
Direction keys rapid traverse override
Source:
MCP - Key
Destination:
Interface DB (parameter ChanNo)
Direction key +
DB21, ... .DBX12.7
Direction key -
DB21, ... .DBX12.6
Rapid traverse override
DB21, ... .DBX12.5
Direction key +
DB21, ... .DBX16.7
Direction key -
DB21, ... .DBX16.6
Rapid traverse override
DB21, ... .DBX16.5
Direction key +
DB21, ... .DBX20.7
Direction key -
DB21, ... .DBX20.6
Rapid traverse override
DB21, ... .DBX20.5
Source:
MCP - Key
Destination:
Interface DB (all axis DBs)
Direction key +
DB31, ... .DBX4.7
Direction key -
DB31, ... .DBX4.6
Rapid traverse override
DB31, ... .DBX4.5
The transfer is dependent upon the selected axis. The associated interface bits are deleted
for axes which are not selected.
Table 13-5
1034
Override
Source:
MCP - Switch
Destination:
Interface DB (parameter ChanNo)
Feed override
DB21, ... .DBB4
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Table 13-6
Table 13-7
Source:
MCP - Switch
Destination:
Interface DB (all axis DBs)
Feed override
DB31, ... .DBB0 (selected axis number) The feed
override of the 1st MCP is applied to all axes.
Spindle override
DB31, ... .DBB19 (parameter SpindleIFNo)
Channel signals
Source:
MCP - Keys
Destination:
Interface DB (parameter ChanNo)
NC start
DB21, ... .DBX7.1
NC stop
DB21, ... .DBX7.3
RESET
DB21, ... .DBX7.7
Single block
DB21, ... .DBX0.4
Feedrate, spindle signals
Source:
MCP - Keys
Destination:
FC output parameters
Feed stop
Feed enable
Parameter: "FeedHold" linked with memory, LEDs
are controlled
Spindle stop
Spindle enable
Parameter: "SpindleHold" linked with memory,
LEDs are controlled
Checkback signals from user interface for controlling displays
Table 13-8
Operating modes and machine functions
Destination:
Source:
MCP - LED
Interface DB (parameter BAGNo)
Display for BAG 1
AUTOMATIC
DB11.DBX6.0
MDI
DB11.DBX6.1
JOG
DB11.DBX6.2
REPOS
DB11.DBX7.1
REF
DB11.DBX7.2
TEACH IN
DB11.DBX7.0
Destination:
Source:
MCP - LED
Interface DB (parameter BAGNo)
Display for BAG 1
INC 1 ... 10 000, INC Var.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
DB11.DBX8.0 - 8.5
1035
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Table 13-9
Channel signals
Destination:
MCP - LED
Source:
Interface DB (parameter ChanNo)
NC start
DB21, ... .DBX35.0
NC stop
DB21, ... .DBX35.2 or DB21, ... .DBX35.3
Single block
DB21, ... .DBX0.4
Note
Direction key LEDs are controlled by operating the direction keys.
Axis selection and WCS/MCS LEDs are controlled by operating the relevant pushbutton switch.
Call example
CALL FC19(
//Machine control panel M variants Signals to interface
BAGNo :=
B#16#1,
// Mode group no. 1
ChanNo :=
B#16#1,
// Channel no. 1
SpindleIFNo :=
B#16#4,
// Spindle Interface Number = 4
FeedHold :=
m22.0,
// Feed stop signal modal
SpindleHold :=
db2.dbx151.0);
//Spindle stop modal in
//message DB
With these parameter settings, the signals are sent to the first mode group, the first channel
and all axes. In addition, the spindle override is transferred in the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0.
Reconnecting the axis selections
To ensure a flexible assignment of the axis selection keys to the appropriate axis or spindle,
FC19 needs not be modified or reprogrammed. The axis number simply has to be entered in
axis table DB10.DBB8 and followed as required: The axis number simply has to be entered in
axis table DB10.DBB8 and followed as required:
Example
The spindle is defined as the 4th machine axis and must be selected via axis key 9.
Solution:
The value 4 must be entered in DB10 byte (8+(9-1)) for the 4th axis.
CALL FC19(
BAGNo :=
1036
// Signals to interface
B#16#1,
// Mode group no. 1
ChanNo :=
B#16#1,
// Channel no. 1
SpindleIFNo :=
B#16#4,
// Spindle Interface Number = 4
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
13.17.24
FeedHold :=
m30.0,
// Feed stop signal modal
SpindleHold :=
m30.1);
//Spindle stop modal
FC21: transfer PLC NCK data exchange
Function
Block FC21 is used to exchange data between the PLC and NC. The data are immediately
transferred when FC21 is called not waiting until the next basic PLC program cycle starts.
The data transfer is activated by calling the block FC21 with parameter "Enable" =1
Functions
1. Synchronized action signals: PLC NC channel
2. Synchronized action signals: NC channel PLC
3. Fast data exchange PLC-NC (read function in NC)
4. Fast data exchange PLC-NC (write function in NC)
5. Update signals to the NC channel
6. Update signals to axes (data byte 2 of the user interface)
7. Update signals to axes (data byte 4 of the user interface)
Declaration of the function
VAR_INPUT
Enable : BOOL;
Funct : BYTE ;
S7Var : ANY ;
IVar1 : INT ;
IVar2 : INT ;
END_VAR
VAR_OUTPUT
Error : BOOL;
ErrCode : INT ;
END_VAR
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Explanation of formal parameters
Signal
Typ
e
Type
Value range
Description
Enable:
BOOL
0 (FALSE), 1 (TRUE)
1:
Transferring data
Funct:
BYTE
1, 2, 3, ... 7
1:
Synchronized actions at chan
nel
2:
Synchronized actions from
channel
3:
Read data
4:
Write data
5:
Control signals to channel
6:
Control signals to axis
7:
Control signals to axis
S7Var :
ANY
S7 data storage area
Depends on "Funct"
IVAR1:
INT
---
Depends on "Funct"
IVAR2:
INT
---
Depends on "Funct"
Error:
BOOL
0 (FALSE), 1 (TRUE)
ErrCode:
INT
---
1:
An error is active
Depends on "Funct"
Function 1, 2: Signals synchronized actions to / from Channel
Synchronized actions can be disabled or enabled by the PLC.
The data area is stored on the user interface in DB21, ... .DBB300 ...307 (to channel) and
DB21, ... .DBB308 ...315 (from channel). The parameter "S7Var" is not evaluated for this
function, but must be assigned an actual parameter (see call example). The data are
transferred to/from the NC as soon as FC21 is processed.
Signal
Typ
e
Type
Value range
Description
Enable:
BOOL
0 (FALSE), 1 (TRUE)
1:
Transferring data
Funct:
BYTE
1, 2
1:
to channel
2:
from channel
S7Var :
ANY
S7 data storage area
Not used
IVAR1:
INT
1, 2, ... max. channel
number
Channel number
Error:
BOOL
0 (FALSE), 1 (TRUE)
1:
An error is active
ErrCode:
INT
1, 10
1:
"Funct" invalid
10 Channel number invalid
:
Call example:
FUNCTION FC100: VOID
VAR_TEMP
myAny: ANY ;
END_VAR
1038
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
BEGIN
NETWORK
//Deactivate synchronized actions with ID3, ID10 and ID31 in NC channel 1 :
SYAK:
AUF
DB21;
SET;
S
DBX300. //ID3
2;
DBX301. //ID10
1;
DBX303. //ID31
6;
B#16#1;
MB11;
SPA
TRAN;
//Synchronized actions from NCK channel 1:
SYVK:
L B#16#2;
T MB11;
TRAN:
CALL FC21 (
Enable
:= M 10.0,
Funct
:= MB 11,
//if TRUE, FC 21 active
S7Var
:= #myAny,
//Not used
IVAR1
:= 1,
//Channel no.
IVAR2
:= 0,
Error
:= M 10.1,
ErrCode
:= MW 12);
END_FUNCTION
Function 3, 4: Fast data exchange PLC-NC
General
A separate, internal data area is provided to allow the highspeed exchange of data between
the PLC and NC. The size of the internal data field is preset to 4096 bytes. PLC access
operations (reading/writing) are realized via FC21. The assignment of this area (structure)
must be identically declared in the NC part program and PLC user program.
These data can be accessed from the NC parts program by commands $A_DBB[x],
$A_DBW[x], $A_DBD[x], $A_DBR[x] (see Parameter Manual System variables).
The concrete address in the data array is specified by a byte offset (0 to 4095) in parameter
"IVAR1". In this case, the alignment must be selected according to the data format, i.e. a Dword
starts at a 4byte limit and a word at a 2byte limit. Bytes can be located on any chosen offset
within the data field, singlebit access operations are not supported and converted to a byte
access operation by FC21. Data type information and quantity of data are taken from the ANY
parameter, transferred via S7Var.
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Without additional programming actions, data consistency is only ensured for 1 and 2 byte
access in the NCK and in the PLC. For the 2-byte consistency this is true only for the data type
WORD or INT, but not for the data type BYTE.
In the case of longer data types or transfer of arrays which should be transferred consistently,
a semaphore byte must be programmed in parameter "IVAR2", which can be used by FC21
to determine the validity or consistency of a block. This handling must be supported by the
NC, i.e. in the part program, by writing or deleting the semaphore byte. The semaphore byte
is stored in the same data field as the actual user data.
The semaphore byte is identified by a value between 0 and 4095 in "IVAR2".
The PLC reads and describes the semaphore byte via FC21 in the same call, which should
transfer the user data. The PLC programmer only needs to set up a semaphore variable. For
access from the NC via the parts program, the semaphore feature must be programmed using
individual instructions according to the flow chart shown below. The sequence is different for
reading and writing variables.
Only individual variables or ARRAYs can be supported directly by the semaphore technique.
Structure transfers must be subdivided into individual jobs. The user must ensure data
consistency of this structure by programming a semaphore system.
If "IVAR2" = -1 is set, data are transferred without a semaphore.
Data exchange with semaphore in PLC (schematic of FC21)
)XQFW
UHDG
6HPDSKRU "
)XQFW
ZULWH
1R
<HV
7UDQVIHUGDWD
IURP1&WR
3/&
6HPDSKRU
(UURU
(UU&RGH
6HPDSKRU "
1R
<HV
(UURU
(UU&RGH
7UDQVIHUGDWD
IURP3/&WR
1&
(UURU
(UU&RGH
6HPDSKRU
(UURU
(UU&RGH
Basic structure in the NC:
1040
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
:ULWHLQ
1&.
5HDG
LQ1&.
1R
6HPDSKRU "
1R
6HPDSKRU "
<HV
<HV
5HDGGDWD
IURP3/&
7UDQVIHUGDWD
WR3/&
6HPDSKRU
6HPDSKRU
Variable value ranges
Signal
Typ
e
Type
Value range
Description
Enable:
BOOL
0 (FALSE), 1 (TRUE)
1:
Transferring data
Funct:
BYTE
3, 4
3:
Read data
4:
Write data
S7Var :
ANY
S7 data area, except lo
cal data
IVAR1:
INT
0 ... 4095
Position offset
IVAR2:
INT
-1 ... 4095
Semaphore byte
Transfer without semaphore: -1
Error:
BOOL
0 (FALSE), 1 (TRUE)
1:
An error is active
ErrCode:
INT
20, 21, 22, 23, 24, 25
20:
Alignment error
21:
illegal position offset
22:
Illegal semaphore byte
23:
No new data to be read
24:
Cannot write data
25:
Local data parameterized for
S7Var
Source/destination data storage area
Example 1: Read double word of position offset 4 with semaphore in byte 0 and store in MD100:
Data type Dword (4 bytes)
Position offset 4
Basic Functions
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1041
P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
6HPDSKRUH
'ZRUG
'DWDW\SH'ZRUG E\WHV
3RVLWLRQRIIVHW
CALL
FC21(
Enable
:= M 10.0,
// if TRUE, FC 21 is active
Funct
:= B#16#3,
//Read data
S7Var
:= P#M 100.0 DWORD 1,
IVAR1
:= 4,
IVAR2
:= 0,
Error
:= M 10.1,
ErrCode
:= MW12);
UN
M10.1;
M10.0;
//Enable while 1, until value is read
NC programming from synchronized actions
Data transfer from NC to PLC, with data written via synchronized actions;
Byte 0 serves as the semaphore
ID=1 WHENEVER $A_DBB[0] == 0 DO $A_DBR[4] = $AA_IM[X] $A_DBB[0] = 1
Data transfer from PLC to NC, with data read via synchronized actions;
Byte 1 serves as the Semaphore:
ID=2 WHENEVER $A_DBB[1] == 1 DO $R1 = $A_DBR[12] $A_DBB[1] = 0
Example 2: Read word of position offset 8 without semaphore and save in MW 104:
CALL
1042
FC21(
Enable
:=M 10.0,
// if TRUE, FC 21 is active
Funct
:=B#16#3,
//Read data
S7Var
:=P#M 104.0 WORD 1,
IVAR1
:=8,
IVAR2
:=-1,
Error
:=M 10.1,
ErrCode
:=MW12);
Basic Functions
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Function 5: Update control signals to channel
The purpose of this function is to transmit important control signals at high speed in between
cyclic data transfers. Data bytes 6 and 7 of user interfaces DB21, ... are transferred to the NC.
The channel is specified in parameter "IVAR1". This enable, for example, the feed disable,
read-in disable to be transferred outside of the PLC cycle.
Signal
Typ
e
Type
Value range
Description
Enable:
BOOL
0 (FALSE), 1 (TRUE)
1:
Transferring data
Funct:
BYTE
5:
Control signals to channel
S7Var :
ANY
S7 data storage area
IVAR1:
INT
1. Max. channel
Error:
BOOL
0 (FALSE), 1 (TRUE)
1:
An error is active
ErrCode:
INT
1, 10
1:
"Funct" invalid
10:
Channel no. invalid
Not used
Channel number
Function 6: Update control signals to axes
The purpose of function 6 is to transmit important control signals at high speed in between
cyclic data transfers. The data byte 2 of application interface DB31, ... is transferred to the NC.
The transfer is performed for all activated axes. This allows the controller enable to be
transferred outside the PLC cycle, for example.
Signal
Typ
e
Type
Value range
Description
Enable:
BOOL
0 (FALSE), 1 (TRUE)
1:
Transferring data
Funct:
BYTE
6:
Control signals to axes
S7Var :
ANY
S7 data storage area
IVAR1:
INT
Error:
BOOL
0 (FALSE), 1 (TRUE)
1:
An error is active
ErrCode:
INT
1:
"Funct" invalid
Not used
Function 7: Update control signals to axes
The purpose of function 7 is to transmit important control signals at high speed in between
cyclic data transfers. The data byte 4 of application interface DB31, ... is transferred to the NC.
The transfer is performed for all activated axes. This enables, for example, the feed stop to be
transferred outside the PLC cycle.
Signal
Typ
e
Type
Value range
Description
Enable:
BOOL
0 (FALSE), 1 (TRUE)
Funct:
BYTE
S7Var :
ANY
S7 data storage area
IVAR1:
INT
Error:
BOOL
0 (FALSE), 1 (TRUE)
1:
An error is active
ErrCode:
INT
1:
"Funct" invalid
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
7:
Control signals to axes
Not used
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13.17 Block descriptions
13.17.25
FC22: TM_DIR - direction selection for tool management
NOTICE
Use
Block FC22 "TM_DIR" may only be used in conjunction with the tool management.
Function
Referred to the location numbers, e.g. a tool magazine or revolver (indexing axis) block FC22
"TM_DIR" supplies the shortest path and direction of motion for positioning, based on the target
and current position.
Outputs
Input FC22: "Start" = 1 the outputs are cyclically updated.
Input FC22: "Start" = 0 the outputs are undefined.
Special positioning
For direction selection with special positioning (input FC22: "Offset" > 0) a new target position
is calculated from the target position, the offset for special positioning as well as the number
of magazines locations:
New_target position = ( target position - ( special position -1 ) ) neg. MODULO
number_of_magazine locations
The new target position corresponds to the location number at which the magazine must be
positioned so that the target position requested by the user corresponds to the location number
of the special position.
The directional optimization is active both with and without special positioning.
Call
The block must be called once with the appropriate parameter settings for each magazine.
References
Further PI services for tool management:
FB4: Request PI service (Page 937)
FC7: TM_REV - transfer block for tool change with revolver (Page 997)
FC8: TM_TRANS - transfer block for tool management (Page 1000)
Function Manual, Tool Management
Declaration of the function
FUNCTION FC22: VOID
// NAME:
TM_DIR
VAR_INPUT
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13.17 Block descriptions
MagNo:
INT;
ReqPos:
INT;
ActPos:
INT;
Offset:
BYTE ;
Start :
BOOL;
END_VAR
VAR_OUTPUT
Cw:
BOOL;
Ccw:
BOOL;
InPos :
BOOL;
Diff:
INT;
Error :
BOOL;
END_VAR
BEGIN
END_FUNCTION
Description of formal parameters
Signal
Typ
e
Type
Value range
Description
MagNo:
INT
1, 2, 3, ...
Magazine number
ReqPos:
INT
1, 2, 3, ...
Target position (magazine location
number)
ActPos:
INT
1, 2, 3, ...
Actual position (magazine location
number)
Offset:
BYTE
0, 1, 2, ...
Offset for special positioning
Start:
BOOL
0 (FALSE), 1 (TRUE)
1 = start of calculation
Cw:
BOOL
0 (FALSE), 1 (TRUE)
1 = Move magazine clockwise
Ccw:
BOOL
0 (FALSE), 1 (TRUE)
1 = Move magazine
counterclockwise
InPos:
BOOL
0 (FALSE), 1 (TRUE)
1 = In position
Diff:
INT
0, 1, 2, ...
Error:
BOOL
0 (FALSE), 1 (TRUE)
Absolute value of the differential
path
(shortest path)
1 = error
Call example
CALL FC22(
// Tool management direction selection
// Inputs
MagNo :=
2,
// Magazine number
ReqPos :=
mw 20,
//Target position
ActPos :=
mw 22,
// Current position
Offset :=
b#16#0,
// Offset for special positioning
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13.17 Block descriptions
Start :=
m 30.4,
// Start trigger
Cw :=
m 30.0,
// Move magazine clockwise
Ccw :=
m 30.1,
// Move magazine counterclockwise
InPos :=
m 30.2,
// Magazine in position
Diff :=
mw 32,
// Differential path
Error :=
m30.3
// Error has occurred
// Outputs
);
13.17.26
FC24: MCP_IFM2 - transferring MCP signals to the interface
Function
The block FC24 (MCP_IFM2, M variant, e.g. MCP 310) is used for transferring data from the
machine control panel to the NC/PLC interface:
Modes
Axis selections
WCS/MCS switchover
Traversing keys
Overrides or override simulation signals
Key-operated switch position
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
Feed override:
The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB 5) interface byte if the "Feed override for rapid traverse
effective" HMI signal is set (exception: Switch setting "Zero"). "Rapid traverse override
effective" is also set with this HMI signal.
Machine functions for INC and axis travel keys:
When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
When the WCS is selected, the signals are transferred to the geometry axis interface
of the parameterized channel.
When the system is switched between MCS and WCS, the active axes are generally
deselected.
The associated LEDs on the machine control panel are derived from the acknowledgements
from the relevant selections.
1046
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P3: Basic PLC program for SINUMERIK 840D sl
13.17 Block descriptions
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g. using the appropriate input signals in
FC10: AL_MSG). The associated LEDs are activated at the same time.
The spindle direction (+, -) is not switched directly either, but made available as output
parameter "SpindleDir" permitting, for example, FC18 to be parameterized. A spindle enable
signal is also switched via parameter "SpindleHold". One possible method of moving a spindle
directly is to preselect it as an axis so that it can be traversed via (axis) direction keys.
If the machine control panel fails, the signals it outputs are preset to zero; this also applies to
"FeedHold" and "SpindleHold" output signals.
FC24 or also FC19, FC25, FC26 can be called a multiple number of times in a single PLC
cycle. In this case, the first call in the cycle drives the LED displays. Furthermore, all actions
of the parameterized block are carried out in the first call. In the following calls, only a reduced
level of processing of the channel and mode group interface takes place. The geometry axes
are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first call in the cycle.
The second machine control panel can be processed if parameter "ModeGroupNo" has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower nibble
(lower 4 bits).
"BAGNo" = 0 or B#16#10 mode group signals are not processed.
"ChanNo" = 0 no processing of the channel signals.
The INC selections are transferred to the mode group interface. The activation for this
specification is done via the DB10.DBX57.0 (INC inputs in BAG area active) through this block
once after power up.
Furthermore, two machine control panels can be handled in parallel by this block. The block
call for the 2nd machine control panel in OB1 cycle must be set after the call of the 1st MCP.
Support for two MCPs is provided in the control panel blocks up to certain limits (support is
not provided as standard for mutual interlocking of axis selections with identical assignments
on two MCPs).
Key-operated switch position
As of software version 4.5 SP2, the key-operated switch signals in the FC24 are also
transferred to the user interface (DBX56.5 to 7). This transfer is made independent of whether
a keyswitch is mounted on the MCP.
Note
For further information see "FC19: MCP_IFM - transfer of MCP signals to interface
(Page 1030) ".
Flexible axis configuration
It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Better support is now provided by the MCP blocks for the use of two MCPs, which are to run
in parallel, in particular for an application using two channels and two mode groups. Note that
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13.17 Block descriptions
the axis-numbers are also specified in the parameterized mode group number of the MCP
block in the axis tables of the relevant MCP.
To provide this flexibility, tables for axis numbers are stored in DB10.
For the 1st machine control panel (MCP) the table starts at byte 8 (symbolic name:
MCP1AxisTbl[1..22]) and for the second machine control panel (MCP) starting at byte 32
(symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis numbers must
be entered byte by byte here. It is permissible to enter a value of 0 in the axis table. Checks
are not made to find illegal axis numbers, meaning that false entries can lead to a PLC Stop.
For FC24, the maximum possible number of axis selections can also be restricted.
This upper limit is set for the first machine control panel in DB10.DBW30 (symbolic name:
MCP1MaxAxis) or for the second machine control panel in DB10.DBW54 (symbolic name:
MCP2MaxAxis) for the respective MCP.
The default setting is 0, corresponding to the maximum number of configured axes. The axis
numbers and the limit can also be adapted dynamically. Afterwards, a new axis must be
selected for FC24. Axis numbers may not be switched over while the axes are traversing the
relevant direction keys. The compatibility mode is preset with axis numbers 1 to 6 for both
MCPs and restricted to the configured number of axes.
Declaration of the function
FUNCTION FC24: VOID
// NAME:
MCP_IFM2
VAR_INPUT
BAGNo :
BYTE ;
ChanNo:
BYTE ;
SpindleIFNo:
BYTE ;
END_VAR
VAR_OUTPUT
FeedHold :
BOOL;
SpindleHold :
BOOL;
SpindleDir:
BOOL;
END_VAR
BEGIN
END_FUNCTION
Description of formal parameters
Signal
BAGNo :
1048
Typ
e
Type
Value range
Description
BYTE
B#16#00 - B#16#0A
1st MCP: Number of mode group to which the
mode signals are transferred
B#16#10 - B#16#1A
2nd MCP: Number of mode group to which the
mode signals are transferred
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13.17 Block descriptions
Signal
Typ
e
Type
Value range
Description
ChanNo:
BYTE
B#16#00 - B#16#0A
Number of the channel to which the channel
signals are transferred
SpindleIFNo:
BYTE
0 - 31
(B#16#1F)
Number of the axis/spindle to which the spin
dle data is transferred (number of the associ
ated machine axis)
FeedHold :
BOOL
0 (FALSE), 1 (TRUE) Feed stop from MCP, modal
SpindleHold :
BOOL
0 (FALSE), 1 (TRUE) Spindle stop from MCP, modal
SpindleDir:
BOOL
0 (FALSE), 1 (TRUE) Direction of spindle rotation
0:
Direction of rotation + (left)
1:
Direction of rotation - (right)
Call example
CALL FC24(
// Slimline machine control panel M variant
// Signals to interface
BAGNo :=
B#16#1,
// Mode group no. 1
ChanNo :=
B#16#1,
// Channel no. 1
SpindleIFNo := B#16#4,
// Spindle Interface Number = 4
FeedHold :=
// Feed stop signal modal
m22.0,
SpindleHold := db2.dbx151.0,
// Spindle stop modal in message data block
SpindleDir:=
// Spindle direction return
m22.1);
With these parameter settings, the signals are sent to the first mode group, the first channel
and all axes. In addition, the spindle override is transferred in the 4th axis/spindle interface.
The feed hold signal is passed to bit memory 22.0 and the spindle stop signal to data block
DB2, data bit 151.0. The spindle direction feedback signal supplied via parameter "SpindleDir"
can be used as a direction input for an additional FC18 call.
13.17.27
FC25: MCP_IFT - transfer of MCP/OP signals to interface
Function
The block FC25 (MCP_IFT, T variant, e.g. MCP 483) is used for transferring data from the
machine control panel to the NC/PLC interface:
Modes
Direction keys of four axes
WCS/MCS switchover commands
Overrides
Key-operated switch
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13.17 Block descriptions
The following specifications apply to the feed override, axis travel keys and INC keys
depending on the active mode or on the coordinate system selected:
Feed override:
The feed override is transferred to the interface of the selected channel and to the
interface of the axes.
The feed override signals are transferred to the NC channel in addition to the "Rapid
traverse override" (DBB 5) interface byte if the "Feed override for rapid traverse
effective" HMI signal is set (exception: Switch setting "Zero"). "Rapid traverse override
effective" is also set with this HMI signal.
Machine functions for INC and axis travel keys:
When the MCS is selected, the signals are transferred to the interface of the selected
machine axis.
When the WCS is selected, the signals are transferred to the geometry axis interface
of the parameterized channel.
The associated LEDs on the machine control panel derived from the acknowledgements of
the relevant selections.
Feedrate and spindle Start/Stop are not transferred to the interface, but output modally as a
"FeedHold" or "SpindleHold" signal. The user can link these signals to other signals leading
to a feed or spindle stop (this can be implemented, e.g. using the appropriate input signals in
FC10: AL_MSG). The associated LEDs are activated at the same time.
If the machine control panel fails, the signals it outputs are preset to zero; this also applies to
"FeedHold" and "SpindleHold" output signals.
FC25 or also FC19, FC24, FC26 can be called a multiple number of times in a single PLC
cycle. In this case, the first call in the cycle drives the LED displays. Furthermore, all actions
of the parameterized block are carried out in the first call. In the following calls, only a reduced
level of processing of the channel and mode group interface takes place. The geometry axes
are supplied with directional data only in the first block call in the cycle.
Single block processing can be selected/deselected only in the first cycle.
The second machine control panel can be processed if parameter "ModeGroupNo" has been
increased by B#16#10. When parameterizing, the HHU number is contained in the lower nibble
(lower 4 bits).
"BAGNo" = 0 or B#16#10 mode group signals are not processed.
"ChanNo" = 0 no processing of the channel signals.
Flexible axis configuration
It is possible to be flexible in the assignment of axis selections or direction keys for machine
axis numbers.
Support is now provided by the MCP blocks for the use of two MCPs, which are operated
simultaneously, in particular for an application using two channels and two mode groups. The
block call for the second machine control panel in OB1 cycle must be set after the call of the
1st MCP. Note that the axis numbers are also specified in the parameterized mode group
number of the MCP block in the axis tables of the relevant MCP.
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13.17 Block descriptions
To provide this flexibility, tables for axis numbers are stored in DB10.
For the 1st machine control panel (MCP) the table starts at byte 8 (symbolic name:
MCP1AxisTbl[1..22]) and for the second machine control panel (MCP) starting at byte 32
(symbolic name: MCP2AxisTbl[1..22]) for the second MCP. The machine axis numbers are
entered here bytewise. It is permissible to enter a value of 0 in the axis table. Checks are not
made to find illegal axis numbers, meaning that false entries can lead to a PLC Stop.
The restriction of the possible number of axes at FC25 is realized using the 0-values in the
axis table. The axis numbers can also be adapted dynamically. During the manual traversing
of axes using the direction keys, the axis numbers must not be switched over. The compatibility
mode is preset with axis numbers 1 to 4 for both MCPs and restricted to the configured number
of axes.
Note
For further information see "FC19: MCP_IFM - transfer of MCP signals to interface
(Page 1030) ".
Declaration of the function
FUNCTION FC25: VOID
// NAME:
MCP_IFT
VAR_INPUT
BAGNo :
BYTE ;
ChanNo:
BYTE ;
SpindleIFNo:
BYTE ;
END_VAR
VAR_OUTPUT
FeedHold :
BOOL;
SpindleHold :
BOOL;
END_VAR
BEGIN
END_FUNCTION
Description of formal parameters
Signal
BAGNo :
ChanNo:
Typ
e
Type
Value range
BYTE
B#16#00 - B#16#0A
1st MCP: Number of mode group to which the
mode signals are transferred
B#16#10 - B#16#1A
2nd MCP: Number of mode group to which
the mode signals are transferred
B#16#00 - B#16#0A
Number of the channel to which the channel
signals are sent
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BYTE
Description
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13.17 Block descriptions
Signal
Typ
e
Type
Value range
Description
SpindleIFNo:
BYTE
B#16#00 - B#16#1F
FeedHold :
BOOL
0 (FALSE), 1 (TRUE) Feed stop from MCP, modal
SpindleHold :
BOOL
0 (FALSE), 1 (TRUE) Spindle stop from MCP, modal
Number of the axis/spindle to which the spin
dle data is transferred (number of the associ
ated machine axis)
Call example
With these example parameter settings, the signals are sent to the first mode group, the first
channel and all axes. The spindle override is transferred to the 4th axis/spindle interface. Feed
stop is sent to bit memory 22.0 and spindle stop is sent to the data block DB2, DBX151.0.
CALL FC25(
//Machine control panel T variants
// Signals to interface
13.17.28
BAGNo :=
B#16#1,
// Mode group no. 1
ChanNo :=
B#16#1,
// Channel no. 1
SpindleIFNo :=
B#16#4,
// Spindle Interface Number = 4
FeedHold :=
m22.0,
// Feed stop signal modal
SpindleHold :=
db2.dbx151.0); // Spindle stop modal in message data block
FC26: HPU_MCP - transfer of HT 8 signals to the interface
Declaration of the function
FUNCTION FC26: VOID
// NAME:
HPU_MCP
VAR_INPUT
BAGNo :
BYTE ;
ChanNo:
BYTE ;
END_VAR
BEGIN
END_FUNCTION
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13.17 Block descriptions
Description of formal parameters
Signal
BAGNo :
ChanNo:
Ty
pe
Type
Value range
BYTE
B#16#00 - B#16#0A
1st MCP: Number of mode group to which the
mode signals are transferred
B#16#10 - B#16#1A
2nd MCP: Number of mode group to which the
mode signals are transferred
B#16#00 - B#16#0A
Number of the channel to which the channel sig
nals are transferred
BYTE
Description
Call examples
Calling FC26 for the first MCP, the first mode group and the first channel of the NC.
CALL FC26(
//Machine control panel of the HT 8
BAGNo :=
B#16#01,
//1.MCP, 1.BAG
ChanNo :=
B#16#01);
//Channel 1
Calling FC26 for the second MCP, the second mode group and the third channel of the NC.
CALL FC26(
//Machine control panel of the HT 8
BAGNo :=
B#16#12,
//2.MCP, 2.BAG
ChanNo :=
B#16#03 );
//Channel 3
General description of functions
The function FC26 "HPU_MCP (machine control panel signals of the handheld unit HT 8)"
transfers the HT 8-specific signals of the following functions between the HT 8-input/output
data areas parameterized in function block FB1 (Parameter: MCPxIn and MCPxOut) and the
NC/PLC-interface:
Modes
Machine function INC
Coordinate system WCS or MCS
Axial traverse key
Axis selection
Feed override
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13.17 Block descriptions
Rapid traverse override
Keyswitch information
Note
Mode switchover through HT 8 and/or HMI
The function FC2 "GP_HP Basic program, cyclic part" transfers the signals of the mode
switchover in such a way that an alternative selection from MCP of HT 8 and of the HMI is
possible. The transfer of the HMI signals to the NC/PLC interface can also be deactivated
in the function block FB1 with the parameter "MMCToIF" = FALSE .
Active axes
Using HT 8 a maximum of 6 axes can be addressed at the same time. The selection of the
axes is to be realized by the user/machine manufacturer in the PLC user program.
Flexible axis configuration
The function FC26 enables a flexible assignment of the machine axes to the traversing keys
or to the axis selection. 2 tables are available in DB10 for this purpose:
Machine axis table 1. MCP: DB10.DBB8 to DBB13 (Table of the machine axis number)
Symbolic name: MCP1AxisTbl[1..22]
Machine axis table, 2nd MCP: DB10.DBB32 to DBB37 (Table of the machine axis number)
Symbolic name: MCP2AxisTbl[1..22]
In the tables the axis numbers n (with n = 1, 2, ...) of the active machine axis are to be entered
byte-wise. The value 0 must be entered in the unused table locations.
The table length can be specified to the FC26:
1st MCP: DB10.DBB30 (upper limit of the machine axis table)
2nd MCP: DB10.DBB54 (upper limit of the machine axis table)
A value of 4, for example, means that FC26 takes into account only the first 4 table entries or
machine axes. The maximum value for the FC26 is 6. For value 0 or values greater than 6 the
maximum value is taken implicitly.
Note
Please note the following constraints:
A check of the permissible machine axis numbers is not done. Invalid machine axis numbers
can lead to a PLC stop.
The machine axis numbers can be changed dynamically. The table may not be written, if
currently a machine axis is being moved via a traversing key.
Transfer of the traversing key signals depending upon the active coordinate system
The traversing key signals for 6 axes lie in the HT 8 input data area below:
EB n + 2, Bit 0 - Bit 5 (positive traversing direction)
EB n + 3, Bit 0 - Bit 5 (negative traversing direction)
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13.17 Block descriptions
The switchover of the coordinate system is done via the input signal:
EB n + 0, Bit 0 (MCS/WCS)
The input signal is evaluated in FC26 with the help of the edge trigger flag. The active
coordinate system is shown in the following output signal:
AB n + 0, Bit 0 (MCS/WCKS) with 0 = MCS, 1 = WCS
In case of active MCS the traversing key signals of the axes 1 - 6 are transferred in the axisspecific interfaces (DB31, ... .DBX4.6 and DBX4.7 (traversing key +/-)) of the axes specified
in the machine axis tables (DB10.DBB8 to DBB13 or DBB32 to DBB37).
In case of active WCS it is assumed that the axes 1 - 3 of the machine axis table are geometric
axes. For this reason the traversing key signals:
Of the axes 1 - 3 (EB n + 2 / 3, Bit 0 - Bit 2) are transferred in the interface of the geometric
axes in DB21, ... .DBB12 + (n * 4), with n = 0, 1, 2), bit 6 and bit 7 (traversing keys +/-) of
the channel specified with the parameter "ChanNo" .
The assignment of the traversing key signals of axes 1, 2 and 3 to the geometric axes 1, 2
and 3 of the channel is permanent and may not be changed.
Of the axes 4 - 6 (EB n + 2 / 3, Bit 3 - Bit 5) are transferred in the axis-specific interface
(DB31, ... .DBX4.6 and DBX4.7 (traversing keys +/-)) of the axes 4 - 6 entered in the
machine axis table (DB10.DBB11 to DBB13 or DBB35 to DBB37).
No traversing of machine axes in WCS
In case of active WCS (AB n + 0, Bit 0 = 1) the traversing of the machine axes can be locked.
For this, the following output signals are to be set in the PLC user program:
AB n + 3, Bit 7 = 1 (For WCS: no machine axes)
Requirement to the FC26, not to transfer any traversing key signals for the machine axes.
The traversing key signals for the axes 1 - 3 of the machine axis table are transferred to
the geometric axes 1 - 3 of the specified channel. The traversing key signals for the axes
4 - 6 of the machine axis table are not transferred.
AB n + 2, Bit 6 (axes 7 - n selected)
Requirement to the FC26 not to transfer any traversing key signals, since the axes 1 - 6 of
the machine axis table are switched over. The axes 1 - 3 are thus not geometric axes, but
instead also machine axes.
Feed override
The value of the HT 8 override switch is transferred as feed override in the channel-specific
interface DB21, ... .DBB4 (feedrate override) of the programmed channel (parameter:
"ChanNo") and in the axis-specific interfaces DB31, ... .DBB0 (feedrate override) of the axes
programmed in the table DB10.DBB8 to DBB13 (machine axis number).
Rapid traverse override
If for the programmed channel (parameter: "ChanNo") the signal DB21, ... .DBX25.3 = 1 (feed
override for rapid traverse) is set, the value of the HT 8 override switch is sent as a rapid
traverse override to its channel-specific. Interface transferred in DB21, ... .DBB5 (rapid traverse
override) and the signal DB21, ... .DBX6.6 = 1 (rapid traverse override active) is also set.
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13.17 Block descriptions
Machine function INC
The HT 8 signals of the machine function INC are transferred differently depending upon the
active coordinate system MCS or WCS:
Active coordinate system: MCS
The selected machine function INC is transferred for all 6 axes in the axis-specific interfaces
in DB31, ... .DBX5.0 to DBX5.5 (machine function) of the axes programmed in the table in
DB10.DBB8 to DBB13 (machine axis numbers) .
Active coordinate system: WCS
For the axes 1 to 3 the signals of the machine function INC are transferred in the channelspecific. Interface in DB21, ... .DBX13.0 to DBX13.5 (machine function) of the programmed
channel (Parameter: "ChanNo").
For the axes 4 to 6 the signals of the machine function INC are transferred in the channelspecific. interfaces in DB31, ... .DBX5.0 to DBX5.5 (machine function) of the axes
programmed in the table in DB10.DBB11 to DBB13 (machine axis numbers).
The selection signals of the INC machine functions are transferred in the mode group-specific
interface DB11.DBB 2 + (n * 20), bit 0 to bit 5 (with n = 0, 1, 2, ...). The FC26 informs the NCK
about the activation of the mode group-interface for the INC machine functions once after
power-up with DB10.DBX57.0 (INC inputs active in the mode group area).
Handwheel selection
The hand-wheel selection signals are evaluated by HMI and transferred to the corresponding
NC/PLC interface signals of the machine or geometric axes:
Geometry axes: DB21, ... DBB 12 + (n * 4), bit 0 to bit 2 (with n = 0, 1, 2)
Machine axes: DB31, ... .DBX4.0 to DBX4.2
Requirement: FB1 parameters: "HWheelMMC" = TRUE
Multiple call in one PLC cycle
FC26 can be called a multiple number of times in a single PLC cycle. Upon the first call in the
PLC cycle:
All actions of the parameterized blocks are executed
The LED signals are written in the output area
In case of selected WCS, the traversing key signals of the geometric axes are written
The signals for the selection and deselection of the individual block are processed
When FC26 is called more often, then the channel and mode group interface are processed
at a reduced rate.
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13.17 Block descriptions
Processing of two MCP
If the function FC26 is called twice for two MCP in the cyclic sequence of the PLC program
(organization block OB1), the call for the second MCP must be made after the call for the first
MCP.
Note
If an axis can be traversed from two MCP, then the implementation of a mutual interlocking is
the responsibility of the user (machine manufacturer).
Failure of the MCP of the HT 8
In case of failure of the MCP of the HT 8 all the input signals are set to the value 0.
13.17.28.1
Overview of the NC/PLC interface signals of HT 8
Operating modes and machine functions
Source: MCP
Destination: Programmed mode group (Parameter BAGNo)
Display for BAG 1
AUTOMATIC
DB11.DBX0.0
MDI
DB11.DBX0.1
JOG
DB11.DBX0.2
REPOS
DB11.DBX1.1
REF
DB11.DBX1.2
TEACH IN
DB11.DBX1.0
INC 1 ... 10 000, INC Var.
DB11.DBX2.0 - DBX 2.5
Traversing keys and rapid traverse override
Source: MCP
Destination: Geometry axis of the prog. channel (Parameter: Chan
No)
Traversing key +
DB21, ... .DBX12.7
Traversing key -
DB21, ... .DBX12.6
Rapid traverse override
DB21, ... .DBX12.5
Traversing key +
DB21, ... .DBX16.7
Traversing key -
DB21, ... .DBX16.6
Rapid traverse override
DB21, ... .DBX16.5
Traversing key +
DB21, ... .DBX20.7
Traversing key -
DB21, ... .DBX20.6
Rapid traverse override
DB21, ... .DBX20.5
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13.17 Block descriptions
Source: MCP
Destination: Prog. axes corresponding to the table in DB10,
DBB8 - 13 (1. MCP) or DBB32 - 37 (2. MCP)
Traversing key +
DB31, ... .DBX4.7
Traversing key -
DB31, ... .DBX4.6
Rapid traverse override
DB31, ... .DBX4.5
Source: MCP
Destination: Programmed channel (Parameter: ChanNo)
Feed override
DB21, ... .DBB4
Source: MCP
Destination: Prog. axes corresponding to the table in DB10,
DBB8 - 13 (1. MCP) or DBB32 - 37 (2. MCP)
Feed override
DB31, ... .DBB0
Source: MCP
Destination: Programmed channel (Parameter: ChanNo)
NC start
DB21, ... .DBX7.1
NC stop
DB21, ... .DBX7.3
RESET
DB21, ... .DBX7.7
Single BLock
DB21, ... .DBX0.4
Override
Channel signals
13.17.28.2
Overview of the NC/PLC interface signals of HT 8
Operating modes and machine functions
1058
Destination: MCP
Source: Interface-DB (parameter BAGNo)
Display for BAG 1
AUTOMATIC
DB11.DBX6.0
MDI
DB11.DBX6.1
JOG
DB11.DBX6.2
REPOS
DB11.DBX7.1
REF
DB11.DBX7.2
TEACH IN
DB11.DBX7.0
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13.17 Block descriptions
13.17.29
FC19, FC24, FC25, FC26 - description of the source code
Task
Machine control panel at the user interface(FC19 M version, FC24 slim-line version, FC25 T
version, FC26 HT 8 version).
Associated blocks
DB7, no. of mode groups, channels, axes
DB7, pointer of the machine control panels,
DB8, storage for the next cycle
Resources used
None.
General
Blocks FC19 (M version), FC24 (slim-line version), FC25 (T version) and FC26 (HT 8 version)
send the signals of the machine control panel to and from the user interface.
Parameter
Input parameter "BAGNo"
The parameter "BAGNo" is used to select the mode group to be processed. The
"ModeGroupNo" parameter also selects the number of the machine control panel (Bit 4).
Input parameter "ChanNo"
The parameter "ChanNo" is used to select the channel to be processed.
Input parameter "SpindleFNo" (not FC26)
The number of the axis/spindle (number of the associated machine axis) in the interface of
which the spindle data is sent is specified in the parameter "SpindleFNo". The spindle
override is transferred to this spindle interface. The parameters are checked for incorrect
parameterization.
Output parameters "FeedHold" and "SpindleHold" (not FC26)
The output parameters "FeedHold" and "SpindleHold" are formed from the 4 buttons feed/
spindle disable, feed/spindle enable. When the feed/spindle are disabled, the parameter
outputs the value "logical 1".
Information for the next cycle is stored in DB8, bytes 0 to 3 or bytes 62 to 65, depending on
the machine control panel number. This information is the edge trigger flag, feed value and
selected axis number. The blocks are provided with user data via the pointer parameters in
DB7 "MCP1In" and "MCP1Out" ("MCP2In" and "MCP2Out"). The pointers are addressed
indirectly via a further pointer from the VAR section of DB7 in order to avoid absolute
addressing. This additional pointer is determined symbolically in FB1.
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13.17 Block descriptions
Block Description
All 4 components have a similar structure and are classified for the individual subtasks:
Input network
In the Input network, various parameters are copied to local variables. The machine control
signals (user data for input/output area) are also copied over using the various pointers in
DB7 (gp_par). These local variables are handled in the block for reasons of efficiency. Some
values are initialized for the startup.
Global_IN network
In the Global_IN network, the MKS/WKS switch-over with edge evaluation, axle selection,
direction keys and input overlays are determined for the additional processing in the block.
User-specific changes must take place in this part of the program, which are mainly oriented
at the axis selection.
NC network
Only the keyswitch information is copied in Network NC.
Network mode group
The mode group network transfers the modes of the keys as dynamic signals to the NCK.
The INC checkback signals from the NC are stored temporarily for the corresponding LEDs.
If the mode group number is 0, this network is not processed. A number that is too large
generates the message 401901 or 402501 and changes over after stop.
Channel network
The functions NC Start, Stop, Reset and single block with corresponding feedback
messages are activated in the Channel network. The direction keys of the geometry axes
are supplied if a corresponding preselection is made, otherwise they are cleared. If the
channel number is 0, this network is not processed. A too large number generates the
message 401902 or 402502 and changes over after stop.
Spindle network
The Spindle network sends the spindle override to the interface parameterized via
"SpindleFNo".
Axes network
The Axes network sends the feed override to the selected axis interface. The direction keys
are assigned to the selected axis/spindle. If an axis has been selected previously, the
direction information is set to 0.
Global_OUT network
The output parameters are prepared and the LED signals of the INC machine function are
generated in the Global_OUT network.
Output network
The Output network transfers the output signals of the machine control panel from the
VAR_TEMP image to the logical address. The data for the next cycle are also saved.
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13.17 Block descriptions
Axis selection extension
Global_IN network
The Global_IN network must be modified if more than nine axes are selected. If other keys
and LEDs are to be used on the machine control panel here, proceed as follows:
1. The command UD DW#16#Value (comment: Clear all axis LEDs for display) deletes all
defined LEDs for axis selections. The bit mask is currently processing the nine axis selection
LEDs.
2. The command UW W#16# (comment: Masking all the axis selection buttons ) checks
whether the direction has changed. The bit string must be adjusted here.
3. The branch destination list (SPL) must be expanded with new jump labels. The new jump
labels should be inserted in descending order before label m009. The selection information
should be extended for the new jump labels, as described for labels m009 and m008.
Note
The blocks are made available as STL sources if required. But they do not match the current
status of the block. Some details of the actual implementation in C have been developed
further. For this reason we recommend that you specify your additional requirements for
the blocks and that you pass these onto project management via the sales department.
13.17.30
FC1005: AG_SEND - transfers data to Ethernet CP
Function
The AG_SEND function block transfers the data to be transferred via a configured connection
to the Ethernet CP. Together with the AG_RECV function block, data exchange can be
established with another station via the integrated "CP 840D sl." This station must be
configured in STEP 7, "NetPro."
In the basic program, this function is available as a function block FC1005. This is roughly
equivalent to function block FC5 in the "SIMATIC_NET_CP" library.
The TCP, UDP, and ISO-on-TCP protocols are supported.
Note
Smaller volume of transmittable data with SINUMERIK CP and UDP or ISO-on-TCP protocol
For SINUMERIK CP, only 240 bytes can be transmitted when function block FC1005 and the
UDP or ISO-on-TCP protocol are used.
Description of formal parameters
Signal
Typ
e
Type
Value range
ACT:
BOOL
0 (FALSE), 1 (TRUE)
Job initiation 1)
ID:
INT
1, 2, 3 ...16
Connection ID
LADDR:
WORD
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Description
Module start address 2)
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13.17 Block descriptions
Signal
Typ
e
Type
Value range
SEND:
ANY
Description
Specifies the address and length.
The address of the data area alter
natively refers to:
Bit memory address area
Data block area
LEN:
INT
TCP: 1, 2, ... 8192
Number of bytes that are transmitted
UDP: 1, 2, ... 240
ISO-on-TCP: 1, 2. ... 240
DONE:
BOOL
0 (FALSE), 1 (TRUE)
ERROR:
BOOL
0 (FALSE), 1 (TRUE)
0: Job running
1: Job executed
0: No error
1: An error is active
STATUS:
WORD
Status display
1) Parameter ACT must be TRUE long enough until the following applies: (DONE == 1) OR (ERROR
== 1)
2) For SINUMERIK 840D sl: Parameter LADDR := W#16#8110
Documentation
A detailed module description can be found in:
SINUMERIK user interfaces: Online help
SIMATIC Programming Manual: Program blocks for SIMATIC NET S7-CPs
Chapter: "Program blocks for Industrial Ethernet" > "Program blocks for open
communication services (SEND/RECEIVE interface)" > "AG_SEND / AG_LSEND /
AG_SSEND"
13.17.31
FC1006: AG_RECV - receives data from the Ethernet CP
Function
The function block AG_RECV receives data transferred via a configured connection from the
Ethernet CP. Together with the AG_SEND function block, data exchange can be established
with another station via the integrated "CP 840D sl." This station must be configured in STEP 7,
"NetPro."
In the basic program, this function is available as a function block FC1006. This is roughly
equivalent to function block FC6 in the "SIMATIC_NET_CP" library.
The TCP, UDP, and ISO-on-TCP protocols are supported.
Note
Smaller volume of transmittable data with SINUMERIK CP and UDP or ISO-on-TCP protocol
For SINUMERIK CP, only 240 bytes can be transmitted when function block FC1006 and the
UDP or ISO-on-TCP protocol are used.
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13.18 Signal/data descriptions
Formal parameters
Signal
Typ
e
Type
Value range
Description
ID:
INT
1, 2 ...16
LADDR:
WORD
Module start address 1)
RECV:
ANY
Specifies the address and length.
The address of the data area alter
natively refers to:
Connection ID
Bit memory address area
Data block area
NDR :
BOOL
0 (FALSE), 1 (TRUE)
ERROR:
BOOL
0 (FALSE), 1 (TRUE)
STATUS:
WORD
LEN:
INT
TCP: 1, 2, ... 8192
0: Job running
1: New data accepted
0: No error
1: An error is active
Status display
Number of bytes that are transmitted
UDP: 1, 2, ... 240
ISO-on-TCP: 1, 2. ... 240
1) For SINUMERIK 840D sl: Parameter LADDR := W#16#8110.
Documentation
A detailed module description can be found in:
SINUMERIK user interfaces: Online help
SIMATIC Programming Manual: Program blocks for SIMATIC NET S7-CPs
Chapter: "Program blocks for Industrial Ethernet" > "Program blocks for open
communication services (SEND/RECEIVE interface)" > "AG_RECV / AG_LRECV /
AG_SRECV"
13.18
Signal/data descriptions
13.18.1
Interface signals NCK/PLC, HMI/PLC, MCP/PLC
References
The NCK/PLC, HMI/PLC and MCP/PLC interface signals are contained in the Lists document.
Lists sl (Book2)
The reference code contained therein (according to the signal names) refer to the respective
function description, in which the signal is described.
The NCK signals that are evaluated by the basic program and transferred in conditioned form
to the user interface are presented in the following sections.
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13.18 Signal/data descriptions
13.18.2
Decoded M signals
The M functions programmed in the part program, ASUB or synchronized actions are channel
specifically transferred from the NC to the PLC:
M functions from channel 1: DB21
M functions from channel 2: DB22
etc.
The signal length is one PLC cycle.
Note
The spindle-specific M functions below are not decoded: M3, M4, M5, and M70.
Addresses in DB21, ...
Variable
Type
Comment
DBX194.0 ... 7
M_Fkt_M0 ... M7
BOOL
M signals M0 ... M7
DBX195.0 ... 7
M_Fkt_M8 ... M15
BOOL
M signals M8 ... M15
DBX196.0 ... 7
M_Fkt_M16 ... M23
BOOL
M signals M16 ... M23
DBX197.0 ... 7
M_Fkt_M24 ... M31
BOOL
M signals M24 ... M31
DBX198.0 ... 7
M_Fkt_M32 ... M39
BOOL
M signals M32 ... M39
DBX199.0 ... 7
M_Fkt_M40 ... M47
BOOL
M signals M40 ... M47
DBX200.0 ... 7
M_Fkt_M48 ... M55
BOOL
M signals M48 ... M55
DBX201.0 ... 7
M_Fkt_M56 ... M63
BOOL
M signals M56 ... M63
DBX202.0 ... 7
M_Fkt_M64 ... M71
BOOL
M signals M64 ... M71
DBX203.0 ... 7
M_Fkt_M72 ... M79
BOOL
M signals M72 ... M79
DBX204.0 ... 7
M_Fkt_M80 ... M87
BOOL
M signals M80 ... M87
DBX205.0 ... 7
M_Fkt_M88 ... M95
BOOL
M signals M88 ... M95
DBX206.0 ...3
M_Fkt_M96 ... M99
BOOL
M signals M96 ... M99
Note
The M02/M30 auxiliary function output to the PLC does not state that the part program has
been terminated. To determine definitely the end of a part program in the channel, the following
interface signal must be evaluated:
DB21, ... .DBX33.5 (M02/M30 active)
The channel status must be RESET. The auxiliary function output could arise from an
asynchronous subroutine (ASUB) or a synchronized action and has nothing to do with the real
end of the parts program in this case.
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13.18 Signal/data descriptions
13.18.3
G Functions
The M functions programmed in the part program, ASUB or synchronized actions are channel
specifically transferred from the NC to the PLC:
G functions from channel 1: DB21
G functions from channel 2: DB22
etc.
The signal length is one PLC cycle.
POWER ON
After POWER ON, the value zero, i.e. active G groups undefined, is specified in the NC/PLC
interface for all G groups.
Part program end or abort
After part program end or abort, the last state of the G group is retained.
NC START
After NC-START the values of the 8 G-groups specified in the machine data:
MD22510 $NC_ GCODE_GROUPS_TO_PLC
are overwritten according to the default setting set via the machine data as well as the values
programmed in the part program.
Addresses in DB21, ...
Variable
Type
Basic position
Comment
DBB208
G_FKT_GR_1
BYTE
Active G function of group 1
DBB209
G_FKT_GR_2
BYTE
Active G function of group 2
DBB210
G_FKT_GR_3
BYTE
Active G function of group 3
DBB211
G_FKT_GR_4
BYTE
Active G function of group 4
DBB212
G_FKT_GR_5
BYTE
Active G function of group 5
DBB213
G_FKT_GR_6
BYTE
Active G function of group 6
DBB214
G_FKT_GR_7
BYTE
Active G function of group 7
DBB215
G_FKT_GR_8
BYTE
Active G function of group 8
DBB216
G_FKT_GR_9
BYTE
Active G function of group 9
DBB217
G_FKT_GR_10
BYTE
Active G function of group 10
DBB218
G_FKT_GR_11
BYTE
Active G function of group 11
DBB219
G_FKT_GR_12
BYTE
Active G function of group 12
DBB220
G_FKT_GR_13
BYTE
Active G function of group 13
DBB221
G_FKT_GR_14
BYTE
Active G function of group 14
DBB222
G_FKT_GR_15
BYTE
Active G function of group 15
DBB223
G_FKT_GR_16
BYTE
Active G function of group 16
DBB224
G_FKT_GR_17
BYTE
Active G function of group 17
DBB225
G_FKT_GR_18
BYTE
Active G function of group 18
DBB226
G_FKT_GR_19
BYTE
Active G function of group 19
DBB227
G_FKT_GR_20
BYTE
Active G function of group 20
DBB228
G_FKT_GR_21
BYTE
Active G function of group 21
DBB229
G_FKT_GR_22
BYTE
Active G function of group 22
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13.18 Signal/data descriptions
Addresses in DB21, ...
Variable
Type
Basic position
Comment
DBB230
G_FKT_GR_23
BYTE
Active G function of group 23
DBB231
G_FKT_GR_24
BYTE
Active G function of group 24
DBB232
G_FKT_GR_25
BYTE
Active G function of group 25
DBB233
G_FKT_GR_26
BYTE
Active G function of group 26
DBB234
G_FKT_GR_27
BYTE
Active G function of group 27
DBB235
G_FKT_GR_28
BYTE
Active G function of group 28
DBB236
G_FKT_GR_29
BYTE
Active G function of group 29
DBB237
G_FKT_GR_30
BYTE
Active G function of group 30
DBB238
G_FKT_GR_31
BYTE
Active G function of group 31
DBB239
G_FKT_GR_32
BYTE
Active G function of group 32
DBB240
G_FKT_GR_33
BYTE
Active G function of group 33
DBB241
G_FKT_GR_34
BYTE
Active G function of group 34
DBB242
G_FKT_GR_35
BYTE
Active G function of group 35
DBB243
G_FKT_GR_36
BYTE
Active G function of group 36
DBB244
G_FKT_GR_37
BYTE
Active G function of group 37
DBB245
G_FKT_GR_38
BYTE
Active G function of group 38
DBB246
G_FKT_GR_39
BYTE
Active G function of group 39
...
...
...
...
...
DBB271
G_FKT_GR_64
BYTE
Active G function of group 64
A complete listing of all the G functions is given in:
References:
Programming Manual Fundamentals; Chapter: "List of G-Functions/Preparatory functions"
13.18.4
Message signals in DB 2
DB2 allows the user to display the messages for individual signals on the operator panel front.
As the lists of interface signals show, signals are divided into predefined groups. When a
message occurs, disappears or is acknowledged, the number entered in the message number
column is transferred to the HMI. Text can be stored in the HMI for each message number.
References:
Lists sl (Book2), see Section "PLC-Messages (DB2)".
Startup manual; Chapter "Alarm and message texts"
Note
The number of user areas can be parameterized using FB1.
After the configuration has been modified (FB1: MsgUser) DB2/DB3 must be deleted.
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13.19 Programming tips with STEP 7
13.19
Programming tips with STEP 7
Some useful tips on programming complex machining sequences in STEP7 are given below.
This is essentially handling of the data type POINTER or ANY.
Fundamental tips on the structure of the data type POINTER and ANY see:
References:
STEP 7-Manual; Chapter: "Designing user programs" > "Register of CPU and saving of data"
13.19.1
Copying data
Copying variants
For the high-speed copying of data from one DB into another it is recommended
for larger data quantities to use the system function SFC BLKMOV or SFC FILL, because
here a high-speed copying takes place.
the routine given below is for smaller data quantities, because the supply of ANY parameter
to the SFCs consumes additional time.
Example
// DB xx.[AR1] is the source
// DI yy.[AR2] is the destination
AUF
DB 100;
//Source DB
LAR1
P#20.0;
//Source start address on data byte 20
AUF
DI 101;
//Destination DB
LAR2
P#50.0;
//Destination start address on data byte 50
4;
//Transfer 8 bytes
DBW [AR1,P#0.0];
//Copy word-oriented
DIW [AR2,P#0.0];
+AR1
P#2.0;
+AR2
P#2.0;
//AR1, AR2, DB, DI loaded beforehand
M001:
TAK;
LOOP
13.19.2
M001;
ANY and POINTER
The following programming examples show the programming mechanism. They demonstrate
how input/output and transit variables (VAR_INPUT, VAR_OUTPUT, VAR_IN_OUT) are
accessed by data types "POINTER" or "ANY" within an FC or FB. The access operations are
described in such a way that a part symbolic method of programming can be used.
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13.19 Programming tips with STEP 7
13.19.2.1
Use of POINTER and ANY in FC
Function
FC99 has input parameters that are defined as POINTER or ANY.
The example shows a body program via which the subcomponents of the POINTER or ANY
can be accessed. In this case, the DB parameterized with POINTER or ANY is opened and
the address offset stored as a crossarea pointer in address register AR1, Thus allowing access
to data elements of variables (generally structures and arrays) that are addressed via the
POINTER, ANY.
This access operation is described at the end of the relevant program sequence in the example.
With data type ANY, it is also possible to execute a check or branch when the variable is
accessed based on the data type and the number of elements involved.
Example
FUNCTION FC99: VOID
VAR_INPUT
Row : BYTE ;
Convert : BOOL;
//Activate numerical conversion
Addr: POINTER;
//Points to variable
Addr1 : ANY ;
END_VAR
VAR_TEMP
dbchr : WORD ;
Number: WORD ;
type : BYTE ;
END_VAR
BEGIN
NETWORK
TITLE =
//POINTER
L
P##Addr;
LAR1 ;
//Retrieve pointer
W [AR1,P#0.0];
#dbchr;
D [AR1,P#2.0];
//Retrieve DB number
//Offset part of pointer
LAR1 ;
AUF DB [#dbchr];
L B [AR1,P#40.0];
//Open DB of variables
//Retrieve byte value using pointer with
//address offset 40
//ANY
P##Addr1;
LAR1 ;
L
1068
//Retrieve ANY
B [AR1,P#1.0];
//Retrieve type
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13.19 Programming tips with STEP 7
T
#typ;
W [AR1,P#2.0];
#Amount;
W [AR1,P#4.0];
#dbchr;
D [AR1,P#6.0];
//Offset part of pointer
AUF
DB [#dbchr];
//Open DB of variables
B [AR1,P#0.0];
//Retrieve byte value using ANY
//Retrieve amount
//Retrieve DB number
LAR1 ;
13.19.2.2
Use of POINTER and ANY in FB
Function
FB99 has input parameters that are defined as POINTER or ANY.
The example shows a body program via which the subcomponents of the POINTER or ANY
can be accessed. In this case, the DB parameterized with POINTER or ANY is opened and
the address offset stored as a crossarea pointer in address register AR1, thus allowing access
to data elements of variables (generally structures and arrays) that are addressed via the
POINTER, ANY.
This access operation is described at the end of the relevant program sequence in the example.
With data type ANY, it is also possible to execute a check or branch when the variable is
accessed based on the data type and the number of elements involved.
Example
FUNCTIONBLOCK FB99
VAR_INPUT
Row : BYTE ;
Convert : BOOL;
//Activate numerical conversion
Addr: POINTER;
//Points to variable
Addr1 : ANY ;
END_VAR
VAR_TEMP
dbchr : WORD ;
Number: WORD ;
type : BYTE ;
END_VAR
BEGIN
NETWORK
TITLE =
//POINTER
L
LAR1 ;
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P##Addr;
//Retrieve pointer from instance DB
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L
DIW [AR1,P#0.0];
//Retrieve DB number
#dbchr;
DID [AR1,P#2.0];
//Offset part of pointer
AUF
DB [#dbchr];
//Open DB of variables
B [AR1,P#40.0];
//Retrieve byte value using
pointer with
LAR1 ;
//address offset 40
//ANY
L
P##Addr1;
LAR1 ;
//Retrieve ANY from instance DB
DIB [AR1,P#1.0];
#typ;
DIW [AR1,P#2.0];
#Amount;
DIW [AR1,P#4.0];
//Retrieve type
//Retrieve amount
//Retrieve DB number
#dbchr;
DID [AR1,P#6.0];
//Offset part of pointer
AUF
DB [#dbchr];
//Open DB of variables
B [AR1,P#0.0];
//Retrieve byte value using ANY
LAR1 ;
13.19.2.3
POINTER or ANY variable for transfer to FC or FB
POINTER or ANY variable
With version 1 or later of STEP 7 it is possible to define a pointer or ANY in VAR_TEMP.
The following two examples show how an ANY can be supplied.
Example 1: Transfer ANY parameter via a selection list to another FB (FC)
Several ANY parameters are defined in an FB (FC). A specific ANY parameter must now be
chosen from a selection list for transfer to another FB (FC). This can only be done by means
of an ANY in VAR_TEMP. 1 to 4 can be set in parameter "WhichAny" in order to select Addr1
to Addr4.
Note
Address register AR2 is used in the block. However, this address register AR2 is also used
for multiinstance DBs. For this reason, this FB should not be declared as multi-instance DB.
FUNCTIONBLOCK FB100
CODE_VERSION1
1070
//starting from STEP 7 Version 2 for
deactivating the
//multi-instance DB
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VAR_INPUT
WhichAny : INT;
Addr1 : ANY ;
//Observe predetermined order
Addr2 : ANY ;
Addr3 : ANY ;
Addr4 : ANY ;
END_VAR
VAR_TEMP
dbchr : WORD ;
Number: WORD ;
type : BYTE ;
Temp_addr : ANY ;
END_VAR
BEGIN
NETWORK
TITLE =
L
WhichAny;
DEC 1;
L
P#10.0;
//10 bytes per ANY
*I;
LAR2;
L
P##Addr1;
+AR2;
L
//Add ANY start addresses
P##Temp_addr;
LAR1 ;
//Retrieve pointer from VAR_TEMP
DID [AR2,P#0.0];
LD [AR1,P#0.0];
DID [AR2,P#4.0];
LD [AR1,P#4.0];
DIW [AR2,P#8.0];
LW [AR1,P#8.0];
//Transfer pointer value to VAR_TEM
CALL FB101, DB100
(ANYPAR := #Temp_addr);
//ANYPAR is data type ANY
Example 2: Transfer an ANY parameter constructed earlier to another FB (FC)
An ANY parameter that has already been compiled must be transferred to another FB (FC).
This can be done only by means of an ANY stored in VAR_TEMP.
FUNCTIONBLOCK FB100
VAR_INPUT
DBNumber: INT;
DBOffset : INT;
Data type: INT;
Number: INT;
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END_VAR
VAR_TEMP
dbchr : WORD ;
Temp_addr : ANY ;
END_VAR
BEGIN
NETWORK
TITLE =
L
P##Temp_addr;
LAR1 ;
//Retrieve pointer from VAR_TEMP
B#16#10;
LB [AR1,P#0.0];
Data type;
LB [AR1,P#1.0];
Amount;
LW [AR1,P#2.0];
DBNumber;
LW [AR1,P#4.0];
DBOffset;
SLD 3;
T
//ANY identifier
//Offset is a bit offset
LD [AR1,P#6.0];
CALL FB101, DB100
(ANYPAR := #Temp_addr);
13.19.3
//ANYPAR is data type ANY
Multiinstance DB
Function
From Version 2 in STEP 7, you can provide multi-instance enabled FBs, i.e. with multi-instance
DBs. The primary characteristic of multiinstance DBs is that a data module can be used for
various instances of FBs (see STEP 7 documentation), The quantity structure of the DBs can
be optimized this way.
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Multi-instance DBs should be activated only when they are actually going to be used since
they increase the runtime and code size of the FBs.
Note
When complex programs are implemented in multiinstance enabled FBs that use a pointer
and address register, it is important for the programmer to observe certain rules.
With multiinstance DBs, the start address of the variable (VAR_INPUT, VAR_OUTPUT,
VAR_IN_OUT, VAR) is transferred with the DI data block register and address register AR2.
When variables are accessed within the multiinstance enabled FB, the compiler independently
controls the access operation via address register AR2. However, when complex program
sections also have to work with address registers in the same FB (e.g. to copy data), then the
old contents of AR2 must be saved before the register is changed. The contents of AR2 must
be restored to their original state before an instance variable (VAR_INPUT, VAR_OUTPUT,
VAR_IN_OUT, VAR) is accessed. The AR2 register of the instance is to be saved most usefully
in a local variable (VAR_TEMP).
The command "Load pointer to an instance variable" returns a pointer value from the start of
the instance data. To be able to access this variable via a pointer, the offset stored in AR2
must be added.
Example
FUNCTION_BLOCK FB99
VAR_INPUT
varin: INT;
END_VAR
VAR
variable1: ARRAY[[0..9]
of INT;
variable2: INT;
END_VAR
BEGIN
L
P##variable1;
//Pointer at start of ARRAY
//The value 8500 0010 is now in the accumulator
//and a cross-area pointer is in the AR2
//Pointer. If one is to work across areas
//then, during the addition of these
//two pointers, an area is to be disabled.
AD
DW#16#00FF_FFFF, //Skipping of an area
LAR1
//Load into AR1
TAR2;
+AR1 AR2;
//AR2 instance offset to be added
//You can now indirectly access the ARRAY
//of variable 1 via AR1.
DIW [AR1, P#0.0];//E.g. access to the first element
END_FUNCTION_BLOCK
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13.19 Programming tips with STEP 7
13.19.4
Strings
The STRING data type is required by certain services of the basic program. For this reason,
some additional facts about the string structure and general handling procedures for parameter
assignments are given below.
Structure of strings
A data of type STRING is generally stored (defined) in a data block. There are two methods
of defining a string:
1. Only the data type STRING is assigned to a variable. The STEP7 compiler automatically
generates a length of 254 characters.
2. Data type STRING is assigned to a variable together with a string length in square
parenthesis (e.g. [32]). With this method, the STEP7 compiler generates a string length
corresponding to the input.
Two bytes more than prescribed by the definition are always stored for variables of the STRING
data type. The STEP 7 compiler stores the maximum possible number of characters in the 1st
byte. The 2nd byte contains the number of characters actually used. Normally, the useful length
of the assigned strings is stored by the STEP 7 compiler. The characters (1 byte per character)
are then stored from the 3rd byte onwards.
String parameters are generally assigned to blocks of the basic program by means of a
POINTER or ANY. Such assignments must generally by made using symbolic programming
methods. The data block, which contains the parameterizing string, must be stored in the
symbol list. The assignment to the basic program block is then made by means of the symbolic
data block name followed by a full stop and the symbolic name of the string variable.
13.19.5
Determining offset addresses for data block structures
Function
Another task, which occurs frequently, is symbolic determination of an offset address within a
structured DB, e.g. an ARRAY or STRUCTURE is stored somewhere within the DB. After
loading the address register symbolically with the start address, you might like to access the
individual elements of the ARRAY or STRUCTURE via an address register. One way of loading
the address register symbolically is to use an FC whose input parameter is a pointer. The
address of the ARRAY or STRUCTURE is then assigned symbolically to the input parameter
of this FC in the program. The program code in the FC now determines the offset address from
the input parameter, and passes the offset address in the address register (AR1) to the calling
function. Symbolic addressing is thus possible even with indirect access.
Example
FUNCTION FC99: VOID
VAR_INPUT
Addr: POINTER;
//Points to variable
END_VAR
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13.19 Programming tips with STEP 7
BEGIN
NETWORK
TITLE =
L
P##Addr;
LAR1 ;
L
//Retrieve pointer from Addr
D [AR1,P#2.0];
//Offset part of pointer of variable
LAR1 ;
END_FUNCTION
13.19.6
FB calls
Function
For optimizing the execution speeds, it is useful to call all function block calls with many static
parameters, such as the blocks FB2, 3, 4, 5, and 7 provided by the basic program when starting
with the related instance parameters. When starting (OB100), the preassignment of the
parameters must be done, which can then no longer be changed in the cyclic part (OB1). These
fixed parameter values are no longer parameterized in the cyclic call, because they have
already been written in the Instance DB.
Example: Parameterizing the FB2 with instance DB110
The following example shows how a sensible distribution in OB100 and OB1 component can
be implemented.
First, the usual call in the cyclic program is displayed.
CALL FB2, DB110(
Req :=
NumVar :=
Addr1 :=
Line1 :
Addr2 :=
Line2 .
Error :=
NDR :=
State :=
RD1 :=
RD2 :=
M 100.0,
2,
NCVAR.C1_RP_rpa0_0
W#16#1
NCVAR.C1_RP_rpa0_0
W#16#2
M1.0,
M1.1,
MW 2,
P#M 4.0 REAL 1,
P#M 24.0 REAL 1,
//Read 2 variables
The modified version of the program call starts from here.
Here the call in OB100 is displayed:
CALL FB2, DB110(
Req :=
FALSE,
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13.20 Data lists
NumVar :=
Addr1 :=
Line1 :
Addr2 :=
Line2 .
RD1 :=
RD2 :=
2,
NCVAR.C1_RP_rpa0_0
W#16#1
NCVAR.C1_RP_rpa0_0
W#16#2
P#M 4.0 REAL 1,
P#M 24.0 REAL 1,
//Read 2 variables
Here, the call still remaining in OB1 is displayed:
CALL FB2, DB110(
Req :=
Error :=
NDR :=
State :=
M0.0,
M1.0,
M1.1,
MW 2,
Note
Owing to this measure, a shorter cycle time is achieved in OB1, because the static parameter
values need not be copied in the instance DB in each OB1 cycle.
The savings of this variant:
The cyclic copying effort of 3 integer values and 4 ANY parameters with respect to the instance
DB, which results from 3 time loading of a constant with a 3-time transfer in the instance data
block. In case of each ANY transfer, constants are loaded in the data block 4 times with
subsequent transfer.
13.20
Data lists
13.20.1
Machine data
13.20.1.1
Display machine data
Number
Identifier: $MM_
Description
9032
HMI_MONITOR
Determining the PLC data for HMI monitor information
1076
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P3: Basic PLC program for SINUMERIK 840D sl
13.20 Data lists
13.20.1.2
NC-specific machine data
Number
Identifier: $MN_
Description
10100
PLC_CYCLIC_TIMEOUT
Cyclic PLC monitoring time
14504
MAXNUM_USER_DATA_INT
Number of user data (INT)
14506
MAXNUM_USER_DATA_HEX
Number of user data (HEX)
14508
MAXNUM_USER_DATA_FLOAT
Number of user data (FLOAT)
14510
USER_DATA_INT
User data (INT)
14512
USER_DATA_HEX
User data (HEX)
14514
USER_DATA_FLOAT[n]
User data (FLOAT)
Note
Machine data in integer/hex format is operated in the NC as DWORD. A machine data in
floating point format is managed in the NC as FLOAT (8-byte IEEE). They are stored only in
the NC/PLC interface and can be read by the PLC user program from DB20 even when the
PLC boots.
13.20.1.3
Channelspecific machine data
Number
Identifier: $MC_
Description
28150
MM_NUM_VDIVAR_ELEMENTS
Number of elements for writing PLC variables
13.20.2
Signals
13.20.2.1
Signals from operator panel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Active SINUMERIK operating area
DB19.DB21
DB1900.DBB1
Current screen number
DB19.DBW24
DB1900.DBW4
Basic Functions
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1077
P3: Basic PLC program for SINUMERIK 840D sl
13.20 Data lists
1078
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.1
Overview
14.1.1
PLC firmware
14
The PLC of the SINUMERIK 828D is an integrated PLC based on the SIMATIC S7-200
command set.
The PLC user program is essentially programmed using a Windows PC with the "PLC
Programming Tool". In addition, the PLC can be diagnosed and edited via the operator
interface of the control. A "Ladder-Add-On-Tool" is available in the control for this purpose.
Note the following special features:
The PLC user program is completely programmed in ladder logic (LAD).
A subset of the programming language of the S7-200 is supported.
When loading to the CPU, in addition to the code for execution, the complete project data
(including symbols and comments) is loaded into the control. This means that the control
always has the project that matches the currently running PLC user program.
When loading from the CPU, the complete project data (including symbols and comments)
is loaded into the PLC Programming Tool and can be processed/edited using this.
The user must manage the data and process information according to type. The declared
data type must be used consistently each time that the data is accessed.
14.1.2
PLC user interface
The user interface is set-up by the PLC firmware, which also organizes the exchange of all
signals and data between the PLC on one side and the NCK and HMI on the other side.
The user interface comprises the parts:
Data interface with cyclic exchange (see "Data interface (Page 1086)")
Function interface with function or task-related data exchange (see "Function interface
(Page 1100)").
The structured data of these interfaces (retentive and non-retentive) are made available to the
user by the firmware by assigning to data blocks: The NC (NCK, tool manager, NC channel,
axes, spindles, ) and the HMI are "Communication partners" of the PLC user program.
Basic Functions
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P4: PLC for SINUMERIK 828D
14.1 Overview
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Overview of the user interface of the PLC 828D
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.1 Overview
14.1.2.1
Data that are cyclically exchanged
Data which is exchanged between the PLC and NC on one side as well as between the PLC
and HMI on the other side.
Data to the PLC are provided by the firmware at the cyclic start of the user program. This
ensures, for example, that the signals from the NCK remain constant throughout a cycle.
The firmware transfers data from the PLC to the NKC or HMI at the cycle end of the user
program.
Interface PLC NCK
The cyclic data include, e.g. status signals ("program running", "program interrupted") and
control signals (start, stop) and auxiliary and G functions.
Data are structured in signals for:
Modes
Channels
Axes/spindles
General NCK signals
Interface PLC HMI
These are signals for:
Program selection via lists
Messenger control command
General signals from/to HMI
Signals from/to the maintenance planner
Signals from operator panel (retentive area)
General selection/status signals from/to HMI (retentive area)
14.1.2.2
Alarms and messages
The user interface in DB1600 offers the option of displaying fault and operating messages on
the HMI.
The firmware evaluates the signals that have been entered and sends these as coming and
going alarms and messages to the HMI where they are displayed. The HMI manages the fault
texts.
Note
A maximum of eight PLC alarms is displayed on the HMI.
Basic Functions
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P4: PLC for SINUMERIK 828D
14.1 Overview
14.1.2.3
Retentive data
For the retentive data there are the user data blocks DB9000 - DB9063 and the data area
DB1400.DBW0 - DBW127. There the user can store all data that should remain valid after
POWER OFF/ON. The retentive data is stored in the non-volatile memory, however, not for
data backup.
14.1.2.4
Non-retentive data
Non-retentive data (e.g. bit memories, timers and counters) are deleted every time the control
is booted.
14.1.2.5
PLC machine data
The PLC machine data are in the NCK machine data area. At POWER ON, this data is
transferred by the PLC firmware into DB4500 of the PLC user interface where it can be
evaluated by the PLC user program.
References
SINUMERIK 828D Parameter Manual
14.1.3
PLC key data
The integrated PLC has a program memory of 24000 PLC operations which are completely
executed in one fixed PLC cycle.
A maximum of 500 operations can be executed in the INT0 interrupt program that can be
optionally used. It is executed servo-synchronous and allows the fastest possible reaction to
process events. This is the reason that interrupt-capable PLC I/O modules are not required.
Data
Number
Main program (MAIN)
Subprograms (SBRx)
256
Interrupts
Time controlled interrupt
Servo-synchronous interrupt program
Alarms/messages
248
A maximum of 8 alarms is displayed.
Bit memory
4096
Non-retentive
Counters
64
Non-retentive
Timers,
of which:
128
Non-retentive.
10 ms increment interval
112
100 ms increment interval
16
User data block each with a max. of
512 bytes
Data transmission NCK PLC
1082
64
Special features
Address range DB9000 to DB9063
Via fixed parameterizable interface.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.2 Fast on-board inputs and outputs
14.1.4
PLC I/O, fast onboard inputs/outputs
For information on the properties of the rapid onboard inputs/outputs and their response times,
see Section "Fast on-board inputs and outputs (Page 1083)".
For information on the I/O modules, the machine control panels as well as the assignment of
the onboard inputs/outputs to the PLC, see:
References:
Manual PPU SINUMERIK 828D
14.1.5
PLC Toolbox
14.1.5.1
Star/delta changeover
For star/delta changeover, the following block is provided in the PLC Toolbox:
StarDelta
Note
This block can be used to perform a star/delta changeover - also for 1PH8 spindle motors
with SMI connected to a SINAMICS S120.
14.2
Fast on-board inputs and outputs
For digital input and output signals that must be especially quickly processed by the control
system, the PPU module has several interfaces that can be used to directly connect signals:
Connector X242:4 input signals, 4 output signals
Connector X252:4 input signals, 2 output signals
Interface
X242
I/O signals
Inputs:
Outputs:
X252
Addressing
DIN1 ... DIN4
I256.0 ... I256.3
DOUT1 ... DOU
T4
Q256.0 ... Q256.3
Inputs:
DIN9 ... DIN12
I256.4 ... I256.7
Outputs:
DOUT9 ... DOU
T10
Q256.4 ... Q256.5
Basic Functions
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P4: PLC for SINUMERIK 828D
14.2 Fast on-board inputs and outputs
Response times
This results in the following response times depending on the position control cycle, place of
execution and digital inputs/outputs that are used:
Position control cycle clock
1.5 ms
Processing via:
3 ms
Response time 1)
Subprogram SBRx in cyclic operation (MAIN, OB1)
12.5 ms
14 ms
3 ms
4.5 ms
Digital inputs/outputs: I/O module PP 72/48
Interrupt program INT0 (servo synchronous)
Digital inputs/outputs: Onboard inputs/outputs of the PPU
1)
Signal at the input terminal processing in the PLC program signal at the output terminal
Read/write access operations
Input/output signals are directly read and written at the module input/outputs. For the fastest
possible access (servo-synchronous), use of the direct operation commands in the interrupt
program INT0 is recommended:
Command
Symbol
Direct NO contact
-| I |-
Direct NC contact
-| /I |-
Directly set bit value
-(SI)-
Directly reset bit value
-(RI)-
Directly assign bit value
-( I )-
Parameterization
Using machine data, the input/output signals can be exclusively allocated to the NC or the PLC:
MD10366 $MN_HW_ASSIGN_DIG_FASTIN[ <n> ]
MD10368 $MN_HW_ASSIGN_DIG_FASTOUT[ <n> ]
with <n>: Index to address the input/output byte (0 = 1. byte, 1 = 2. byte, ...)
I/O signals
Assignment
NC
Inputs:
Outputs:
Inputs:
Outputs:
PLC
DIN1 ... DIN4
MD10366[ 0 ] = 00 01 01 01H MD10366[ 0 ] = 00 01 00 01H
DOUT1 ... DOUT4
MD10368[ 0 ] = 00 01 01 01H MD10368[ 0 ] = 00 01 00 01H
DIN9 ... DIN12
MD10366[ 1 ] = 00 01 01 01H MD10366[ 1 ] = 00 01 00 01H
DOUT9 ... DOUT10 MD10368[ 1 ] = 00 01 01 01H MD10368[ 1 ] = 00 01 00 01H
References
A detailed specification of the interfaces is provided in:
SINUMERIK 828D PPU Manual
1084
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.3 Ladder viewer and ladder add-on
14.3
Ladder viewer and ladder add-on
14.3.1
Overview
Function
The essential functions of the ladder viewer and ladder-on are as follows:
Ladder viewer: Displays the logic operations of contacts and relays in the PLC user program
as ladder diagram (LAD)
Ladder add-on:
Is used to troubleshoot the PLC user program
Editing or creating interrupt routines
Marshalling data
References
A detailed description of the functionality and using the ladder viewer and ladder add-on can
be found in the relevant SINUMERIK Operating Manuals:
Operating Manual, Universal
Operating Manual, Turning
Operating Manual, Milling
in the Chapter, "Letter viewer and ladder add-on"
14.3.2
Parameterization
Display of addresses
Using NC-specific machine data, the display of addresses in the ladder view can be configured
according to SIMATIC S7 300 notation:
MD51230 $MN_ENABLE_LADDER_DB_ADDRESSES = <Value>
<Value>
Meaning
Address display in SIMATIC S7 200 notation (e.g. Vxxxxx)
Address display in SIMATIC S7 300 notation (e.g. DBxx.DBBxxxx)
Enabling / locking editing
Using the NC-specific machine data, the editing of the interrupt programs INT_100 and
INT_101 can be enabled and locked:
MD51231 $MN_ENABLE_LADDER_EDITOR = <Value>
<Value>
Meaning
The interrupt programs INT_100 and INT_101 cannot be edited.
Interrupt programs INT_100 and INT_101 can be edited.
Basic Functions
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P4: PLC for SINUMERIK 828D
14.5 Data interface
14.4
PLC Programming Tool
The "PLC Programming Tool" is a tool for writing PLC user programs in a user-friendly fashion.
This is a Windows program and must be installed on a Windows PC. For online access to the
control, the PC must be connected to the control via one of the Industrial Ethernet ports, X130
(factory network) or X127 (service interface).
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When the "PLC Programming Tool" is called, without specifying an existing project, a new
project is created with the default name "Project1." This project can be immediately used to
generate the PLC user program, saved under any name, and loaded into the control. Existing
projects can be opened in the usual Windows manner.
The online help for the "PLC Programming Tool" can also be called with the "F1" function key,
just like in Windows.
References
SINUMERIK 828D Commissioning Manual, turning and milling
Section: "Scope of delivery and preconditions" > "Communication with the controller" >
"This is how you communicate with the controller via the programming tool"
Online help for the PLC Programming Tool
14.5
Data interface
Data is cyclically exchanged on one hand between the PLC and NC and and on the other hand
between the PLC and HMI. This especially means that the data received from HMI and destined
for the NC must be marshaled by the user program in order that these become effective.
Data to the PLC are provided by the firmware at the start of the user program cycle. This
ensures, for example, that the signals from the NCK remain constant throughout a cycle.
Data from the PLC are transferred by the firmware to the NKC or HMI at the end of the user
program cycle.
All data of this interface are listed in the manual for SINUMERIK 828D, PPU.
1086
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.5 Data interface
14.5.1
PLC-NCK interface
These cyclic data include, e.g. status signals ("Program running", "Program interrupted"),
control signals (Start, Stop) and auxiliary and G functions.
Data are structured in signals for:
Mode signals
NC channel signals
Axis and spindle signals
General NCK signals
Fast data exchange PLC-NCK
14.5.1.1
Mode signals
DB3000, 3100
The mode signals specified by the machine control panel or the HMI are transferred to the
NCK.
There actual states are signaled to the PLC from the NCK.
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1087
P4: PLC for SINUMERIK 828D
14.5 Data interface
14.5.1.2
NC channel signals
DB2500, 3200, 3300, 3500
The signals are structured as follows:
Control/status signals with normal cyclic transfer, see "Mode signals (Page 1087) ".
Auxiliary and G functions
These are entered in the interface DBs in two ways.
First, they are entered with the change signals.
The M signals M0 to M99 are additionally decoded and the associated interface bits are
set for one cycle.
For G commands, only the groups selected via machine data are entered in the interface
data block.
The S values are also entered together with the related M signals (M03, M04, M05) in the
spindlespecific interface. The axisspecific feedrates are also entered in the appropriate axis
specific interface.
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.5 Data interface
14.5.1.3
Axis and spindle signals
DB3200, 3300, 3700, 3800, 3900
The axis-specific and spindle-specific signals are divided into the following groups:
Shared axis/spindle signals
Axis signals
Spindle signals
Drive signals
The signals are transferred cyclically with the following exceptions. The exceptions include
axial F value, M and S value.
An axial F value is entered via the M, S, F distributor if it is transferred to the PLC during the
NC machining process.
The M and S value are also entered via the M, S, F distributor if one or both values requires
processing.
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14.5 Data interface
14.5.1.4
General NCK signals
DB2600, 2700, 2800, 2900, 4500, 5300
Setpoints to digital/analog inputs/outputs of the NCK
Actual values from the digital/analog inputs/outputs of the NCK
Keyswitch and Emergency Stop signals
Ready and status signals of the NCK
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14.5.1.5
Fast data exchange PLC-NCK
DB4900
Data block DB4900 with a size of 1024 bytes is used for fast information exchange between
the PLC and NCK.
The assignment of the area (structure) must be identically negotiated in the NC part program
and PLC user user program.
1090
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.5 Data interface
This data can be accessed from the NC part program using the commands $A_DBB[x],
$A_DBW[x], $A_DBD[x] and $A_DBR[x]; 0 x 1023 (see Parameter Manual, System
variables).
In this case, the alignment of the data must be selected corresponding to its format, i.e. a
Dword starts at a 4byte limit and a word at a 2byte limit. Bytes can be located at any offset
within the data field.
Data consistency is guaranteed for byte, word and Dword accesses. When transferring several
data, the consistency must be guaranteed on the user-side using semaphores, which can be
used to detect the validity or consistency of a block.
14.5.2
PLC-HMI interface
DB1700, 1800, 1900
These signals have already been specified in the diagrams of Chapter PLC-NCK interface
(Page 1087).
A reference is again made to what has been stated under Data interface (Page 1086):
Data received from the HMI and destined for the NC are not automatically entered into the NC
interface range. In fact, these signals and data must be marshaled by the user program.
It involves the following signals:
Program selection via lists
Messenger control command
General signals from/to HMI
Signals from/to the maintenance planner
Signals from operator panel (retentive area)
General selection/status signals from/to HMI (retentive area)
14.5.2.1
Operating area numbers
The number of the active operating area is displayed in: DB1900.DBB1
Operating area numbers
Operating area
Number
Machine
201
Parameters
205
Programming
203
Program Manager
202
Diagnostics
204
Commissioning
206
Basic Functions
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P4: PLC for SINUMERIK 828D
14.5 Data interface
14.5.2.2
Screen numbers
The current screen number is displayed in: DB1900.DBW4
Screen number ranges
The following screen number ranges are available:
JOG, manual machine (Page 1092)
Reference point approach (Page 1097)
MDA (Page 1097)
AUTOMATIC (Page 1097)
Parameters operating area (Page 1098)
Program operating area (Page 1099)
Program manager operating area (Page 1100)
Diagnostics operating area (Page 1100)
Screen numbers: JOG, manual machine
JOG mode
Screen
Number
Turning technology
Cycle start screen for all screens that can be taken over
81
Milling technology
Cycle start screen for all screens that can be taken over
Turning/milling
Start screen
19
T,S,M
Set WO
21
Positioning
Face milling
18
Stock removal
80
Cycle start screen for all user screens
91
General settings
1092
Multi-channel function settings
106
Collision avoidance settings
107
Measurement log settings
108
Swiveling
60
All G functions
100
Actual zoom value (MCS/WCS)
101
Thread synchronizing
102
Retract
103
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P4: PLC for SINUMERIK 828D
14.5 Data interface
Screen
Number
Handwheel
104
Action synchronization
105
Turning technology: Workpiece zero
Workpiece zero (main menu)
30
User screen
31
User screen
34
User screen
35
User screen
36
User screen
37
User screen
38
User screen
40
Measure edge Z
5
Turning technology: Workpiece, measurement
Measure tool (main menu)
50
Manual X or user screen
51
Manual Y
71
Manual Z or user screen
52
Zoom or user screen
53
User screen
54
User screen
55
Probe calibration X or user screen
56
Probe calibration Z or user screen
57
Automatic length in Z
58
Automatic length in Y
73
Automatic length in X
59
Milling technology: Workpiece zero
Workpiece zero (main menu)
30
Measure edge X
Measure edge X
22
Measure edge Z
23
User screen
Align edge or user screen
31
Distance 2 edges or user screen
32
Right-angled corner
33
Any corner or user screen
Rectangular pocket
34
1 hole or user screen
2 holes
35
3 holes
36
4 holes
37
Rectangular spigot
38
1 circular spigot or user screen
10
2 circular spigots
39
Basic Functions
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P4: PLC for SINUMERIK 828D
14.5 Data interface
Screen
Number
3 circular spigots
40
4 circular spigots
41
Set up level
42
Probe length calibration or user screen
11
Probe radius calibration
12
Milling technology: Workpiece, measurement
Measure tool (main menu)
50
Measure length, manual (with milling tool)
or measure length in X, manual (with turning tool)
or user screen
16
Measure length in Y, manual (with turning tool)
74
Measure length in Z, manual (with turning tool)
24
Measure diameter, manual or user screen
17
Measure length, automatic (with milling tool)
or measure length in X, automatic (with turning tool)
or user screen
13
Measure length in Y, automatic (with turning tool)
75
Measure length in Z, automatic (with turning tool)
25
Measure diameter, automatic or user screen
14
User screen
51
Probe calibration or user screen
15
Fixed point calibration or user screen
52
RunMyScreens (only for set JobShopIntegration)
1094
User screen behind horizontal 1st softkey
96
User screen behind horizontal 2nd softkey
98
User screen behind horizontal 3rd softkey
99
User screen behind horizontal 4th softkey
94
User screen behind horizontal 5th softkey
95
User screen behind horizontal 6th softkey
92
User screen behind horizontal 7th softkey
97
User screen behind horizontal 8th softkey
90
User screen behind horizontal 9th softkey
83
User screen behind horizontal 10th softkey
82
User screen behind horizontal 11th softkey
93
User screen behind horizontal 12th softkey
84
User screen behind horizontal 13th softkey
85
User screen behind horizontal 14th softkey
86
User screen behind horizontal 15th softkey
87
User screen behind horizontal 16th softkey
88
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.5 Data interface
JOG mode, manual machine
DB19.DBB24
Screen
Screen number
Turning/milling
Taper turning
61
Angle milling
62
Stop
63
Straight line
1300
Straight all axes
1330
Straight X alpha
1340
Straight Z alpha
1350
Circle
1360
Drilling
1400
Center drilling
1410
Drilling, thread centered
1420
Drilling, centering
1433
Drilling, drilling
1434
Drilling, reaming
1435
Drilling, boring
1436
Drilling, deep hole drilling
1440
Drilling, deep hole drilling 2
1441
Drilling, tapping
1453
Drill thread milling
1455
Positions
1473
Position row
1474
Position grid
1477
Position frame
1478
Position circle
1475
Position pitch circle
1479
Obstacle
1476
Turning
1500
Turning, stock removal 1
1513
Turning, stock removal 2
1514
Turning, stock removal 3
1515
Turning, groove 1
1523
Turning, groove 2
1524
Turning, groove 3
1525
Turning, undercut form E
1533
Turning, undercut form F
1534
Turning, undercut thread DIN
1535
Turning, undercut thread
1536
Turning, thread, longitudinal
1543
Turning, thread, taper
1544
Basic Functions
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P4: PLC for SINUMERIK 828D
14.5 Data interface
DB19.DBB24
Screen
Screen number
Turning, thread, facing
1545
Turning, thread, chain
1546
Turning, cut-off
1550
Milling
1600
Milling, face milling
1610
Milling, rectangular pocket
1613
Milling, circular pocket
1614
Milling, rectangular spigot
1623
Milling, circular spigot
1624
Milling, longitudinal groove
1633
Milling, circumferential groove
1634
Milling, open groove
1635
Milling, multi-edge
1640
Milling, thread milling
1454
Milling, engraving
1670
Contour turning
1200
Contour turning, new contour / last contour
1210
Contour turning, stock removal along contour
1220
Contour turning, contour grooving
1230
Contour turning, contour plunge turning
1240
Contour milling
1100
Contour milling, new contour / last contour
1110
Contour milling, path milling
1120
Contour milling, centering
1130
Contour milling, rough drilling
1140
Contour milling, contour pocket
1150
Turning technology: Simulation
Side view
1740
Front view
1750
3D view
1760
2-window view
1770
Half section
1780
Turning technology: Simultaneous recording
Side view
1741
Front view
1751
3D view
1761
2-window view
1771
Machine space
1791
Half section
1781
Milling technology: Simulation
1096
Top view
1742
3D view
1760
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.5 Data interface
DB19.DBB24
Screen
Screen number
From the front
1744
From the rear
1746
From the Left
1748
From the right
1752
Half section
1780
Turning view
1782
Milling technology: Simultaneous recording
Top view
1743
3D view
1761
From the front
1745
From the rear
1747
From the Left
1749
From the right
1753
Machine space
1791
Half section
1781
Turning view
1783
Screen numbers: Reference point approach
Screen
Actual zoom value MCS/WCS
Number
101
Screen numbers: MDA
Screen
Number
MDA
20
All G functions
100
Actual zoom value MCS/WCS
101
Handwheel
104
Action synchronization
105
Program control
210
Settings
250
Screen numbers: AUTOMATIC
Screen
Number
Automatic
200
Overstore
202
Program control
210
Block search
220
General settings
250
Basic Functions
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P4: PLC for SINUMERIK 828D
14.5 Data interface
Screen
Number
Multi-channel function settings
106
Collision avoidance settings
107
All G functions
100
Actual zoom value MCS/WCS
101
Handwheel
104
Action synchronization
105
Turning technology: Simultaneous recording
Side view
243
Front view
244
3D view
245
2-window view
246
Machine space
247
Half section
253
Milling technology: Simultaneous recording
Top view
242
3D view
244
From the front
248
From the rear
249
From the Left
251
From the right
252
Machine space
247
Half section
253
Turning view
254
Screen numbers: Parameters operating area
Screen
Number
Tool list
600
Tool wear
610
User tool list
620
Magazine
630
Work offset
Work offset, active
642
Work offset, overview
643
Work offset, basic
644
Work offset, G54 - G509
645
Details of work offset, active, overview, basic or G54 - G509
647
User variable
1098
R parameters
650
Global GUD 1 (SGUD)
660
Global GUD 2 (MGUD)
661
Global GUD 3 (UGUD)
662
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.5 Data interface
Screen
Number
Global GUD 4
663
Global GUD 5
664
Global GUD 6
665
Global GUD 7
666
Global GUD 8
667
Global GUD 9
668
Channel GUD 1 (SGUD)
690
Channel GUD 2 (MGUD)
691
Channel GUD 3 (UGUD)
692
Channel GUD 4
693
Channel GUD 5
694
Channel GUD 6
695
Channel GUD 7
696
Channel GUD 8
697
Channel GUD 9
698
Local LUD
681
Local LUD/PUD
684
Setting data
Working area limitation
671
Spindle data
670
Spindle chuck data
672
Ctrl-Energy
Ctrl-Energy, main menu
6170
Ctrl-Energy, analysis
6171
Ctrl-Energy, profiles
6172
Ctrl-Energy, analysis graphic
6176
Ctrl-Energy, analysis long-term measurement
6177
Ctrl-Energy, analysis details
6179
Ctrl-Energy, compare measurements
6178
Screen numbers: Program operating area
Screen
Number
Turning technology: Simulation
Side view
413
Front view
414
3D view
415
2-window view
416
Half section
423
Milling technology: Simulation
Top view
412
3D view
414
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P4: PLC for SINUMERIK 828D
14.6 Function interface
Screen
Number
From the front
418
From the rear
419
From the Left
421
From the right
422
Half section
423
Turning view
424
Screen numbers: Program manager operating area
Screen
Number
NC directory
300
Local drive
325
USB / configured drive1
330
Configured drive2
340
Configured drive3
350
Configured drive4
360
Configured drive5
383
Configured drive6
384
Configured drive7
385
Configured drive8
386
Screen numbers: Diagnostics operating area
Screen
Number
Alarm list
500
Messages
501
Alarm log
502
NC/PLC variable
503
14.6
Function interface
14.6.1
Read/write NC variables
14.6.1.1
User interface
The PLC user program can read or write a maximum of eight NC variables simultaneously via
the NC/PLC interface "Read/write NC variable".
1100
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
The following steps must be performed as part of a job (read/write):
1. Job specification (Page 1101)
2. Job management: Start job (Page 1102)
3. Job management: Waiting for end of job (Page 1103)
4. Job management: Job completion (Page 1103)
5. Job evaluation (Page 1105)
Flow diagram of a job: See "Job management: Flow diagram (Page 1104)"
14.6.1.2
Job specification
Variable-specific job interface
Each variable that is to be processed in a job, must be specified in the variable-specific job
interface via its parameters. The general identifiers are discussed in more detail later for each
variable that can be accessed from the interface.
DB120x 1)
Byte
Reading/writing NC data (PLC NCK)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
DBB1000
Variable index
DBB1001
Area number
DBW1002
Line index, NCK variable x
DBW1004
Column index, NCK variable x
DBW1006
---
DBD1008
Write: Data to NC variable x (data type of the variables: 14 bytes)2)
DBD1012
---
DBD1016
Write: Data to NC variable x (REAL)
DBD1020
Write: Data to NC variable x (DWORD/DINT) 3)
DBW1024
Write: Data to NC variable x (WORD/INT) 3)
DBB1026
Write: Data to NC variable x (BYTE) 3)
DBB1027
Bit 0
---
---
3)
---
---
---
---
---
Write:
Data to
NC varia
ble x 3)
1) DB120x, with x = 0 ... 7 corresponds to variable 1 ... 8.
2) Only for predefined variables of the "Read/write NC variable" user interface
3) Only for variables from DB9910 NC_DATA
Basic Functions
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1101
P4: PLC for SINUMERIK 828D
14.6 Function interface
Note
Channel-specific variables
When reading/writing channel-specific variables, only the variables of exactly one channel may
be addressed in a job.
Drive-specific variables
When reading/writing drive-specific variables, only the variables of exactly one SERVO drive
object may be addressed in a job. The SERVO drive object must be assigned to a machine
axis of the NC. The line index corresponds to the logical drive number.
Error case
In the event of an error, reading/writing variables from different drive objects, or simultaneously
from a channel and a drive object, an error message is output:
DB1200.DBX3000.1 == 1 (error occurred)
Example: Reading a variable of the "Location type" as the fourth variable
DB1203.DBB1000:
DB1203.DBB1001:
DB1203.DBW1002:
DB1203.DBW1004:
DB1203.DBW1006:
DB1203.DBD1008:
7
<Location number>
<Magazine number>
-
Example: Writing a variable as the fourth variable
To write a data item to the NC, the value must be entered into the double word DBD1008:
DB1203.DBB1000: <Variable index>
DB1203.DBB1001: <Area number>
DB1203.DBW1002: <Column index>
DB1203.DBW1004: <Line index>
DB1203.DBW1006: DB1203.DBD1008: <value>
14.6.1.3
Job management: Start job
The following data must be written by the user to the global job interface:
DB120x 1)
Byte
Reading/writing NC data (PLC NCK)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
DBB 0
DBB 1
Bit 1
Bit 0
Job type
Job: Start
Number of variables to be processed in the job
1) DB120x, with x = 0 ... 7 corresponds to variable 1 ... 8.
1102
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
Job type
Read variable: DB1200.DBX0.1 = 0
Write variable: DB1200.DBX0.1 = 1
Start job
The start signal must be set to start the job via a specified number of variables:
DB1200.DBX0.0 = 1
Note
A new job can only be started if the previous job was completed. See Section "Job
management: Waiting for end of job (Page 1103)".
The execution of a job may take several PLC cycles and vary depending on the utilization.
Therefore, the time for this function cannot be defined.
14.6.1.4
Job management: Waiting for end of job
The end of the job is always signaled back by the NC for the whole job in the global event
interface. The signals can only be read by the PLC user.
DB120x 1)
Byte
Reading/writing NC data (NCK PLC)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
DBB 2000
Bit 1
Bit 0
Error in job
Job com
pleted
1) DB120x, with x = 0 ... 7 corresponds to variable 1 ... 8.
Job status
End of job without error
DB1200.DBX2000.0 == 1 AND DB1200.DBX2000.1 == 0
End of job with error
DB1200.DBX2000.0 == 1 AND DB1200.DBX2000.1 == 1
Possible error causes
Number of variables (DB1200.DBB1) out of the valid range
Variable index (DB1200.DBB1000) out of the valid range
Simultaneous reading/writing of NC data from different servo drive objects
14.6.1.5
Job management: Job completion
Requirement
In order to complete the job, the start signal of the job must be reset from the PLC user program
after detection of the end of the job:
DB1200.DBX0.0 = 0
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1103
P4: PLC for SINUMERIK 828D
14.6 Function interface
Feedback signal
As feedback, the NC resets the status signals:
DB1200.DBX2000.0 == 0
DB1200.DBX2000.1 == 0
The job is now completed.
14.6.1.6
Job management: Flow diagram
6WDUW
-RE
FRPSOHWHG
(UURULQMRE
1104
Start job:
DB1200.DBX0.0 (start) = 1
Waiting for end of job:
DB1200.DBX2000.0 (job completed) == 1 AND
DB1200.DBX2000.1 (error in job) == 0
Reset job request:
DB1200.DBX0.0 = 0 (start)
With DB1200.DBX0 0 == 0 (start), the job is completed by the basic PLC program:
DB1200.DBX2000.0 (job completed) = 0
Waiting for end of job:
DB1200.DBX2000.0 (job completed) == 0 AND
DB1200.DBX2000.1 (error in job) == 1
Perform error handling
Reset job request:
DB1200.DBX0.0 (start) = 0
With DB1200.DBX0.0 == 0 (start), the job is completed by the basic PLC program:
DB1200.DBX2000.1 (error in job) = 0
If DB1200.DBX0.0 (start) is reset before the end of job is signaled by the basic PLC
program, the job is executed without further feedback.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.1.7
Job evaluation
Key statement
The variable-specific result interface must be evaluated for each variable processed in the job.
DB120x 1)
DBB3000
NC services (NC PLC)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Error has oc Variable val
curred
id
DBB3001
Access result (see "Access result" below)
DBW3002
---
DBD3004
Read: Data from NC variable x (data type of the variables: 14 bytes)2)
DBD3008
---
DBD3012
---
DBD3016
Read: Data from NC variable x (REAL)3
DBD3020
Read: Data from NC variable x (DWORD / DINT)3)
DBW3024
Read: Data from NCK variable x (WORD / INT)3)
DBB3026
Read: Data from NCK variable x (BYTE)3)
DBB3027
---
---
---
---
---
---
---
Read:
Data from
NC variable
x 3)
1) DB120x, with x = 0 ... 7 corresponds to variable 1 ... 8.
2) Only for predefined variables of the "Read/write NC variable" user interface
3) Only for variables from DB9910 NC_DATA
Note
Channel-specific variables
When reading/writing channel-specific variables, only the variables of exactly one channel may
be addressed in a job.
Drive-specific variables
When reading/writing drive-specific variables, only the variables of exactly one SERVO drive
object may be addressed in a job. The SERVO drive object must be assigned to a machine
axis of the NC. The line index corresponds to the logical drive number.
Error case
In the event of an error, reading/writing variables from different drive objects, or simultaneously
from a channel and a drive object, an error message is output:
DB1200.DBX3000.1 == 1 (error occurred)
Basic Functions
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P4: PLC for SINUMERIK 828D
14.6 Function interface
Access result
NC variables
DBB3001
Value
Meaning
No error
Access to object is not permitted
Invalid address
10
Object does not exist
Drive-specific variables
If an error occurs while reading/writing a drive-specific variable (DB1200.DBX3000.1 == 1),
an error number is displayed in the access result which is based on the error numbers defined
in the PROFIdrive profile.
DBB3001
Value
x
Meaning
<error number of the PROFIdrive profile> + 20H or 36D
Determining the meaning of the access result:
1. Calculate the error number of the PROFIdrive profile
<error number of the PROFIdrive profile> = access result - 20H or 36D.
2. Determine the meaning of the error number of the PROFIdrive profile
The error numbers of the PROFIdrive profile are described in:
References
Function Manual, SINAMICS S120 Drive Functions; Section "Communication" >
"Communication according to PROFIdrive" > "Acyclic communication" > "Structure of the
requests and responses" > Subsection "Error values in parameter responses"
Examples: Job status
Job without error
DB1200.DBX3000.0 == 1 (variable valid) AND
DB1200.DBX3000.1 == 0 (no error occurred)
Result:
DB1200.DBB3001 == 0 (access result: "No error")
DB1200.DBD3004 == <read value>
Job with error
DB1200.DBX3000.0 == 0 (variable not valid) AND
DB1200.DBX3000.1 == 1 (error occurred)
Result:
DB1200.DBB3001: For possible error causes, see "Access result" above
1106
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.1.8
Operable variables
The following variables are available:
Variable
Meaning
cuttEdgeParam (Page 1107)
Compensation value parameters and cutting edge list with D num
bers for a tool
numCuttEdgeParams (Page 1107) Number of P elements of a cutting edge
linShift (Page 1108)
Translation of a settable zero-point offset
numMachAxes (Page 1109)
Number of the highest existing channel axis
rpa (Page 1109)
R parameters
actLineNumber (Page 1109)
Line number of the current NC block
$TC_MPPx (Page 1110)
Magazine location data
r0078[1] (Page 1111)
Current actual value, torque-generating
r0079[1] (Page 1111)
Torque setpoint at the output of the speed controller
r0081 (Page 1111)
Torque utilization in percent
r0082[1] (Page 1112)
Active power actual value
TEMP_COMP_x (Page 1112)
Temperature compensation data
Variable "cuttEdgeParam"
Compensation value parameters and cutting edge list with D numbers for a tool
The meanings of the individual parameters depend on the type of the tool in question. Currently,
25 parameters are reserved for each tool edge (but only a part of them is loaded with values).
To be able to remain flexible for future extensions, it is not recommended to use a fixed value
of 25 parameters for calculation, but the variable value 'numCuttEdgeParams' (variable index
2).
For a detailed description of tool parameters, see Section W1: Tool offset (Page 1363).
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
(Cutting edge No. - 1) * numCuttEdgeParams + ParameterNr (WORD)
DB120x.DBW1004
T number (1...32000) (WORD)
DB120x.DBD1008
Writing: Data to NCK variable x (data type: REAL)
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable "numCuttEdgeParams"
Number of P elements of a cutting edge
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
Basic Functions
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1107
P4: PLC for SINUMERIK 828D
14.6 Function interface
Address
Value / meaning
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: WORD)
Variable "linShift"
Translation of a settable work offset (channel-specific settable frames)
The variable only exists if MD18601 MM_NUM_GLOBAL_USER_FRAMES > 0.
The following frame indices are available:
Index
Meaning
ACTFRAME = actual resulting work offset
IFRAME = actual settable work offset
PFRAME = actual programmable work offset
EXTFRAME = actual external work offset
TOTFRAME = actual total work offset = total of ACTFRAME and EXTFRAME
ACTBFRAME = actual total base frame
SETFRAME = actual 1st system frame (PRESET, scratching)
EXTSFRAME = actual 2nd system frame (PRESET, scratching)
PARTFRAME = actual 3rd system frame (TCARR and PAROT with orientable tool carrier)
TOOLFRAME = actual 4th system frame (TOROT and TOFRAME)
10
MEASFRAME = result frame for workpiece and tool gauging
11
WPFRAME = actual 5th system frame (workpiece reference points)
12
CYCFRAME = actual 6th system frame (cycles)
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
Frame index * numMachAxes (Page 1109) + axis number
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable "numMachAxes"
Number of the highest existing channel axis
If there are no channel axis gaps, the value of the variables is also the number of available
axes in the channel.
1108
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
Basic Functions
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P4: PLC for SINUMERIK 828D
14.6 Function interface
Address
Value / meaning
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: WORD)
Variable "rpa"
R parameters
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
R number + 1
DB120x.DBW1004
DB120x.DBD1008
Writing: Data to NCK variable x (data type: REAL)
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable "actLineNumber"
Line number of the current NC block
No.
Meaning
Line number of the current NC block
No line number available because the program has not started
-1
No line number available: Error
-2
No line number available: Suppression of block display with DISPLOF is active
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: INT)
Tool management: Magazine location data
Location type ($TC_MPP2)
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
Basic Functions
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P4: PLC for SINUMERIK 828D
14.6 Function interface
Address
Value / meaning
DB120x.DBW1002
Location number (1 31999)
DB120x.DBW1004
Magazine number (1 9999)
DB120x.DBD1008
DB120x.DBW3004
Reading: Value of the NCK variable (data type: WORD)
Value
>0
0
9999
Meaning
Location type for virtual location
"match all" (buffer)
undefined (no virtual location)
Location status ($TC_MPP4)
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
Location number (1 31999)
DB120x.DBW1004
Magazine number (1 9999)
DB120x.DBD1008
DB120x.DBW3004
Reading: Value of the NCK variable (data type: WORD)
Value
Meaning
Blocked
free (<> occupied)
reserved for tool in buffer
reserved for tool to be loaded
16
occupied in left half location
32
occupied in right half location
64
occupied in upper half location
128
occupied in lower half location
T No. of tool at this location ($TC_MPP6)
Address
Value / meaning
DB120x.DBB1000
DB120x.DBB1001
DB120x.DBW1002
Location number (1 31999)
DB120x.DBW1004
Magazine number (1 9999)
DB120x.DBD1008
DB120x.DBW3004
Reading: T number of the tool at this location (data type: WORD)
Variable r0078[1]
Drive object: SERVO, SERVO_AC, SERVO_I_AC
CO: Current actual value, torque-generating [Arms]
Index [1]: smoothed with p0045
1110
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P4: PLC for SINUMERIK 828D
14.6 Function interface
Address
Value / meaning
DB120x.DBB1000
10
DB120x.DBB1001
Number of the drive module
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable r0079[1]
Drive object: SERVO, SERVO_AC, SERVO_I_AC
CO: Torque setpoint at the output of the speed controller (before clock cycle interpolation)
[Nm]
Index [1]: smoothed with p0045
Address
Value / meaning
DB120x.DBB1000
11
DB120x.DBB1001
Number of the drive module
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable r0081
Drive object: SERVO, SERVO_AC, SERVO_I_AC
CO: Torque utilization in percent
Address
Value / meaning
DB120x.DBB1000
12
DB120x.DBB1001
Number of the drive module
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable r0082[1]
Drive object: SERVO, SERVO_AC, SERVO_I_AC
CO: Active power actual value [kW]
Index [1]: smoothed with p0045
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14.6 Function interface
Address
Value / meaning
DB120x.DBB1000
13
DB120x.DBB1001
Number of the drive module
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Temperature compensation
Variable "TEMP_COMP_ABS_VALUE" (SD43900)
Position-independent temperature compensation value
Address
Value / meaning
DB120x.DBB1000
14
DB120x.DBB1001
No. of the axis (1, 2, ...)
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
Writing: Data to NCK variable x (data type: REAL)
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable "TEMP_COMP_SLOPE" (SD43910)
Gradient for position-dependent temperature compensation
Address
Value / meaning
DB120x.DBB1000
15
DB120x.DBB1001
No. of the axis (1, 2, ...)
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
Writing: Data to NCK variable x (data type: REAL)
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Variable "TEMP_COMP_REF_POSITION" (SD43920)
Reference position for position-dependent temperature compensation
1112
Address
Value / meaning
DB120x.DBB1000
16
DB120x.DBB1001
No. of the axis (1, 2, ...)
DB120x.DBW1002
DB120x.DBW1004
DB120x.DBD1008
Writing: Data to NCK variable x (data type: REAL)
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
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P4: PLC for SINUMERIK 828D
14.6 Function interface
Variable "TOOL_TEMP_COMP" (SD42960[...])
Temperature compensation referred to the tool
14.6.1.9
Address
Value / meaning
DB120x.DBB1000
17
DB120x.DBB1001
DB120x.DBW1002
Index + 1 (1, 2, 3)
DB120x.DBW1004
DB120x.DBD1008
Writing: Data to NCK variable x (data type: REAL)
DB120x.DBW3004
Reading: Data from NCK variable x (data type: REAL)
Specifying selected NC variables
The selected NC variables are specified via the DB9910 data block (selected NC variable).
The length of the data block depends on the number of NC variables selected in the variables
list. The variables list can contain maximum 42 selected NC variables. The DB9910 data block
contains the data for variable addressing and data type conversion for each NC variable.
DB9910 (read selected NC variable)
(Interface: PLC NC)
DBB 0
Variable index Variable 1
DBB 1
Syntax ID
DBB 2
Area
DBB 3
Unit
DBW 4
Column index
DBW 6
Line index
DBB 8
Block
DBB 9
Number of lines
DBB 10
Type
DBB 11
Length
....
.....
DBB 492
Variable index Variable 42
DBB 493
Syntax ID
DBB 494
Area
DBB 495
Unit
DBW 496
Column index
DBW 498
Line index
DBB 500
Block
DBB 501
Number of lines
DBB 502
Type
DBB 503
Length
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14.6 Function interface
Variable index
The variable index refers to the name of the NC variable. The variable index consists of a start
value 100 and the offset of the NC variable in the list (0 to 41).
The variable index is entered as DBB1000 A_VarIdx in the DB120x RW_NCDx user interface.
The comment contains the following data record with space as separator:
Area
Block
VariablenName
VarType
Column
VarAnzByte
Extended user interface
The data test in data blocks means the value of a variable can be written to an address in the
data block that has the same type, e.g. a REAL value can be written only to a REAL address
(e.g. with MOV_R). The "Read/write NC variable " user interface contains currently only one
address of the DWORD type for the value to be written (DBD1008). This means a REAL value
can be written only via a temporary variable, flag or accumulator. The same is also true for
reading (DBD3004). For this reason, the "Read/write NC variable" user interface is extended.
For reading and writing one address for each type is added: REAL, DWORD/DINT, WORD/
INT, BYTE and BOOL (DBD1016 DBB1027 or DBD3016 DBB3027). These new
addresses are used by the PLC firmware only for those variables selected with the NC variables
editor and entered into DB9910 NC_DATA when compiled (variable index 100). The NC
variables currently defined in the "Read/write NC variable" user interface continue to use the
old addresses (DBD1008 or DBD3004).
14.6.2
Program instance services (PI services)
14.6.2.1
User interface
Job specification
PI services are specified via the job interface (DB1200 from offset 4000).
DB1200
PI service [r/w]
PLC NCK interface
Byte
DBB 4000
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Start 1)
DBB 4001
PI index 2)
DBB 4002
DBB 4003
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14.6 Function interface
DB1200
PI service [r/w]
DBW 4004
PI parameter 1 3)
DBW 4006
PI parameter 2
DBW 4008
PI parameter 3
DBW 4010
PI parameter 4
DBW 4012
PI parameter 5
DBW 4014
PI parameter 6
DBW 4016
PI parameter 7
DBW 4018
PI parameter 8
DBW 4020
PI parameter 9
DBW 4022
PI parameter 10
1) DB1200.DBX4000.1, start: DBX4000.1 = 1 start of the PI service; DBX4000.1 = 0 PI service completed
2) DB1200.DBB4001, PI index: Specifies the specific PI service
3) DB1200.DBW4004 ..., PI parameters: PI-specific parameters
Overview of the Pl services:
PI service ASUB (Page 1117)
PI service LOGOUT (Page 1118)
PI service DATA_SAVE (Page 1118)
PI service TMMVTL (Page 1119)
Job feedback
The PLC provides feedback as to whether the started PI service was successful or not
successful in the result interface (DB1200 from offset 5000).
The job end is signaled using the following signals:
DB1200.DBX5000.0
DB1200.DBX5000.1
The signals are written by the PLC; therefore, they can only be read by the user.
A job has been completed as soon as the user resets the "Start" signal (DB1200.DBX4000.1).
Status signals DB1200.DBX5000.0 and .1 are then set to zero.
DB1200
PI service [r]
NCK PLC interface
Byte
DBB 5000
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Error in the
job 2)
Job com
pleted 1)
DBB 5001
DBB 5002
1) DB1200.DBX5000.0, job status: DBX5000.0 == 1 job completed
2) DB1200.DBX5000.1, error status: DBX5000.1 == 0 no error; DBX5000.1 == 1 error
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14.6 Function interface
Possible error causes
The index of the parameterized PI service (DB1200.DBB4001) is outside the valid range
Parameter error
PI services: Cycle diagram
6WDUW
-RE
FRPSOHWHG
(UURULQMRE
14.6.2.2
User sets the signal "Start", job execution starts.
After the PLC firmware signals "Job completed", the user resets the signal "Start".
By resetting the signal "Start", the PLC firmware resets the signal "Job completed".
After the PLC firmware signals "Error in job", the user resets the signal "Start".
By resetting the signal "Start", the PLC firmware resets the signal "Error in job".
If the user accidentally resets the signal "Start" before one of the signals "Job completed" or "Error
in job" is received, then the result signals for this job are not updated. However, the job is executed.
PI services
PI service ASUB
Function
With the "ASUB" PI service, it is possible to assign one program each to the interrupt numbers
1 and 2 from the PLC. These programs must be present in the NC in the machine manufacturer
directory (CMA) with fixed program names:
Interrupt:
Directory
_N_CMA_DIR
Program name
PLCASUP1_SPF
PLCASUP2_SPF
If the programs are not available, then they must be created. A power on reset must then be
performed on the NC.
The PI service "ASUB" must only be executed once after the control powers up. The
assignment of the interrupt to the program is retained until the control powers up again.
1116
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14.6 Function interface
Job specification
PI service: ASUB
Address
Description
Valid values
DB1200.DBW4001
PI index 1)
1 (interrupt 1)
DB1200.DBW4004
Parameter 1: LIFTFAST
DB1200.DBW4006
Parameter 2: BLSYNC 3)
2 (interrupt 2)
2)
0 (FALSE)
1 (TRUE)
0 (FALSE)
1 (TRUE)
1)
PI index = 1 assignment: Interrupt 1 for _N_CMA_DIR/PLCASUP1_SPF, interrupt priority = 1
PI index = 2 assignment: Interrupt 2 for _N_CMA_DIR/PLCASUP2_SPF, interrupt priority = 2
2) After the interrupt has been initiated, LIFTFAST first results in fast retraction (fast lift). Only then is
the interrupt routine executed.
Reference
Function Manual, Special Functions
Chapter "8 R3: Extended stop and retract" > "8.2 control-managed ESR - only 840D sl" > "Retract"
3) BLSYNC ensures that after the interrupt has been initiated, the system first waits until the actual
block has been executed. Only then is the interrupt routine executed.
Supplementary conditions
The PI service "ASUB" may only be executed when the channel in which it is requested is
in the RESET state.
If, for an event-controlled program call (Prog Event), "power up" is configured as initiating
event (MD20108 $MC_PROG_EVENT_MASK), then the PI service "ASUB" may only be
started after the ProgEvent program has been completed (PROG_EVENT_SPF or
MD11620 $MN_PROG_EVENT_NAME=<User_Prog_event_SPF>).
See also
Job specification (Page 1114)
Job feedback (Page 1115)
PI service LOGOUT
Function
The password last transferred to the NC is reset.
Job specification
PI service: LOGOUT
Address
Description
Valid values
DB1200.DBW4001
PI index
3 (reset password)
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14.6 Function interface
PI service DATA_SAVE
Function
Perform data saving.
Job specification
PI service: DATA_SAVE
Address
Description
Valid values
DB1200.DBW4001
PI index
Perform data saving of the
current NC state on the sys
tem CompactFlash card.
Note
The saved state of the NC
can be loaded during the
next control power-up via
"Reload saved user data" in
the "Startup menu".
References
SINUMERIK 828D Commis
sioning Manual; Section
"CNC commissioning" >
"Scope of delivery and re
quirements" > "Control runup"
PI service TMMVTL
Function
Using the PI service TMMVTL, it is possible to request a job from the PLC to relocate a tool.
As a result of the PI service, the tool manager carries out an empty location search in the target
magazine for the tool specified in the PI service (tool number or source location number/source
magazine number) The PLC then receives a job to relocate the tool via DB41xx.DBB0.
Job specification
1118
Address
Description
Valid values
DB1200.DBW4001
PI index
DB1200.DBW4004
Parameter 1: Tool number 1)
-1, 1 31999
DB1200.DBW4006
Parameter 2: Source location
number 1)
-1, 1 31999
DB1200.DBW4008
Parameter 3: Source magazine
number 1)
-1, 1 9999
DB1200.DBW4010
Parameter 4: Target location
number 2)
-1, 1 31999
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14.6 Function interface
Address
Description
Valid values
DB1200.DBW4012
Parameter 5: Target magazine
number 3)
-1, 1 9999
1) The tool can be optionally specified using:
Tool number (T number)
Source location and source magazine number
For the unused parameters of the other version, a value of -1 must be entered.
2) With the target location number = -1, a search is made in the complete magazine for an empty
location for the tool according to the search strategy that has been selected. If a target location is
specified, then a check is made as to whether the location with the specified target location number is
free and suitable for the particular tool.
3) For a target magazine number = -1, a search is made in a buffer for the tool corresponding to the
assignment obtained from $TC_MDP2.
Application examples
When using buffers to return the tool (for example Toolboy and/or shifter), an explicit empty
location search in the magazine may be needed during the asynchronous return transport.
In this case, the PLC does not have to note the original location, the PI service TMMVTL
searches for a suitable location.
A tool is to be moved from a background magazine to the front magazine.
14.6.3
PLC user alarms
14.6.3.1
User interface
Note
Although the name user "alarms" is used in the following, it is only defined as to whether it
involves a message or an alarm when entering the particular cancel criterion in bits 6 and 7 of
machine data MD14516[x].
The user alarms are created in the HMI and are prepared for automatic processing. The user
interface of the DB1600 permits:
these 248 user alarms of numbers 700000 to 700247 to be activated,
to be provided with an additional numerical parameter, and
to be activated and acknowledged as well as
to evaluate the system reactions initiated by it.
Activation interface of the user alarms
Each user alarm is activated using its assigned activation bit. These bits are set in the activation
interface (DB1600 from offset 0):
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14.6 Function interface
A new user alarm is activated with a 0/1 edge of the particular bit.
DB1600
Activating alarm [r/w]
Data block
Byte
PLC HMI interface
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
700002
700001
700000
700010
700009
700008
700018
700017
700016
700026
700025
700024
700034
700033
700032
700042
700041
700040
700242
700241
700240
Activation of Alarm No.
DBB 0
700007
700006
700005
DBB 1
700015
700014
700013
DBB 2
700023
700022
700021
DBB 3
700031
700030
700029
700004
700003
Activation of Alarm No.
700012
700011
Activation of Alarm No.
700020
700019
Activation of Alarm No.
700028
700027
Activation of Alarm No.
DBB 4
700039
700038
700037
700036
700035
Activation of Alarm No.
DBB 5
700047
700046
700045
700044
700043
.
Activation of Alarm No.
DBB 30
700247
700246
700245
700244
700243
Variables interface of the user alarms
Each user alarm can be given a variable as parameter. One double word each is reserved for
this purpose in the variable interface from offset 1000. As a consequence, valid offsets must
be divisible by 4.
DB1600
Data block
Variable for alarm [r32/w32]
PLC HMI interface
DBD 1000
Variable for alarm 700000
DBD 1004
Variable for alarm 700001
DBD 1008
Variable for alarm 700002
DBD 1980
Variable for alarm 700245
DBD 1984
Variable for alarm 700246
DBD 1988
Variable for alarm 700247
...
1120
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14.6 Function interface
Alarm response and cancel criterion
Alarm response and cancel criterion
These two terms involve the conception and configuration of user alarms. The following
attributes can be specified for each alarm:
Alarm response: How the controller responds when an error occurs.
Cancel criterion: What must be done to cancel the alarm again or acknowledge it. The
cancel criterion simultaneously defines the alarm priority.
The setpoints are configured in the following machine data and their actual values are signaled
together in one byte of the user interface: The setpoints are configured bit-coded in:
MD14516[x], 0 x 247; whereby x = user alarm number - 700000
Active alarm response and cancel criterion
The present active alarm responses (i.e. the actual responses) and the active cancel criteria
can be globally read out from the interface:
DB1600
Byte
DBB 2000
Active alarm response [r]
Bit 7
Bit 6
Bit 5
POWER
ON
Interrupt
with
DB1600
DBX3000.0
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
PLC STOP
Emergen
cy stop
Feedrate
disable for
all axes
Read-in
disable
NC start
disable
DBB 2001
DBB 2002
DBB 2003
One bit is set if for at least one active alarm the corresponding response or the corresponding
cancel criterion is configured. It is canceled, if this response/cancel criterion is no longer
configured for any of the alarms present.
The codings of the cancel criteria and the corresponding priorities are:
Bit 7
Bit 6
User alarm is acknowledged by
Type
Priority
Resetting of the activation bit
Message
Low
Acknowledgement in DB1600.DBX3000.0 (refer be
low)
Alarm
Medium
Power on
Alarm
High
Reserved (internally evaluated as {1, 0})
Note
If none of bits 0 to 4 are set for an alarm/message in the machine data, then this defines that
it involves a so-called "display message" that has no effect on the system. This especially
indicates that also bits 6 and 7 of the corresponding machine data are evaluated.
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14.6 Function interface
Active alarm responses and cancel criteria of the user alarms
The present active alarm responses (i.e. the actual responses) and the active cancel criteria
can be globally read-out of the interface.
DB1600
Active alarm response [r]
Data block
Byte
DBB 2000
Bit 7
Bit 6
POWER
ON
Interrupt
with
DB1600
DBX3000.0
Bit 5
Bit 4
Bit 3
PLC STOP Emergency
stop
Bit 2
Bit 1
Bit 0
Feedrate
disable for
all axes
Read-in dis
able
NC start
disable
DBB 2001
DBB 2002
DBB 2003
One bit is set if for at least one active alarm the corresponding response or the corresponding
cancel criterion is configured. It is canceled, if this response/cancel criterion is no longer
configured for any of the alarms present.
Acknowledgement interface of the user alarms
Requirement
Requirement to acknowledge a user alarm is that the corresponding activation bit is reset.
Messages with cancel criterion {0,0} then disappear automatically from the display.
Alarms with cancel criterion {0,1} are canceled by the acknowledgement bit Ack.
Alarms with cancel criterion {1,0} are not influenced when the acknowledgement bit is set
and can only be canceled by a Power On.
DB1600
Alarm acknowledgement [r/w]
Byte
DBB3000
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Ack
DBB3001
DBB3002
DBB3003
Interface to HMI.
The PLC can transfer eight messages or alarms for display on the HMI, which are displayed
in the sequence that they occur.
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14.6 Function interface
When additional messages/alarms occur, the first seven are kept in the HMI, and the latest
message or the latest alarm is displaced from one that has just occurred according to the
following rules:
System message/alarm displaces user message/alarm
Messages/alarms with a higher priority displace those of a lower priority.
The first seven messages/alarms are kept in the display because it is very probable that these
define the cause of the problem and the following are just of a secondary nature. However, if
one or several messages/alarms are acknowledged and therefore cleared, then a
corresponding number of alarms/messages that have been received move up in the HMI.
14.6.4
PLC axis control
14.6.4.1
Overview
Target
The PLC can control eight axes or spindles via data blocks of the user interface; the axis/spindle
is specified by its DB number:
DB380x PLC NCK interface
DB390x NCK PLC interface
DB390x Axis index: 0 x 7, whereby axis index = axis number-1
The following functions are supported:
Positioning axes
Spindle positioning
Rotate spindle
Oscillate spindle
Indexing axes
References:
Function Manual, Extended Functions; Positioning Axes (P2) and Indexing axes (T1)
Function Manual, Basic Functions; Spindles (S1)
Precondition
The axis to be controlled must be assigned to the PLC. An axis can be interchanged between
NC and PLC using the user interface "Axis interchange" (DB3800.DBB8/DB3900.DBB8).
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14.6 Function interface
Function start
Each function is activated by the positive edge of the corresponding "Start" signal. This signal
must remain a logical "1" until the function has been positively or negatively acknowledged
(e.g. using Position reached = "1" or Error = "1"). The signal "Positioning axis active" = "1"
indicates that the function is active and that the output signals are valid.
Interrupt
It is notpossible to interrupt the function by resetting the start signal, but only via other interface
signals (using the axis-specific signal Delete distance to go/spindle reset, DB380x DBX2.2).
The axis interface returns axis status signals that may need to be evaluated (e.g. exact stop,
travel command, DB390x).
If the axis/spindle is being traversed via the NC program when the PLC axis control is called
(travel command present), then the function is only started after this movement has ended.
No error code is output in this situation.
Axis disable
With the axis disable set, an axis controlled via PLC axis control will not move. Only a simulated
actual value is generated. (Behavior as with NC programming).
14.6.4.2
User interface: Preparing the NC axis as PLC axis
Firstly, the axis/spindle must be requested from the PLC. This is realized via the following user
interface:
Common signals to axis/spindle (excerpt)
Request axis or spindle:
DB3800 ... 3807
Signals to axis/spindle [r/w]
Data block
Byte
DBB 0008
PLC NCK interface
Bit 7
Request
PLC axis/
spindle
Bit 6
Bit 5
Bit 4
Activation
signal
when this
byte is
changed
Bit 3
Bit 2
Bit 1
Bit 0
Request
NC axis/
spindle
Every change to a request bit at the interface (DB380x.DBX0008.7 or bit DB380x.DBX0008.0)
must be signaled to the NC using a 01 edge of the activation signal (bit DB380x.DBX0008.4).
This activation signal should be reset again after one cycle.
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14.6 Function interface
General signals from axis/spindle (excerpt)
State interrogation is possible via the interface DB390x.DBB8. However, for simulation, the
axis machine data MD30350 MA_SIMU_AX_VDI_OUTPUT must be set.
DB3900 ... 3907
Signals from axis/spindle [r]
Data block
Byte
DBB 0008
NCK PLC interface
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
PLC axis/
spindle
Neutral ax
is/
spindle
Axis inter
change
possible
New type
requested
from PLC
Bit 2
Bit 1
Bit 0
NC axis/
spindle
Request and relinquish PLC axis
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User interface: Functionality
The two tables provide an overview of the available interface signals. The precise description
of the signals and the explanation of what signals are relevant for the individual functions are
explained in the following.
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14.6 Function interface
Signals to PLC axis
DB3800...3807
Signals to PLC axis [r/w]
Data block
PLC NCK interface
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DBB3000
Start posi
tioning axis
Start spin
dle posi
tioning
Start spin
dle rotation
Start spin
dle oscilla
tion
DBB3001
Stop spin
dle rotation
Stop spin
dle oscilla
tion
DBB3002
Automatic
gear selec
tion
Handwheel
override
Traversing
dimension,
inches (not
metric)
Distance
condition,
shortest
distance
(DC)
Distance
condition,
incremen
tal (IC))
DBB3003
Indexing
position
Constant
Direction of
cutting rate rotation as
for M4
Distance
Distance
condition,
condition,
abs. pos. di abs. neg. di
rection
rection
(ACP)
(ACN)
DBD3004
Position (REAL, with indexing axis: DINT)
DBD3008
Feedrate velocity (REAL), if < 0, the value is taken from machine data POS_AX_VELO
The bits of the distance conditions and the direction of rotation definition define the particular
positioning or traversing mode, only one of the bits must be set:
Meaning
Distance condition to be set
Positioning absolute
No mode bit set
Positioning incremental
DBB3002.0 = 1
Positioning shortest distance
DBB3002.1 = 1
Positioning absolute, positive approach direction
DBB3003.1 = 1
Positioning absolute, negative approach direction
DBB3003.0 = 1
Direction of rotation as for M4
DBB3002.5 = 1
The remaining bits are used to specify and start the particular function, these function bits as
well as position and velocity are explained in more detail for the individual functions.
Signals from PLC axis
DB3900...3907
Signals from PLC axis [r]
Data block
Byte
PLC NCK interface
Bit 7
Bit 6
DBB3000
Positioning
axes active
Position
reached
DBB3001
DBB3002
DBB3003
1126
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Error while
traversing
Axis cannot
be started
Error number
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
The following requirements must be satisfied in order to use the functions listed below:
The axis or spindle is correctly assigned to the PLC.
Controller and pulse enable are set.
After setting all of the control signals, only one of the start signals is set in DB380x.DBB3000.
14.6.4.4
Spindle positioning
DB380x
PLC NCK control signals
DBX3002.0
Incremental
0|1
DBX3002.1
Shortest path
0|1
DBX3003.0
Absolute, negative direction
0|1
DBX3003.1
Absolute, positive direction
DBD3004
Setpoint position/setpoint distance
REAL
For "incremental": Setpoint distance
DBD3008
Feedrate
REAL
If = 0, the value from MD35300
$MA_SPIND_POSCTRL_VELO (position control activa
tion speed) is taken
DBX3000.6
Start
0|1
Reset does not result in a stop!
DBX2.2
Delete distance-to-go, spindle reset
0|1
Interrupt signal, exits the function
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
Also 1 when override = 0 or position setpoint reached
when start = 1
DBX3000.6
Position reached
1: Position setpoint reached with "Exact stop fine"
DBX3000.0
Spindle cannot be started
DBX3000.1
Error while traversing
DBB3003
Error number
DBX1.4
Axis/spindle stationary
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Valid val Remark
ues
Only one of the bits must be set, if all bits are 0, then this
means absolute positioning.
0|1
1: Error during traversing, evaluate error number in DBB3003!
1: if n < nmin
1127
P4: PLC for SINUMERIK 828D
14.6 Function interface
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14.6.4.5
Function activated by user with a positive edge of Start.
Positioning axis active message shows that the function is active and that the output signals are
valid, Position reached and Axis stationary may be withdrawn. For path specification = 0, the
signals are not canceled.
When the position is reached this is signaled (Position reached), Spindle stationary is set.
The user then withdraws Start.
The Positioning axis active signal is then reset.
The user immediately resets the Start signal with receipt of the Positioning axis active signal.
Positioning is aborted by setting Spindle reset. This signal must be present for at least one PLC
cycle.
The spindle comes to a standstill (Spindle stationary), the Fault signal is set. (In this case, fault
number 115 is output.)
Rotate spindle
DB380x
PLC NCK control signals
DBX3002.0
Incremental
DBX3002.1
Shortest distance
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
DBX3003.1
Absolute, positive direction
DBD3008
Feedrate velocity
1128
Valid val Remark
ues
0
0
0|1
REAL
Direction of rotation as for M4:
1: Direction of rotation specified by M4
0: Direction of rotation specified by M3
Spindle speed
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
DB380x
PLC NCK control signals
Valid val Remark
ues
DBX3000.5
Start spindle rotation
0|1
DBX3001.5
Stop spindle rotation
0|1
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
1: for start or stop == 1
DBX3000.6
Position reached
1: Function was started without an error
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
DBX1.4
Axis/spindle stationary
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Function activated by user with a positive edge of Start.
The user stops spindle rotation by resetting Start and setting Stop.
Signals Positioning axis active and Position reached are signaled back, Position reached is in
this case irrelevant.
The spindle stops and the Spindle stationary signal is set.
The user then resets Stop.
Reset of Stop causes Positioning axis active to be reset.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1129
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.4.6
Oscillate spindle
DB380x
PLC NCK control signals
Valid val Remark
ues
DBX3002.0
Incremental
DBX3002.1
Shortest distance
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
DBX3003.1
Absolute, positive direction
DBD3004
Setpoint gear stage:
REAL
Values 0, 1, 2, 3, 4, 5
It is not permissible that any of the bits are set.
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 0
0-5: Oscillation
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 1
0: Oscillation
1: Oscillation with gear stage change M41
2: Oscillation with gear stage change M42
3: Oscillation with gear stage change M43
4: Oscillation with gear stage change M44
5: Oscillation with gear stage change M45
DBD3008
Feedrate velocity
DBX3000.5
DBX3001.5
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
1: for start or stop == 1
DBX3000.6
Position reached
1: after start
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBX3000.0
Axis cannot be started
1: Error when starting, evaluate error number in DBB3003!
DBB3003
Error number
DBX1.4
Axis/spindle stationary
1130
REAL
When oscillating, no significance! The oscillation speed
is taken from machine data MD35400, $MA_SPIND_OS
CILL_DES_VELO.
Start spindle oscillation
0|1
Stop spindle oscillation
0|1
It is not permissible that the start directly follows a stop.
Stop must first be reset (both 0).
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
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14.6.4.7
Function activated by user with a positive edge of Start.
Note: This is only possible when the Positioning axis active signal is reset!
Signals Positioning axis active and Position reached are signaled back, Position reached is in
this case irrelevant and is therefore not shown.
The user then resets Stop.
...the Axis cannot be started signal is set (error number 106).
The user stops spindle oscillation by resetting Start and setting Stop.
The spindle stops and the Spindle stationary signal is set.
Reset of Stop causes Positioning axis active to be reset.
Stop is reset in the user program and Start is again set, incorrectly, in the same PLC cycle. This
means that Positioning axis active is not reset, but...
Indexing axis
DB380x
PLC NCK control signals
DBX3002.0
Incremental
0|1
DBX3002.1
Shortest distance
0|1
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
0|1
DBX3003.1
Absolute, positive direction
0|1
DBD3003.7
Indexing position
DBD3004
Setpoint position/setpoint distance
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Valid val Remark
ues
Only one of the bits must be set, if all bits are 0, then this
means absolute positioning.
1
DINT
Indexing axis ON
for "incremental": Setpoint distance
1131
P4: PLC for SINUMERIK 828D
14.6 Function interface
DB380x
PLC NCK control signals
Valid val Remark
ues
DBD3008
Feedrate velocity
DBX3000.7
Start positioning axis
0|1
Reset does not result in a stop!
DBX2.2
Delete distance-to-go, spindle reset
0|1
Interrupt signal, exits the function
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
Also 1, if override = 0 or setpoint position reached.
DBX3000.6
Position reached
1: Setpoint position reached with "Exact stop fine".
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
DBX1.4
Axis/spindle stationary
REAL
if = 0, the value is taken from machine data POS_AX_VE
LO (unit as set in machine data).
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1132
Function activated by user with a positive edge of Start.
Note: This is only possible when the Positioning axis active signal is reset!
Signals Positioning axis active and Position reached are signaled back, Position reached is in
this case irrelevant.
The user stops spindle oscillation by resetting Start and setting Stop.
The spindle stops and the Spindle stationary signal is set.
The user then resets Stop.
Reset of Stop causes Positioning axis active to be reset.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.4.8
Positioning axis metric
DB380x
PLC NCK control signals
Valid val Remark
ues
DBX3002.0
Incremental
0|1
DBX3002.1
Shortest distance
0|1
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
0|1
DBX3003.1
Absolute, positive direction
0|1
DBD3002.2
Traversing dimension inch
Traversing dimension, metric
DBD3002.3
Handwheel override
Override OFF
DBD3004
Setpoint position/setpoint distance
REAL
for "incremental": Setpoint distance
DBD3008
Feedrate velocity
REAL
if = 0, the value is taken from machine data POS_AX_VE
LO (unit as set in machine data).
DBX3000.7
Start positioning axis
0|1
Reset does not result in a stop!
DBX2.2
Delete distance-to-go, spindle reset
0|1
Interrupt signal, exits the function
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
Also 1, if override = 0 or setpoint position reached.
Only one of the bits must be set, if all bits are 0, then this
means absolute positioning.
DBX3000.6
Position reached
1: Axis has reached the setpoint position.
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1133
P4: PLC for SINUMERIK 828D
14.6 Function interface
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First function activation using positive edge of Start.
Positioning axis active = 1 shows that the function is active and that the output signals are valid,
Position reached and Axis stationary are possibly withdrawn.
Positive acknowledgement Position reached = 1 and Positioning axis active = 1
Reset of function activation after receipt of acknowledgment
Signal change via function
Positioning is interrupted by delete distance to go, signal duration min. 1 PLC cycle.
The signals Position reached and Error are reset, the Error number can be read (in this case,
30).
14.6.4.9
Positioning axis inch
DB380x
PLC NCK control signals
DBX3002.0
Incremental
0|1
DBX3002.1
Shortest distance
0|1
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
0|1
DBX3003.1
Absolute, positive direction
0|1
DBD3002.2
Traversing dimension inch
Traversing dimension inch
DBD3002.3
Handwheel override
Override OFF
DBD3004
Setpoint position/setpoint distance
REAL
for "incremental": Setpoint distance
DBD3008
Feedrate velocity
REAL
if = 0, the value is taken from machine data POS_AX_VE
LO (unit as set in machine data).
1134
Valid val Remark
ues
Only one of the bits must be set, if all bits are 0, then this
means absolute positioning.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
DB380x
PLC NCK control signals
Valid val Remark
ues
DBX3000.7
Start positioning axis
0|1
Reset does not result in a stop!
DBX2.2
Delete distance-to-go, spindle reset
0|1
Interrupt signal, exits the function
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
Also 1, if override = 0 or setpoint position reached.
DBX3000.6
Position reached
1: Axis has reached the setpoint position.
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
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First function activation using positive edge of Start.
Positioning axis active = 1 shows that the function is active and that the output signals are valid,
Position reached and Axis stationary are possibly withdrawn.
Positive acknowledgement Position reached = 1 and Positioning axis active = 1
Reset of function activation after receipt of acknowledgment
Signal change via function
Positioning is interrupted by delete distance to go, signal duration min. 1 PLC cycle.
The signals Position reached and Error are reset, the Error number can be read (in this case,
30).
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1135
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.4.10
Positioning axis metric with handwheel override
DB380x
PLC NCK control signals
Valid val Remark
ues
DBX3002.0
Incremental
0|1
DBX3002.1
Shortest distance
0|1
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
0|1
DBX3003.1
Absolute, positive direction
0|1
DBD3002.2
Traversing dimension inch
Traversing dimension, metric
DBD3002.3
Handwheel override
Override ON
DBD3004
Setpoint position/setpoint distance
REAL
for "incremental": Setpoint distance
DBD3008
Feedrate velocity
REAL
if = 0, the value is taken from machine data POS_AX_VE
LO (unit as set in machine data).
DBX3000.7
Start positioning axis
0|1
Reset does not result in a stop!
DBX2.2
Delete distance-to-go, spindle reset
0|1
Interrupt signal, exits the function
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
Also 1, if override = 0 or setpoint position reached.
Only one of the bits must be set, if all bits are 0, then this
means absolute positioning.
DBX3000.6
Position reached
1: Axis has reached the setpoint position.
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
1136
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
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14.6.4.11
First function activation using positive edge of Start.
Positioning axis active = 1 shows that the function is active and that the output signals are valid,
Position reached and Axis stationary are possibly withdrawn.
Positive acknowledgement Position reached = 1 and Positioning axis active = 1
Reset of function activation after receipt of acknowledgment
Signal change via function
Positioning is interrupted by delete distance to go, signal duration min. 1 PLC cycle.
The signals Position reached and Error are reset, the Error number can be read (in this case,
30).
Positioning axis inch with handwheel override
DB380x
PLC NCK control signals
DBX3002.0
Incremental
0|1
DBX3002.1
Shortest distance
0|1
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
0|1
DBX3003.1
Absolute, positive direction
0|1
DBD3002.2
Traversing dimension inch
DBD3002.3
Handwheel override
DBD3004
Setpoint position/setpoint distance
REAL
for "incremental": Setpoint distance
DBD3008
Feedrate velocity
REAL
if = 0, the value is taken from machine data POS_AX_VE
LO (unit as set in machine data).
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Valid val Remark
ues
Only one of the bits must be set, if all bits are 0, then this
means absolute positioning.
Traversing dimension inch
Override ON
1137
P4: PLC for SINUMERIK 828D
14.6 Function interface
DB380x
PLC NCK control signals
Valid val Remark
ues
DBX3000.7
Start positioning axis
0|1
Reset does not result in a stop!
DBX2.2
Delete distance-to-go, spindle reset
0|1
Interrupt signal, exits the function
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
Also 1, if override = 0 or setpoint position reached.
DBX3000.6
Position reached
1: Axis has reached the setpoint position.
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
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1138
First function activation using positive edge of Start.
Positioning axis active = 1 shows that the function is active and that the output signals are valid,
Position reached and Axis stationary are possibly withdrawn.
Positive acknowledgement Position reached = 1 and Positioning axis active = 1
Reset of function activation after receipt of acknowledgment
Signal change via function
Positioning is interrupted by delete distance to go, signal duration min. 1 PLC cycle.
The signals Position reached and Error are reset, the Error number can be read (in this case,
30).
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.4.12
Rotate spindle with automatic gear stage selection
DB380x
PLC NCK control signals
DBX3002.0
Incremental
DBX3002.1
Shortest distance
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
DBX3003.1
Absolute, positive direction
DBD3002.7
Automatic gear stage selection
DBD3008
Feedrate velocity
DBD3000.5
Start spindle rotation
0|1
DBX3001.5
Stop spindle rotation
0|1
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
1: for start or stop == 1,
DBX3000.6
Position reached
1: Setpoint speed is output
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
DBX1.4
Axis/spindle stationary
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Valid val Remark
ues
0
0
0|1
1
REAL
Direction of rotation as for M4:
1: Direction of rotation specified by M4
0: Direction of rotation specified by M3
Automatic gear stage selection ON
Spindle speed
1139
P4: PLC for SINUMERIK 828D
14.6 Function interface
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14.6.4.13
Function activated by user with a positive edge of Start.
Signals Positioning axis active and Position reached are signaled back, Position reached is in
this case irrelevant.
The user stops spindle rotation by resetting Start and setting Stop.
The spindle stops and the Spindle stationary signal is set.
The user then resets Stop.
Reset of Stop causes Positioning axis active to be reset.
Rotate spindle with constant cutting rate [m/min]
DB380x
PLC NCK control signals
DBX3002.0
Incremental
DBX3002.1
Shortest distance
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
DBX3003.1
Absolute, positive direction
DBD3002.2
Traversing dimension inch
DBD3002.6
Const. Cutting rate
DBD3008
Feedrate velocity
DBD3000.5
Start spindle rotation
0|1
DBX3001.5
Stop spindle rotation
0|1
1140
Valid val Remark
ues
0
0
0|1
1
REAL
Direction of rotation as for M4:
1: Direction of rotation specified by M4
0: Direction of rotation specified by M3
Traversing dimension, metric
Constant cutting rate ON
Spindle speed
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
1: for start or stop == 1,
DBX3000.6
Position reached
1: Setpoint speed is output
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
DBX1.4
Axis/spindle stationary
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Function activated by user with a positive edge of Start.
Signals Positioning axis active and Position reached are signaled back, Position reached is in
this case irrelevant.
The user stops spindle rotation by resetting Start and setting Stop.
The spindle stops and the Spindle stationary signal is set.
The user then resets Stop.
Reset of Stop causes Positioning axis active to be reset.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1141
P4: PLC for SINUMERIK 828D
14.6 Function interface
14.6.4.14
Rotate spindle with constant cutting rate [feet/min]
DB380x
PLC NCK control signals
DBX3002.0
Incremental
DBX3002.1
Shortest distance
DBX3002.5
Direction of rotation as for M4
DBX3003.0
Absolute, negative direction
DBX3003.1
Absolute, positive direction
DBD3002.2
Traversing dimension inch
Traversing dimension inch
DBD3002.6
Const. Cutting rate
Constant cutting rate ON
DBD3008
Feedrate velocity
DBD3000.5
Start spindle rotation
0|1
DBX3001.5
Stop spindle rotation
0|1
DB390x
NCK PLC status signals
Remark
DBX3000.7
Positioning axes active
1: for start or stop == 1
DBX3000.6
Position reached
1: Setpoint speed is output
DBX3000.1
Error
1: Error when traversing, evaluate error number in DBB3003!
DBB3003
Error number
DBX1.4
Axis/spindle stationary
1142
Valid val Remark
ues
0
0
0|1
REAL
Direction of rotation as for M4:
1: Direction of rotation specified by M4
0: Direction of rotation specified by M3
Spindle speed
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
P4: PLC for SINUMERIK 828D
14.6 Function interface
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14.6.4.15
Function activated by user with a positive edge of Start.
Signals Positioning axis active and Position reached are signaled back, Position reached is in
this case irrelevant.
The user stops spindle rotation by resetting Start and setting Stop.
The spindle stops and the Spindle stationary signal is set.
The user then resets Stop.
Reset of Stop causes Positioning axis active to be reset.
Error messages
If a function could not be executed, the following signals are set depending on the error:
DB390x .DBX3000.0 == 1 (axis cannot be started)
DB390x.DBX3000.1 == 1 (error during travel)
The exact error cause is indicated as:
DB390x.DBB3003 (error number)
Error number
Decimal
Hex
Meaning
01
Several functions of the axis/spindle were activated simultaneously
20
14
A function was started without the position being reached
30
1E
The axis/spindle was transferred to the NC while still in motion
40
28
The axis is programmed by the NC program, NCK internal error
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14.6 Function interface
Error number
Meaning
Decimal
Hex
50
32
Permanently assigned PLC axis: Traverses (JOG) or is referencing
60
3C
Permanently assigned PLC axis: Channel status does not permit a start
100
64
False position programmed for axis/spindle (alarm number1) 16830)
101
65
Programmed speed is too high
102
66
Incorrect value range for constant cutting rate (alarm number1) 14840)
104
68
Following spindle: Illegal programming (alarm number1) 22030)
105
69
No measuring system available (alarm number1) 16770)
106
6A
Positioning process of the axis still active (alarm number1) 22052)
107
6B
Reference mark not found (alarm number1) 22051)
108
6C
No transition from speed control to position control (alarm number1) 22050)
109
6D
Reference mark not found (alarm number1) 22051)
110
6E
Velocity/speed is negative
111
6F
Setpoint speed is zero
112
70
Invalid gear stage
115
73
Programmed position has not been reached
117
75
G96/G961 is not active in the NC
118
76
G96/G961 is still active in the NC
120
78
Axis is not an indexing axis (alarm number1) 20072)
121
79
Indexing position error (alarm number1) 17510)
125
7D
DC (shortest distance) not possible (alarm number1) 16800)
126
7E
Absolute value minus not possible (alarm number1) 16820)
127
7F
Absolute value plus not possible (alarm number1) 16810)
128
80
No transverse axis available for diameter programming (alarm number1) 16510)
130
82
Software limit switch plus (alarm number1) 20070)
131
83
Software limit switch minus (alarm number1) 20070)
132
84
working area limitation plus (alarm number1) 20071)
133
85
working area limitation minus (alarm number1) 20071)
134
85
Frame not permitted for indexing axis
135
87
Indexing axis with "Hirth toothing" is active (alarm number1) 17501)
136
88
Indexing axis with "Hirth toothing" is active and axis not referenced (alarm number1) 17503)
137
89
Spindle operation not possible for transformed spindle/axis (alarm number1) 22290)
138
8A
The corresponding effective coordinate-system-specific working area limit plus violated for the axis
(alarm number1)20082)
139
8B
The corresponding effective coordinate-system-specific working area limit minus violated for the axis
(alarm number1)20082)
200
C8
System alarm number1) 450007
1) The detailed alarm description is contained in: Alarms diagnostics manual; SINUMERIK 828D, SINAMICS S120
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14.6 Function interface
14.6.5
Starting ASUBs
14.6.5.1
General
From the PLC, interrupt 1 or 2 can be initiated on the NC, in principle, at any point in time. As
a consequence, the program currently being processed in the NC is interrupted, and the
interrupt program assigned to the interrupt executed:
Interrupt 1: _N_CMD_DIR/PLCASUP1.SPF
Interrupt 2: _N_CMD_DIR/PLCASUP2.SPF
Note
A start signal must not be set in the following cases:
PI service "ASUB" has not been completed yet.
DB2600.DBX0.1 == 1 (emergency stop)
The request "Channel reset" is still active in the channel.
The ASUB can only be started again when the channel is in the "Reset" state AND
DB3300.DBX3.7 == 1 (channel state reset).
See also
PI service: ASUB (Page 942)
14.6.5.2
Job start
DB3400
ASUB: Job [r/w]
PLC NCK interface
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DBB 0000
Start INT1
DBB 0001
Start INT2
DBB 0002
DBB 0003
Start INT1:
Bit 0 = 1: Request to start the ASUB, which is assigned to INT1.
Bit 0 = 0: Reset the ASUB request after acknowledgement in the result interface DBB1000.
Start INT2
Bit 0 = 1: Request to start the ASUB, which is assigned to INT2.
Bit 0 = 0: Reset the ASUB request after acknowledgement in the result interface DBB1001.
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14.6 Function interface
14.6.5.3
Job result
DB3400
ASUB: Result [r]
NCK PLC interface
Byte
Bit 7
Bit 6
Bit 5
DBB 1000
DBB 1001
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
ASUB can
not be exe
cuted 1)
Interrupt
no. not as
signed 2)
ASUB is be ASUB com
ing execu
pleted 3)
ted
Interrupt
no. not as
signed 2)
ASUB is be ASUB com
ing execu
pleted 3)
ted
INT1
INT2
ASUB can
not be exe
cuted 1)
DBB 1002
DBB 2003
1) Negative acknowledgement: e.g. for emergency stop or channel reset request.
2) Negative acknowledgement: Number has not been assigned yet. Remedy: Execute PI service "ASUB".
3) Positive acknowledgement: ASUB successfully completed. Reset start signal:
DB3400.DBX1000.0 == 1 DB3400.DBX0000.0 = 0
DB3400.DBX1001.0 == 1 DB3400.DBX00001.0 = 0
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14.6 Function interface
14.6.5.4
Signal flow
Signal flow
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Function activated by user with a positive edge of Start.
ASUB is being executed is signaled back.
The acknowledgement ASUB completed indicates the successful execution, ASUB is being exe
cuted is withdrawn.
The signal to initiate the function is reset after receiving the acknowledgement from the user.
ASUB cannot be executed: Negative acknowledgement, error occurred.
Signal change by the firmware.
Not permitted! If function activation is reset prior to receipt of acknowledgement, the output sig
nals are not updated without the operational sequence of the activated function being affected.
Figure 14-2
Example: Signal flow
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14.6 Function interface
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R1: Referencing
15.1
15
Brief Description
Function
When referencing a machine axis, the coordinate system of the machine axis is synchronized
with the coordinate system of the machine. The machine axis is traversed to the machine zero
and then the actual position of the machine axis is set to zero.
If the machine zero cannot be directly approached as a result of the machine design, then a
reference point is defined in the traversing range of the machine axis, which then used to
synchronize the machine axis. Its position with reference to the machine zero must be known.
When referencing, the actual machine axis position is set to this value
Measuring systems and referencing methods
When referencing, machine axes can be synchronized with the following measuring systems
and referencing types:
Measuring systems
Incremental rotary measuring system with at least one zero mark
Incremental linear measuring system
Rotary measuring system with distancecoded reference marks (supplied by Heidenhain)
Linear measuring system with distancecoded reference marks (supplied by Heidenhain)
Absolute rotary measuring system
Absolute linear measuring system
Referencing methods
Referencing with incremental measuring systems with BERO and one-edge and twoedge detection
Referencing with incremental measuring systems with replacement of homing cam with
BERO
Referencing with incremental measuring systems with BERO with configured approach
velocity for spindle applications
Referencing with measuring systems with distancecoded reference marks by
overtravelling 2 or 4 zero marks
Referencing of passive measuring systems using measuring system adjustment
Referencing in follow-up mode
Referencing with cam switch at the drive
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R1: Referencing
15.2 Axisspecific referencing
Start
Referencing the machine axis can be manually started, or from the part program:
Manual: Operation mode JOG and MDI, machine function REF
Part program: Command G74
15.2
Axisspecific referencing
For axis-specific referencing using the reference point approach, the operation must be
individually started for each machine axis to be referenced.
Selecting mode and machine function
Before starting reference point approach of the machine axes, you must first place the relevant
mode group in JOG or MDI mode:
DB11, ... DBX0.2 (active JOG mode)
DB11, ... DBX0.1 (active MDI mode)
Then machine function REF (reference point approach) must be selected:
DB11, ... DBX1.2 (REF machine function)
Start of reference point approach
In axis-specific reference point approach, each machine axis must be started individually.
Reference point approach is started with the axis-specific traversing keys:
DB31, ... DBX4.6 (Traversing key minus)
DB31, ... DBX4.7 (Traversing key minus)
Direction enable
To avoid operator errors, the direction release must be parameterized. The direction enable
specifies which traversing key starts the reference point approach:
MD34010 $MA_REFP_CAM_DIR_IS_MINUS = <value>
<value>
Meaning
Reference point approach in plus direction
Reference point approach in minus direction
Jog mode
The following machine data element can be used to specify whether reference point approach
is completed when the direction key is pressed once or whether the operator is required to
keep the direction key pressed (jogging) for safety reasons:
MD11300 $MN_JOG_INC_MODE_LEVELTRIGGRD (INC and REF in jog mode)
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R1: Referencing
15.2 Axisspecific referencing
If the machine operator releases the direction key, the machine axis is decelerated to zero
speed. Reference point approach is not aborted. Reference point approach is continued the
next time the direction key is pressed.
Referencing status
The referencing status of the machine axis is reset with the start of the reference point
approach:
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
DB21, ... DBX36.2 (all axes with obligatory reference point are referenced)
Distance-coded measuring systems
In distance-coded measuring systems, reference point approach can be started with any
traversing key.
Sequence
The machine operator or machine manufacturer (via the PLC user program) is responsible for
ensuring that the machine axes are referenced in the proper order.
Machine operator
The machine axes must be started by the machine operator in the specified order.
Machine manufacturer
The PLC user program of the machine manufacturer allows machine axes to be started
only in the proper order.
Simultaneous reference point approach of several machine axes
Several machine axes can be referenced simultaneously, depending on the control:
Completion of reference point approach
Acknowledgment that reference point approach of a machine axis has been successfully
completed is given by setting the referencing status:
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
Cancellation of reference point approach
In axis-specific reference point approach, the machine axis is traversed in the channel that
was assigned as the master channel of the machine axis.
MD30550 $MA_ AXCONF_ASSIGN_MASTER_CHAN
For aborting the reference point approach, either mode group reset or channel reset for the
master channel of the machine axis must be activated:
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R1: Referencing
15.3 Channelspecific referencing
DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX7.7 (channel reset)
All machine axes that have not yet successfully completed reference point approach when the
action is cancelled remain in status "Not referenced":
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
15.3
Channelspecific referencing
For channel-specific referencing, all machine axes of the channel are referenced in the
parameterized sequence when reference point approach is initiated.
Selecting mode and machine function
Before starting the reference point approach of the machine axes, the associated mode group
must be switched into the JOG or MDI operating mode:
DB11, ... DBX0.2 (active JOG mode)
DB11, ... DBX0.1 (active MDI mode)
Then machine function REF (reference point approach) must be selected:
DB11, ... DBX1.2 (REF machine function)
Parameterizing the axis sequence
The following machine data element is used to specify the sequence in which the machine
axes of the channel are referenced:
MD34110 $MA_REFP_CYCLE_NR = <number>
<number>
Meaning
-1
The machine axis does not have to be referenced for NC START in the channel.
The machine axis does not participate in channel-specific reference point approach.
1 - 15
Sequence number in channel-specific reference point approach.
The machine axes are referenced in ascending order of numbers.
Machine axes with the same number will be referenced simultaneously.
Simultaneous reference point approach of several machine axes
Several machine axes can be referenced simultaneously, depending on the control:
Start of reference point approach
Channel-specific reference point approach is started with:
DB21, ... DBX1.0 (activate referencing)
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R1: Referencing
15.4 Reference point appraoch from part program (G74)
The status of channel-specific reference point approach is indicated by the channel with:
DB21, ... DBX33.0 (activate referencing)
Referencing status
The referencing status of the machine axis is reset with the start of the reference point
approach:
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
Completion of reference point approach
As soon as channel-specific reference approach has been successfully completed for all
machine axes involved, this is acknowleged with:
DB21, ... DBX36.2 (all axes with obligatory reference point are referenced)
Cancellation of reference point approach
In channel-specific reference point approach the machine axis is traversed in the channel to
which that axis is currently assigned as channel axis.
For aborting the reference point approach either mode group reset or channel reset for the
corresponding channel must be activated:
DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX7.7 (channel reset)
All machine axes for which the reference point approach is not yet successfully completed
when the action is cancelled remain in status "Not referenced":
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
15.4
Reference point appraoch from part program (G74)
Function
With command G74, machine axes can be referenced from a part program or synchronized
action either for the first time or again.
Referencing must be repeated, for example, after:
Actual value offset PRESETON
References: Programming Guide Advanced, section "Coordinate transformations
(Frames)" > "Preset offset with PRESETON"
Parking a machine axis (Page 113)
Exceeding the encoder limit frequency of the position measuring system
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R1: Referencing
15.5 Referencing with incremental measurement systems
Programming
Syntax
G74 <machine axis> {<machine axis>}
Meaning
G74:
<machine
axis>:
Command for referencing machine axes
Alone in the
block:
Yes
Effective
ness:
Non-modal
The name of a machine axis must be specified (MD10000 $MN_AXCONF_MA
CHAX_NAME_TAB).
The machine axis must be a channel axis of the channel in which the part program
or the synchronized action is executed.
Reset response
Mode group reset or channel reset aborts the reference point approach for all programmed
machine axes:
DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX7.7 (channel reset)
All machine axes for which the reference point approach is not yet successfully completed
when the action is canceled remain in status "Not referenced":
DB31, ... DBX60.4 (referenced/synchronized 1) == 0
DB31, ... DBX60.5 (referenced/synchronized 2) == 0
15.5
Referencing with incremental measurement systems
15.5.1
Hardware signals
Depending on the machine design and the properties of the incremental measuring system
used, different hardware signals must be connected.
Reference cam
Connection
The reference cam signal can be connected to a digital input of an external PLC I/O module
or to a fast input on the NCU X142 interface.
NC/PLC interface signal
The reference cam signal must be transferred from the PLC user program to the axial NC/
PLC interface:
DB31, ... DBX12.7 (deceleration of reference point approach)
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R1: Referencing
15.5 Referencing with incremental measurement systems
Zero mark selection
If during the reference point approach of the axis or spindle several zero marks of the
measuring system are detected (e.g. measuring gear between the motor and encoder), then
the specific zero mark must be selected with an additional BERO signal.
Connection
The BERO must be connected to a fast digital input on the NCU X122 or X132 interface.
Activation
In order that the BERO signal is evaluated, the digital input to which the BERO is connected
must be selected in drive parameter p0493 for the axis/spindle.
Equivalent zero mark
If the used measuring system does not provide a zero mark signal, an equivalent zero mark
can be created via a BERO signal.
Connection
The BERO must be connected to a fast digital input on the NCU X122 or X132 interface.
Activation
In order that the BERO signal is evaluated, the digital input to which the BERO is connected
must be selected in drive parameter p0494 or p0495 for the axis/spindle.
Overview
Signal
Connection: Dig. input via
Set
Reference cam
Ext. PLC I/O module or NCU:
X142
PLC user program:
DB31, ... DBX12.7
Zero mark selection
NCU: X122 or X132
Drive parameter: p0493
External zero mark or equivalent
zero mark
NCU: X122 or X132
Drive parameter: p0494 or p0495
References
NCU interfaces: SINUMERIK 840D sl Manual, NCU7x0.3 PN,
Section "Connecting" > "Digital I/Os"
Drive parameters: SINAMICS S120/S150 List Manual
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R1: Referencing
15.5 Referencing with incremental measurement systems
15.5.2
Zero mark selection with BERO
Function
Referencing of incremental measuring systems is based on the unique position of the encoder
zero mark relative to the overall traversing range of the machine axis. If because of machinespecific conditions, several encoder zero marks are detected in the traversing range of the
machine axis (for examples, see figure below), a BERO must be mounted on the machine for
clear determination of the reference point. The position of the reference point is then derived
from the combination of BERO signal and encoder zero mark.
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Measuring gear between the motor and encoder or reduction gear between the motor and
spindle
Parameterization
NC: Referencing mode
"Referencing of incremental, rotary or linear measuring systems: Zero pulse on the encoder
track" should be parameterized as referencing mode:
MD34200 $MA_ENC_REFP_MODE[<axis>] = 1
Drive: Zero mark selection
The digital input on the NCU interface to which the BERO is connected must be set in
parameter p0493.
Note
BERO signal: Zero mark selection
The processing of the BERO signal is performed exclusively in the drive. Connection and
parameterization, see Section "Hardware signals (Page 1154)".
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R1: Referencing
15.5 Referencing with incremental measurement systems
15.5.3
Time sequence
Reference point approach with incremental measuring systems can be divided into three
phases:
Phase 1: "Phase 1: Traversing to the reference cam (Page 1158)"
Phase 2: "Phase 2: Synchronization with the zero mark (Page 1160)"
Phase 3: "Phase 3: Traversing to the reference point (Page 1165)"
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R1: Referencing
15.5 Referencing with incremental measurement systems
15.5.4
Phase 1: Traversing to the reference cam
Phase 1: Graphic representation
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Phase 1: Traversing to the reference cam
Phase 1: Start
To start the reference point approach, see Sections "Axisspecific referencing (Page 1150)"
and "Axisspecific referencing (Page 1150)".
Phase 1: Sequence
In Phase 1, depending on the position of the machine axis with reference to the reference cam,
we distinguish between three cases:
1. The machine axis is positioned before the reference cam
2. The machine axis is positioned on the reference cam
3. The machine axis has no reference cam
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R1: Referencing
15.5 Referencing with incremental measurement systems
Case 1: The machine axis is positioned before the reference cam
After the start of reference point approach, the machine axis is accelerated in the
parameterized direction and to the parameterized reference point approach velocity :
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (approach reference point in minus
direction)
MD34020 $MA_REFP_VELO_SEARCH_CAM (reference point approach velocity)
The reaching of the reference cam must detected by querying a digital input in the PLC user
program and communicated to the NC via the following interface signal:
DB31, ... DBX12.7 = 1 (reference point approach deceleration)
With detection of the NC/PLC interface signal, the machine axis is decelerated to zero speed.
Whereby at least the distance smin is traversed. This ensures that the machine axis leaves the
reference cam in Phase 2 with the parameterized reference point creep velocity.
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Case 2: The machine axis is positioned on the reference cam
The machine axis remains at its starting position.
Phase 1 is now complete. Reference point approach is continued with Phase 2.
Case 3: The machine axis has no reference cam
Machine axes without reference cams remain at their starting position.
These include, for example:
Machine axes that only have one zero mark along their entire traversing range
Rotary axes that only have one zero mark per revolution
Zero must be entered in the following machine data for machine axes without a reference cam:
MD34000 $MA_REFP_CAM_IS_ACTIVE = 0 (axis with reference cam)
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R1: Referencing
15.5 Referencing with incremental measurement systems
Phase 1 is now complete. Reference point approach is continued with Phase 2.
Phase 1: Properties
Feed override active.
Feed stop (channel-specific and axis-specific) is active.
NC stop and NC start are active.
The machine axis is stopped if the reference cam is not reached within the parameterized
maximum distance:
MD34030 $MA_REFP_MAX_CAM_DIST (max. distance to the reference cam)
See also
Channelspecific referencing (Page 1152)
15.5.5
Phase 2: Synchronization with the zero mark
Phase 2: Graphic representation
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1160
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R1: Referencing
15.5 Referencing with incremental measurement systems
Phase 2: Start
Phase 2 is automatically started when Phase 1 has been completed without an alarm.
Initial situation:
The machine axis is positioned on the reference cam.
Zero mark search direction:
The direction of the zero mark search results from the settings in the machine data:
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (reference point approach in minus direction)
MD34050 $MA_REFP_SEARCH_MARKER_REVERSE (direction reversal on reference
cam)
Phase 2: Sequence
The synchronization in Phase 2 can be performed via the falling or rising edge of the reference
cam. The parameterization is performed via:
MD34050 $MA_REFP_SEARCH_MARKER_REVERSE[<axis>] = <value>
Value
Meaning
Synchronization with falling reference cam edge
Synchronization with rising reference cam edge
Note
If the actual velocity of the machine axis at approach of the reference cam has not yet reached
the target velocity of Phase 2 within the parameterized tolerance limits, Phase 1 will be
restarted. This will be the case, for example, if the machine axis is positioned on the reference
cam when reference point approach is started.
MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance)
Case 1: Synchronization with falling reference cam edge
During synchronization with falling reference cam edge, the machine axis accelerates to the
parameterized reference point creep velocity opposite to the parameterized reference point
approach direction (traversing direction of Phase 1)
After leaving the reference cam, the machine axis waits for the next encoder zero mark:
DB31, ... DBX12.7 == 0
As soon as the encoder zero mark is detected, Phase 2 comes to an end. The machine axis
continues at constant velocity and reference point approach is continued with Phase 3.
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
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15.5 Referencing with incremental measurement systems
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Synchronization with falling reference cam edge
Case 2: Synchronization with rising reference cam edge
During synchronization with rising reference cam signal edge, the machine axis accelerates
to the parameterized reference point approach velocity against the parameterized reference
point approach direction (traversing direction of the Phase 1):
MD34020 $MA_REFP_VELO_SEARCH_CAM (reference point approach velocity)
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (reference point approach in minus direction)
After leaving the reference cam, the machine axis decelerated to standstill:
DB31, ... DBX12.7 == 0
The machine axis then travels back to the reference cam at the parameterized reference point
creep velocity:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
After reaching the reference cam (DB31, ... DBX12.7 = 1), the machine axis waits for the next
encoder zero mark.
As soon as the encoder zero mark is detected, Phase 2 comes to an end. The machine axis
continues at constant velocity and reference point approach is continued with Phase 3.
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Synchronization with rising reference cam edge
Electronic reference cam shift
The electronic reference cam shift is used to compensate for expansions of the reference cam
caused by temperature so that synchronization is always to the same encoder zero mark:
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15.5 Referencing with incremental measurement systems
MD34092 $MA_ REFP_CAM_SHIFT (electronic reference cam shift for incremental measuring
systems with equidistant zero marks)
With the electronic reference cam shift, synchronization is not performed immediately to the
next encoder zero mark after detection of the reference cam edge, but only after the
parameterized offset distance has been traversed.
Due to the determination of the distance traversed in the interpolator clock cycle since the
detection of the reference cam edge, the effective shift distance is sshift:
sshift_min =
sshift_max =
MD34092 $MA_ REFP_CAM_SHIFT
MD34092 $MA_ REFP_CAM_SHIFT +
MD34040 $MA_REFP_VELO_SEARCH_MARKER * interpolator clock cycle
The electronic reference cam shift acts in the direction of zero mark search.
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Figure 15-8
Electronic reference cam shift
Requirement
The electronic reference cam shift is only active for machine axes with reference cam:
MD34000 $MA_REFP_CAM_IS_ACTIVE == 1
Reference cam adjustment
Encoder with equidistant zero marks
Always ensure that the reference cam of encoders that supply zero marks at equidistances is
accurately adjusted so that the correct zero mark is always detected during reference point
approach.
Dynamic response
The following factors influence the dynamic response from the arrival of the reference cam to
the machine up to the detection of reference cam signals transferred from the PLC user
program to the NC:
Switching accuracy of the reference cam switch
Delay of the reference cam switch (NC contact)
Delay at the PLC input
PLC cycle time
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15.5 Referencing with incremental measurement systems
Cycle time for updating the NC/PLC interface
Interpolator clock cycle
Position control cycle
Notes on setting
Reference cam
Aligning the signal edge of the reference cam directly between two zero marks has proven
to be the most practical method.
Electronic reference cam shift
WARNING
Risk of collision
If the reference cam adjustment is faulty or inaccurate, an incorrect zero mark can be
evaluated. The controller then calculates an incorrect machine zero. As a result, the
machine axis will approach the wrong positions. Software limit switches, protected areas
and working area limitations act on incorrect positions and are therefore incapable of
protecting the machine. The path difference is +/- of the path covered by the machine axis
between two zero marks.
Information needed for parameterizing the electronic reference cam shift is to be found in
the read-only machine data:
MD34093 $MA_REFP_CAM_MARKER_DIST (distance between reference cam/reference
mark)
The indicated value is equivalent to the distance between departure from the reference
cam and detection of the reference mark. If the values are too small, there is a risk that the
determination of the reference point will be non-deterministic, due to temperature effects
or fluctuations in the operating time of the cam signal.
Phase 2: Properties
Feedrate override is not active.
Machine axis moves internally when feedrate override = 100%.
If a feedrate override of 0% is specified, an abort occurs.
Feed stop (channel-specific and axis-specific) is active.
NC stop and NC start are not active.
If the machine axis does not arrive at Phase 2 within the parameterized distance of the
reference mark (encoder zero mark), the machine axis will be stopped:
MD34060 $MA_REFP_MAX_ MARKER_DIST (max. distance to the reference mark)
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15.5 Referencing with incremental measurement systems
15.5.6
Phase 3: Traversing to the reference point
Phase 3: Graphic representation
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Phase 3: Traversing to the reference point
Phase 3: Start
At the end of Phase 2 the machine axis travels at reference point creep velocity. Therefore,
as soon as Phase 2 is completed successfully without an alarm, Phase 3 is started without
interruption.
Initial situation
The encoder zero mark has been detected.
Phase 3: Sequence
The machine axis moves at the assigned reference point positioning velocity:
MD34070 $MA_REFP_VELO_POS (reference point positioning velocity)
from the encoder zero mark detected in Phase 2 to the reference point.
The path sref to be covered is calculated from the sum of the reference point distance plus
reference point offset:
MD34080 $MA_REFP_MOVE_DIST (reference point distance)
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)
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15.5 Referencing with incremental measurement systems
Velocity
MD34020 $MA_ REFP_VELO_SEARCH_CAM
(reference point approach velocity)
MD34070 $MA_REFP_VELO_POS
(reference point positioning velocity)
MD34040 $MA_REFP_VELO_SEARCH_MARKER
(reference point creep velocity)
Distance
MD34080 $MA_REFP_MOV_DIST +
MD34090 $MA_REFP_MOVE_DIST_CORR
Zero mark
Reference cam
MD34100 $MA_REFP_SET_POS [0 ... 3]
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Figure 15-10 Reference point position
When the reference point is reached, the machine axis is stopped and the actual-value system
is synchronized with the reference point value n specified by the NC/PLC interface.
MD34100 $MA_ REFP_SET_POS[<n>] (reference point value)
The selection of the reference point value is performed via the NC/PLC interface:
DB31, ... DBX2.4 ... 7 (reference point value 1 ... 4)
The actual-value system is synchronized to the reference point value that was selected at the
time the reference cam was reached in Phase 1 (DB31, ... DBX12.7 == 1).
The machine axis is now referenced. The interface signal is set as feedback to the PLC user
program, depending on the active measuring system:
DB31, ... DBX60.4/5 (referenced/synchronized 1/2) = 1
Features of Phase 3
Feed override active.
Feed stop (channel-specific and axis-specific) is active.
NC stop and NC start are active.
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15.6 Referencing with distance-coded reference marks
Special feature of Phase 3
In the following cases, the machine axis stops first after detection of the zero mark and then
traverses back to the reference point:
Because of the reference point positioning velocity, the sum of reference point distance
and reference point offset is less than the required braking distance:
MD34080 + MD34090 < "required braking distance due to MD34070"
The reference point is located, opposite to the current travel direction, "behind" the
reference cam.
Velocity
MD34100 $MA_REFP_SET_POS [0 ... 3]
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(reference point approach velocity)
MD34040 $MA_REFP_VELO_SEARCH_MARKER
(reference point creep velocity)
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Figure 15-11 Reference point distance plus reference point offset less than braking distance
15.6
Referencing with distance-coded reference marks
15.6.1
General overview
Distancecoded reference marks
Measuring systems with distance-coded reference marks consist of two parallel scale tracks:
Incremental grating
Reference mark track
The distance between any two consecutive reference marks is defined. This makes it possible
to determine the absolute position of the machine axis when two consecutive reference marks
are crossed. For example, if the distance between the reference marks is approx. 10 mm, a
traverse path of approx. 20 mm is all that is required to reference the machine axis.
Referencing can be performed from any axis position in the positive or negative direction
(exception: end of travel range).
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15.6 Referencing with distance-coded reference marks
15.6.2
Basic parameter assignment
Linear measuring systems.
The following data must be set to parameterize linear measuring systems:
The absolute offset between the machine zero point and the position of the first reference
mark of the linear measuring system:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point/absolute offset)
See also below: Determining the absolute offset
Orientation of the length measuring system (equidirectional or inverse) relative to the
machine system coordinate system:
MD34320 $MA_ENC_INVERS (length measuring system inverse to the machine system)
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Figure 15-12 DIADUR graduated glass scale with distance-coded reference marks
(dimensions in mm for 20 mm scale division)
Rotary measuring system
For rotary measuring systems, the same applies as for linear measuring systems (see above).
Determining the absolute offset
The following procedure is recommended for the determination of the absolute offset between
the machine zero point and the position of the first reference mark of a machine axis:
1. Enter the value zero for the absolute offset:
MD34090 $MA_REFP_MOVE_DIST_CORR = 0
2. Perform reference point approach.
Note:Reference point approach should be performed at a point in the machine where the
exact position of the machine axis relative to machine zero can be determined easily with
a laser interferometer, for example.
3. Determine the actual position of the machine axis via the operator interface screen.
4. Measure the current position of the machine axis with reference to the machine zero point.
5. Calculate absolute offset and enter in MD34090.
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15.6 Referencing with distance-coded reference marks
The absolute offset is calculated with respect to the machine coordinate system and depending
on the orientation of the measuring system (equidirectional or inverse) as:
Orientation of the measuring system
Absolute offset
Equidirectional
Measured position + displayed actual position
Opposite direction
Measured position - displayed actual position
WARNING
Reference point deviation
After determining the absolute offset and the entry in MD34090, the reference point traversing
for the machine axis must be carried out once more.
Referencing methods
Referencing with distance-coded reference marks can be performed in one of two ways:
Evaluation of two consecutive reference marks:
MD34200 $MA_ENC_REFP_MODE (referencing mode) = 3
Advantage:
Short travel path
Evaluation of four consecutive reference marks:
MD34200 $MA_ENC_REFP_MODE = 8
Advantage:
Plausibility check by NC is possible
Increase in reliability of referencing result
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15.6 Referencing with distance-coded reference marks
15.6.3
Time sequence
Time sequence
Referencing with distance-coded reference marks can be divided into two phases:
Phase 1: Travel across the reference marks with synchronization
Phase 2: Travel to a fixed destination point
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15.6.4
Phase 1: Travel across the reference marks with synchronization
Phase 1: Start
To start the reference point approach, see Sections "Axisspecific referencing (Page 1150)"
and "Channelspecific referencing (Page 1152)".
Reference cam
In measuring systems with distance-coded reference marks, reference cams are not required
for the actual referencing action. For functional reasons, however, a reference cam is required
for channel-specific reference point approach and reference point approach from the part
program (G74) before the traversing range end of the machine axis.
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15.6 Referencing with distance-coded reference marks
Phase 1: Sequence
Sequence without contact witha reference cam
Once the reference point approaching process is started, the machine axis accelerates to the
reference point shutdown speed set by means of parameter assignment:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
Once the number of reference marks set by means of parameter assignment has been
crossed, the machine axis is stopped again and the actual value system of the machine axis
is synchronized to the absolute position calculated by the NC.
Sequence when starting from the reference cam
If the machine axis is at the reference cam at the start of the reference point traversing, it
accelerates to the parameterized reference point creep velocity against the parameterized
reference point approach direction:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
MD34010 $MA_CAM_DIR_IS_MINUS (reference point approach in minus direction)
That ensures that the machine axis does not reach the travel range limit before it has crossed
the parameterized number of reference marks.
Once the number of reference marks set by means of parameter assignment has been
crossed, the machine axis is stopped again and the actual value system of the machine axis
is synchronized to the absolute position calculated by the NC.
Sequence when contact is made with reference cam during referencing
Once the reference point approaching process is started, the machine axis accelerates to the
reference point shutdown speed set by means of parameter assignment:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity)
Before the machine axis travels over the parameterized number of reference marks, it makes
contact with the reference cam. It is then reversed and reference mark search is restarted in
the opposite direction.
Once the number of reference marks set by means of parameter assignment has been
crossed, the machine axis is stopped again and the actual value system of the machine axis
is synchronized to the absolute position calculated by the NC.
Plausiblity check of the reference mark distance
An error occurs if, during reference point traversing for two subsequent reference marks, the
NC determines a distance greater than twice the parameterized reference mark distance.
MD34300 $MA_ENC_REFP_MARKER_DIST (reference mark distance)
The machine axis will then traverse in opposite direction at half the parameterized reference
point creep velocity (MD34040) and the search for reference mark is restarted.
If a faulty reference mark distance is detected again, the machine axis is stopped and the
reference point traversing is aborted (alarm 20003 "fault in the measuring system").
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15.6 Referencing with distance-coded reference marks
Abort criterion
If the parameterized number of reference marks is not detected within the parameterized
distance, the machine axis is stopped and reference point traversing is aborted.
MD34060 $MA_REFP_MAX_ MARKER_DIST (max. distance to the reference mark)
Features of Phase 1
After Phase 1 is successfully completed, the actual value system of the machine axis is
synchronized.
15.6.5
Phase 2: Traversing to the target point
Phase 2: Start
Phase 2 is automatically started when Phase 1 has been completed without an alarm.
Initial situation:
The machine axis is positioned directly behind the last of the parameterized number of
reference marks.
The actual value system of the machine axis is synchronized.
Phase 2: Sequence
In Phase 2, the machine axis completes reference point approach by traversing to a defined
target position (reference point). This action can be suppressed in order to shorten the
reference point approach:
MD34330 $MA_STOP_AT_ABS_MARKER = <value>
Value
Meaning
Travel to target position
No travel to target position
Travel to target position (normal case)
The machine axis accelerates to the parameterized reference point position velocity and
travels to the parameterized target point (reference point):
MD34070 $MA_REFP_VELO_POS (reference point positioning velocity)
MD34100 $MA_REFP_SET_POS (reference point value)
The machine axis is referenced. To identify this, the NC sets an interface signal for the
measuring system that is currently active:
DB31, ... DBX60.4/60.5 (referenced/synchronized 1/2) = 1
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15.6 Referencing with distance-coded reference marks
No travel to target position
The machine axis is now referenced. To identify this, the NC sets an interface signal for the
measuring system that is currently active:
DB31, ... DBX60.4/60.5 (referenced/synchronized 1/2) = 1
Features of Phase 2
Phase 2 will display different characteristics, depending on whether a reference cam is
parameterized for the machine axis.
Machine axis without reference cam
MD34000 $MA_REFP_CAM_IS_ACTIVE (axis with reference cam) = 0
Properties:
Feed override active.
The feed stop (channel-specific and axis-specific) is active.
NC stop and NC start are active.
Machine axis with reference cam
MD34000 $MA_REFP_CAM_IS_ACTIVE (axis with reference cam) = 1
Properties:
Feedrate override is not active.
Machine axis moves internally when feedrate override = 100%.
If a feedrate override of 0% is specified, an abort occurs.
The feed stop (channel-specific and axis-specific) is active.
NC stop and NC start are not active.
If the parameterized number of reference marks is not detected within the parameterized
distance after the exit of the reference cam, the machine axis will be stopped.
MD34060 $MA_REFP_MAX_ MARKER_DIST (max. distance to the reference mark)
Special features of rotary measuring systems
On rotary distance-coded measuring systems, the absolute position can only be determined
uniquely within one revolution. Depending on the mechanical mounting of the encoder, the
overtravel of the absolute position in the hardware does not always coincide with the traversing
range of the rotary axis.
Special features of modulo rotary axes
With module rotary axes, the reference point position is mapped on the parameterized modulo
range:
MD30330 $MA_MODULO_RANGE (size of the modulo range)
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15.7 Referencing by means of actual value adjustment
MD30340 $MA_MODULO_RANGE_START (start position of the modulo range)
Note
The reference point position is mapped onto the assigned (ghost) modulo range even with axis
function "Determination of reference point position rotary, distance-coded encoder within the
configured modulo range":
MD30455 $MA_MISC_FUNCTION_MASK (axis functions), BIT1 = 1
15.7
Referencing by means of actual value adjustment
15.7.1
Actual value adjustment to the referencing measurement system
Function
When actual value adjustment to the referencing measuring system is performed, the resulting
absolute actual position after successful referencing of the measuring system of a machine
axis is transferred directly to all other measuring systems of the machine axis, and the machine
axis is designated as referenced:
DB31, ... DBB60.4 / 60.5 (referenced/synchronized 1/2) = 1
Advantage
When the machine axis switches from an explicitly referenced measuring system to the
measuring system referenced by actual value adjustment, continuous servo control is assured
(servo enable active) because the matched actual position prevents a sudden change in actual
value.
Note
In order to improve positioning precision by determining the measuring-system-specific
encoder fine information, we recommend explicitly re-referencing the measuring system
previously referenced by actual value adjustment after switching over.
Activation
The activation of the actual value adjustment to the referencing measuring system is machinespecifically carried out via:
MD34102 $MA_REFP_SYNC_ENCS = 1
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15.7 Referencing by means of actual value adjustment
15.7.2
Actual value adjustment for measuring systems with distance-coded reference
marks
Function
In order to improve positioning precision by determining the measuring-system-specific
encoder fine information, we recommend explicitly re-referencing the measuring system
previously referenced by actual value adjustment after switching over the measuring system.
If an encoder with distance-coded reference marks is used for the passive measuring system,
referencing can be avoided if the following conditions are met:
1. Active measuring system: indirect measuring system (motor measuring system) with
absolute encoder, for example
2. Passive measuring system: Direct measuring system with distancecoded reference marks
3. Travel movement of the machine axis with the referenced indirect measuring system before
measuring system switchover in which the number of reference marks required for
referencing are crossed. This automatically references the passive direct measuring
system.
Parameterization
In addition to the specific machine data required to reference the individual measuring systems,
the following machine data must be set:
Enable actual value adjustment:
MD34102 $MA_REFP_SYNC_ENCS = 1
Direct measuring system with distancecoded reference marks:
MD34200 $MA_ENC_REFP_MODE[measuring system] = 3
Distancecoded reference marks
MD30242 $MA_ENC_IS_INDEPENDENT[measuring system] = 2
During actual value adjustment, the passive direct measuring system is adjusted to the
actual position of the active indirect measuring system, but is not marked as referenced.
After the parameterized number of reference marks have been crossed, the passive
direct measuring system is automatically referenced. Referencing is performed in every
operating mode.
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15.8 Referencing in follow-up mode
Sequence
1. Initial situation: Neither of the measuring systems are referenced:
DB31, ... DBX60.4 = 0 (referenced / synchronized 1)
DB31, ... DBX60.5 = 0 (referenced / synchronized 2)
2. Reference the indirect measuring system according to the measuring system type:
DB31, ... DBX60.4 = 1 (referenced / synchronized 1)
DB31, ... DBX60.5 = 0 (referenced / synchronized 2)
3. Traverse the machine axis across the parameterized number of reference marks.
This automatically references the direct measuring system:
DB31, ... DBX60.4 = 1 (referenced / synchronized 1)
DB31, ... DBX60.5 = 1 (referenced / synchronized 2)
15.8
Referencing in follow-up mode
Function
Incremental measuring systems and measuring systems with distance-coded reference marks
can be referenced even when the machine axis is in follow-up mode. Prerequisite for this is
the correct parameterization of the reference point approach according to the used measuring
system (see Section "Referencing with incremental measurement systems (Page 1154)" and
"Referencing with distance-coded reference marks (Page 1167)").
When referencing in follow-up mode the machine axis is moved not by the NC but by means
of an external travel motion over the encoder zero mark and the parameterized number of
distance-coded reference marks. The measuring system is referenced when the encoder zero
mark or parameterized number of distance-coded reference marks are detected.
Note
Reproducibility of the referencing result
In NC-guided reference point approach, reproducibility of the referencing result is ensured
through adherence to the assigned traverse velocities during the referencing operation. During
referencing in follow-up mode, responsibility for achieving reproducibility of the referencing
results lies with the machine manufacturer / user.
Unique zero mark
Referencing of an incremental measuring system is based on the explicit position of the
encoder zero mark relative to the overall traversing range of the machine axis.
Because the reference cam signal is not evaluated by the NC during referencing in follow-up
mode, unique identification of the reference point when referencing in follow-up mode will only
result with:
Only one encoder zero mark in the traversing range of the machine axis.
Linear measuring systems with distance-coded reference marks.
Modulo rotary axes (absolute position within one revolution).
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15.8 Referencing in follow-up mode
Zero mark selection when several zero mark signals occur
If several encoder zero marks are detected in the traversing range of the machine axis due to
machine-specific factors, e.g. reduction gear between encoder and load, a BERO must be
mounted on the machine and connected via a digital input of the NCU interface in order to
clearly determine the reference point.
Note
BERO signal: Zero mark selection
The processing of the BERO signal is performed exclusively in the drive. Connection and
parameterization, see Section "Hardware signals (Page 1154)".
Enable
The "Referencing in follow-up mode" function is enabled with:
MD34104 $MA_REFP_PERMITTED_IN_FOLLOWUP = TRUE
Starting the referencing operation
If the machine axis is in follow-up mode (DB31, ... DBX61.3 == TRUE) at the start of reference
point approach, the measuring system is referenced in follow-up mode.
If the machine axis is not operating in the follow-up mode at the start of reference point
traversing, the "normal" from the NC-controlled reference point travels is carried out.
Referencing in follow-up mode can be started in the following modes:
JOG-REF: Traversing keys
AUTOMATIC: Part program command G74
Sequence of the referencing operation (JOG-REF mode)
1. Activate follow-up mode of machine axis:
DB31, ... DBX1.4 (follow-up mode) = 0
DB31, ... DBX2.1 (controller enable) = 0
2. Take into account activation of follow-up mode:
DB31, ... DBX61.3 (follow-up active) = 1
3. Switch to JOG-REF mode.
4. External motion of machine axis across encoder zero mark or parameterized number of
distance-coded reference marks. The referencing operation is started internally in the NC
as soon as the machine axis is moved:
DB31, ... DBX61.4 (axis/spindle stationary) = 0
5. The measuring system is referenced after the encoder zero mark or the assigned number
of distance-coded reference marks have been successfully detected:
DB31, ... DBX60.4/60.5 (referenced/synchronized 1/2) = 1
Aborting the reference operation
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15.8 Referencing in follow-up mode
An active referencing operation can be aborted by:
Deselecting follow-up mode
NCK Reset
Response when measuring systems are already referenced
A measuring system that has already been referenced can only be re-referenced in
AUTOMATIC mode using part program statement G74.
Sequence of referencing operation (AUTOMATIC mode)
1. Switch to AUTOMATIC mode.
2. Start the part program.
3. Activate follow-up mode of machine axis:
DB31, ... DBX1.4 (follow-up mode) = 0
DB31, ... DBX2.1 (controller enable) = 0
4. Take into account activation of follow-up mode:
DB31, ... DBX61.3 (follow-up active) = 1
5. The referencing operation is started internally in the NC as soon as part program statement
G74 is processed.
6. External motion of machine axis across encoder zero mark or parameterized number of
distance-coded reference marks.
7. The measuring system is referenced after the encoder zero mark or the assigned number
of distance-coded reference marks have been successfully detected:
DB31, ... DBX60.4/60.5 (referenced/synchronized 1/2) = 1
8. The block change occurs after the referencing operation has been successfully completed.
Aborting the reference operation
An active referencing operation can be aborted by:
Deselecting follow-up mode
NCK Reset
Response when measuring systems are already referenced
A measuring system that you have already referenced can be re-referenced.
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15.9 Referencing with absolute encoders
15.9
Referencing with absolute encoders
15.9.1
Information about the adjustment
Machine axes with absolute encoder
The advantage of machine axes with absolute encoder is that after a one time adjustment
procedure, the necessary reference point traversing with incremental measuring systems (e.g.
build-up of control, de-selection of "Parking" of machine axes etc.) can be skipped and the
actual value system of the machine axis can be immediately synchronized to the determined
absolute position.
Adjustment
Adjustment of an absolute encoder involves matching the actual value of the encoder with the
machine zero once and then setting it to valid.
The current adjustment status of an absolute encoder is displayed in the following axis-specific
machine data of the machine axis, to which it is connected:
MD34210 $MA_ENC_REFP_STATE (status of absolute encoder)
Value
Meaning
Encoder not calibrated
Encoder adjustment enabled
Encoder is calibrated
Adjustment methods
The following adjustment methods are supported:
Adjustment by entering a reference point offset
Adjustment by entering a reference point value
Automatic adjustment with probe
Adjustment with BERO
Readjustment
Readjustment of the absolute encoder is required after:
Gear change between load and absolute encoder
Removal/installation of the absolute encoder
Removal/installation of the motor with the absolute encoder
Data loss in the static NC memory
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Battery failure
Setting actual value (PRESETON)
WARNING
Data backup
During the back-up of machine data of a machine A, the encoder status of the machine
axis (MD34210) is also backed up.
During loading of this data record into a machine B of the same type, e.g. in the context
of a serial start-up or after a case of maintenance, the referenced machine axes will be
automatically regarded as adjusted / referenced by the NC. It is the special responsibility
of the machine manufacturer / user to undertake a readjustment in such cases.
See also explanations regarding machine data:
MD30250 $MA_ACT_POS_ABS (absolute encoder position at the time of switch-off)
Note
The controller can detect a required readjustment of the absolute encoder only during the
following events:
Gear change with change of gear ratio
Addressing the zero-mark monitoring
New encoder serial number after change of the absolute encoder
The controller then sets the status of the absolute encoder to "0":
MD34210 $MA_ENC_REFP_STATE = 0 (encoder not adjusted)
The following alarm is displayed:
Alarm 25022 "Axis <axis name> encoder <number> warning 0"
If the zero-mark monitoring responds, the following alarm is also displayed:
Alarm 25020 "Axis <axis name> zero-mark monitoring of active encoder"
In all other cases (e.g. PRESETON) it is the sole responsibility of the user to display the
misalignment of the absolute encoder by manually setting the status to "0" and to carry out
a readjustment.
15.9.2
Calibration by entering a reference point offset
Function
During adjustment by entering the reference point offset, the difference between the position
displayed on the operator interface and the true actual position in the machine is determined
and made known to the NC as reference point offset.
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Procedure
1. Determining the position of the machine axis with reference to the machine zero point via
e.g.:
position measurement (e.g. laser interferometer)
Moving the machine axis to a known position (e.g., fixed stop)
2. Reading the displayed actual position of the machine axis on the operator interface.
3. Calculating the reference point offset (difference between the actual positions determined
under point 1 and 2) and entering in machine data:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)
4. Marking the absolute value encoder as adjusted:
MD34210 $MA_ENC_REFP_STATE = 2
Note
The encoder adjustment does not become active until the next time the encoder is activated
(e.g., when the controller is powered up).
5. Initiate POWER ON reset.
6. Controlling the position of the machine axis displayed on the operator interface.
Note
Backlash compensation
If backlash compensation is parameterized for a measuring system with absolute value
encoder, the following must be observed:
No backlash is permitted during machine axis travel to the adjusted machine position.
Activate reference point offset permanently
The entered reference point offset (MD34090) will be permanently active only after initial
POWER ON - Reset. If the machine axis is moved after the absolute encoder adjustment
without an interim POWER ON - Reset, the reference point offset entered in the machine
data can be overwritten, for example, as part of internal overrun offset.
Checking the actual position
Following adjustment of the absolute encoder, we recommend that you verify the actual
position of the machine axis the next time you power up the controller (POWER ON).
15.9.3
Adjustment by entering a reference point value
Function
During adjustment by entering the reference point value, the absolute position of the machine
axis with reference to the machine zero point is determined by e.g.:
Position measurement (e.g. laser interferometer)
Moving the machine axis to a known position (e.g. fixed stop)
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This determined position value will be made known to the NC as the reference point value.
The NC then calculates the reference point offset from the difference between the encoder
absolute value and the reference point value.
Procedure
1. Check whether the referencing mode is set to "Assume the reference point value":
MD34200 $MA_ENC_REFP_MODE == 0
If not, enter the value 0 in the machine and trigger a Power On reset.
2. Traverse the machine axis in JOG mode to the position to be measured (e.g. with a laser
interferometer) or to a known position (e.g. fixed stop).
Note
The machine axis can only be traversed in the direction enabled for referencing with the
travel keys:
MD34010 $MA_REFP_CAM_DIR_IS_MINUS (approach reference point in minus direction)
To avoid an invalid position because of backlash in the drive train, the known position must
be approached at low velocity.
3. Enter the position of the machine axis relative to machine zero as the reference point value
in the machine data:
MD34100 $MA_REFP_SET_POS = Position
4. Enable encoder adjustment:
MD34210 $MA_ENC_REFP_STATE = 1
5. Trigger a Power On reset for acceptance of the entered machine data values.
6. Switch to JOG-REF mode.
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7. Operate the travel key used for referencing in step 2.
The machine axis does not move when the traversing key is actuated!
The NC calculates the reference point offset from the entered reference point value and
that given by the absolute encoder. The result is entered into the machine data:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)
The status of the absolute encoder is set to "Encoder is adjusted":
MD34210 $MA_ ENC_REFP_STATE = 2
The actual value system of the machine axis is synchronized.
The machine axis is now referenced. As identification, the NC sets the appropriate interface
signal based on which measuring system is currently active:
DB31, ... DBB60.4 / 60.5 (referenced/synchronized 1 / 2) = 1
8. Initiate Power On reset.
Note
Activate reference point offset permanently
The entered reference point offset (MD34090) will only be permanently active after Power
On reset.
If the machine axis is moved after the absolute encoder adjustment without an interim
Power On reset, the reference point offset entered in the machine data can be overwritten,
for example, within internal overrun corrections.
Checking the actual position
Following adjustment of the absolute encoder, we recommend that you verify the actual
position of the machine axis the next time you power up the controller (Power On).
15.9.4
Automatic calibration with probe
Function
In automatic adjustment with a probe, a known position in the machine is approached with the
machine axis from a part program. The position value is stored in the NC as a reference point
value. The position is reached when the probe switches, and the NC then calculates the
reference point offset from the difference between the encoder value and reference point value.
Note
Part program for automatic adjustment
The part program for automatic adjustment using a probe must be created by the machine
manufacturer / user for the specific requirements of the machine.
Freedom from collision
Because actual-value-related monitoring is not active for the machine axes being referenced,
the machine operator must take special care to ensure that collisions do not occur in the
machine while the machine axes are being moved!
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Part program
The part program for automatic adjustment of absolute encoders with probe must perform the
points listed below for each axis in the order indicated:
1. Approach the adjustment position of machine axis, which is detected from the probe
response.
The position must be approached several times from the same direction, but at a velocity
which is gradually reduced on each approach, to ensure that the measured value obtained
is as accurate as possible. The measured value is stored in system variable $AA_IM.
2. Calculating and writing the reference point offset:
0' 0$B5()3B029(B',67B&255 0'0$B5()3B6(7B326$$B,0
3. Set the absolute encoder status to "Encoder is adjusted":
MD34210 $MA_ ENC_REFP_STATE = 2
Sequence
Proceed as follows for automatic adjustment with probe:
1. Enable part program start even for non-referenced machine axes:
MD20700 $MC_REFP_NC_START_LOCK = 0
2. Enter the machine axis position relative to machine zero when probe is switched as the
reference point value for all relevant machine axes:
MD34100 $MA_REFP_SET_POS = reference point value
3. Activate NCK-Reset for the acceptance of the entered machine data values.
4. Start part program.
5. After completion of the part program, re-secure the partial program start for machine axes
which are not referenced:
MD20700 $MC_REFP_NC_START_LOCK = 1
6. Initiate POWER ON - Reset so that the reference point offset written by the part program
is permanently active:
MD34090 $MA_REFP_MOVE_DIST_CORR (reference point offset)
Note
Activate reference point offset permanently
The entered reference point offset (MD34090) will only be permanently active after
POWER ON - Reset.
If the machine axis is moved after the absolute encoder adjustment without an interim
POWER ON - Reset, the reference point offset entered in the machine data can be
overwritten, for example, as part of internal overrun offset.
Checking the actual position
Following adjustment of the absolute encoder, we recommend that you verify the actual
position of the machine axis the next time you power up the controller (POWER ON).
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15.9.5
Adjustment with BERO
Function
For adjustment using BERO, a reference point approach to a defined machine position is
performed the same as for incremental measuring systems. In this case the BERO replaces
the encoder zero mark that the absolute encoder does not have. After successful completion
of reference point approach, the NC automatically calculates the reference point offset from
the difference between the encoder absolute value and the parameterized reference point
value.
Parameterization
NC: Referencing mode
The referencing mode should be set to "Referencing of incremental, rotary or linear measuring
systems: Zero pulse on the encoder track":
MD34200 $MA_ENC_REFP_MODE[<axis>] = 1
NC: Reference point value
The reference point value is parameterized via:
MD34100 $MA_REFP_SET_POS[<axis>] = <reference point value>
Drive: Equivalent zero mark
The digital input on the NCU interface to which the BERO is connected must be set in
parameter p0494 or p0495.
Execution
Reference point approach can be started manually in JOG-REF mode or in AUTOMATIC or
MDA mode via a part program (G74).
After successful completion of the reference point approach, the absolute encoder is adjusted
and the actual-value system of the machine axis is synchronized.
As feedback for the PLC user program, the NC sets the NC/PLC interface signal for the
machine axis, depending on the active measuring system:
DB31, ... DBB60.4/60.5 (referenced/synchronized 1/2) = 1
Note
If the BERO is removed after adjustment of the absolute encoder, the referencing mode must
be re-parameterized to "Referencing with absolute encoder".
MD34200 $MA_ENC_REFP_MODE[<axis>] = 0
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15.9.6
Reference point approach with absolute encoders
Traversing movement release
If for a mchine axis with adjusted absolute value encoder as active measuring system,
reference point traversing is activated (manual in the mode JOG-REF or automatic according
to part program instruction G74), the machine axis travels depending on the parameterized
release traversing movement.
MD34330 $MA_REFP_STOP_AT_ABS_MARKER = <Value>
Value
Meaning
Traversing is enabled.
When reference point approach is initiated, the machine axis moves to the reference point
position. Reference point approach is completed when the reference point position is reached.
Traversing is not enabled.
After the activation of the reference point travel, the machine axis does not travel and the
reference point travel is immediately completed.
15.9.7
Reference point approach in rotary absolute encoders with external zero mark
Function
To be able to use the reference point approach with a zero mark, as is usual in incremental
encoders (refer to Section "Referencing with incremental measurement systems
(Page 1154)"), also with absolute encoders, the missing HW zero marks are created in software
form once every encoder revolution, always at the same position within the rotation.
Difference compared to referencing with incremental encoders
An absolute encoder with replacement zero mark should not be considerd as a complete
equivalent of an incremental encoder. All the properties of the absolute encoder are retained.
The following table lists the different properties of incremental and absolute encoders:
Table 15-1
Properties of incremental and absolute encoders
Property
Incremental encoder
Encoder type
Absolute encoder
MD30240 $MA_ENC_TYPE
=1
Internal encoder position
=4
MD30250 $MA_ACT_POS_ABS
Value is updated only in MD34210 1
Traversing range extension
No effect
Reference point offset
= 0 (default): Active
MD34090 $MA_REFP_MOVE_DIST_CORR
Value input allowed
1186
Value is updated only in MD30270 = 0
MD30270 $MA_ENC_ABS_BUFFERING
Value is updated exclusively via control
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15.9 Referencing with absolute encoders
Property
Incremental encoder
Absolute encoder
Supported referencing types
MD34200 $MA_ENC_REFP_MODE
= 1, 2, 3, 4, 5, 6, 7
Adjustment status
= 0, 1, 2
MD34210 $MA_ENC_REFP_STATE = 0, 1, 2
Automatic encoder misalignment during
shut down while in motion.
Absolute position modulo range
Automatic encoder misalignment during pa
rameter set change with position jump or dur
ing serial number change.
MD34220 $MA_ENC_ABS_TURNS_MODULO
=0
Encoder serial no.
= 1 - 4096
MD34230 $MA_ENC_SERIAL_NUMBER
Transfer of series startup files
=0
The value must be updated from the PLC
during each encoder change, otherwise loss
of adjustment plus alarm.
Without any restrictions.
Due to encoder properties
MD30250, MD30270, MD34090, MD34210,
MD34220, MD34230
only possible with limitations.
Activation time
0 seconds
several seconds
Zero mark
1 per encoder revolution
None
Zero-mark monitoring
Hardware
Software
Position after POWER ON without
actual value buffering
0.0
Last position within MD34220.
MD34210 = 0
MD30270 = 1
Position after POWER ON with ac Last standstill position before deactiva
tual value buffering
tion.
MD34210 = 1
Referenced after POWER ON
Last position including small movements dur
ing POWER OFF.
MD30270 = 0
depends on adjustment status
Requirement
The function can be used only with rotary absolute encoders:
MD31000 $MA_ENC_IS_LINEAR = 0
MD30240 $MA_ENC_TYPE = 4
Parameterization
reference point approach with zero marks:
MD34200 $MA_ENC_REFP_MODE = 1
A reference point offset should not be input in the following MD:
MD34090 $MA_REFP_MOVE_DIST_CORR
This MD describes, in connection with absolute encoders, the offset between machine and
absolute encoder zero, and it therefore has a different meaning.
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The load-side zero mark search rate MD34040 $MA_REFP_VELO_SEARCH_MARKER
should not exceed the limiting frequency of the absolute trace of the encoder
MD36302 $MA_ENC_FREQ_LIMIT_LOW
.
If the speed is too high, absolute information cannot be read any more, and thus, no
equivalent zero marks are generated.
If no zero marks are found within:
MD34060 $MA_REFP_MAX_MARKER_DIST
otherwise, an alarm will be triggered.
A start of the zero mark search with the override of a BERO (MD34200 = 5) is not supported.
MD34200 = 0 is to be used as a equivalent.
The following MD must be set if the absolute encoder retains even the referenced status
through POWER OFF, besides the last position:
MD34210 $MA_ENC_REFP_STATE = 2
Data backup and standard commissioning
Some properties of an absolute encoder restrict the transfer of series startup files to other
machines. The following machine data must be checked and corrected if necessary after
loading the series startup:
MD30250 $MA_ACT_POS_ABS (internal encoder position)
MD30270 $MA_ENC_ABS_BUFFERING (traversing range extension)
MD34090 $MA_REFP_MOVE_DIST_CORR (absolute offset)
MD34210 $MA_ENC_REFP_STATE (adjustment status)
MD34220 $MA_ENC_ABS_TURNS_MODULO (Modulo range)
MD34230 $MA_ENC_SERIAL_NUMBER (encoder serial number)
15.9.8
Enabling the measurement system
The measuring system of a machine axis is activated in the following cases:
Power up of the control (POWER ON)
Activation of the measuring system via interface signal (deselection of "parking"):
DB31, ... DBB1.5 / 1.6 (position measuring system 1/2)
DB31, ... DBB2.1 (servo enable)
Violation of the assigned encoder limit frequency (spindles):
MD36300 $MA_ENC_FREQ_LIMIT
When the measuring system is activated, the NC synchronizes the actual value system of the
machine axis with the current absolute value. Traversing is disabled during synchronization
for axes but not for spindles.
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Parameterizing the encoder limit frequency (spindles)
The EQN 1325 absolute encoder made by Heidenhain has an incremental track and an
absolute track.
If a spindle is driven at a speed above the encoder limit frequency of the incremental track,
the substantially lower limit frequency of absolute track must be parameterized as the encoder
limit frequency.
MD36300 $MA_ENC_FREQ_LIMIT
Otherwise an incorrect absolute position would be read because the parameterized encoder
limit frequency is not reached when the measuring system is activated. This would cause a
position offset in the actual value system of the machine axis.
Determining the encoder limit frequency
The encoder limit frequency to be parameterized is derived from the smaller of the two following
limit speeds:
Encoder
The limit speed or encoder limit frequency is listed in the data sheet of the encoder (e.g.,
limit speed = 2000 [rpm])
NC
Due to the NC-internal evaluation process, the maximum limit speed for which error-free
calculation of the absolute value by the NC is possible is 4 encoder revolutions per
interpolator clock cycle.
For an interpolator clock cycle of, for example, 12 ms: Limit speed = 4 / 12 ms = 20,000
rpm
The limiting frequency corresponding to the limiting speed is calculated to be:
0'
0'
0'
0'
MD31020 $MA_ENC_RESOL (encoder pulses per revolution)
MD10050 $MN_SYSCLOCK_CYCLE_TIME (basic system clock cycle)
MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO (factor for the interpolation cycle)
Note
The position control switching speed relevant for spindles is set according to the encoder
limiting frequency of the absolute value encoder of the spindle:
MD35300 $MA_SPIND_POSCTRL_VELO (position control switching speed)
MD36300 $MA_ENC_FREQ_LIMIT (Encoder limit frequency)
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15.9.9
Referencing variants not supported
The following referencing variants are not supported when used with absolute encoders:
Referencing/calibrating with encoder zero mark
Distance-coded reference marks
BERO with two-edge evaluation
15.10
Automatic restoration of the machine reference
Without a defined machine reference when traversing machine axes, no position-dependent
functions such as transformations or tool frames can be executed. In various machine
situations, these functions must be available immediately with the encoder activation, e.g. after
the control is switched on or after terminating "Parking a machine axis (Page 113)" to traverse
the axes. However, the machine axes should not or cannot be traversed again for referencing.
Absolute encoders
For measuring systems with adjusted absolute encoders, the machine reference is restored
immediately without any additional measures when the encoder value is read.
Incremental encoders
With incremental measuring systems, the machine reference can be restored without
traversing the axes through "Automatic referencing" or "Restoration of the actual position".
Supplementary conditions
WARNING
Incorrect synchronization of the position measuring system caused by offset of the actual
machine axis position
During the time in which the measuring system of the machine axis is switched off, it is not
permissible that the axis is mechanically moved. Otherwise this results in an offset between
the last buffered actual position and the real actual position of the machine axis. This would
lead to an incorrect synchronization of the measuring system resulting in danger to personnel
and machine.
The machine manufacturer must provide such measures as holding brakes, etc. on the
machine so that the actual position is not changed, and this must be ensured by the user.
The responsibility for this rests exclusively with the machine manufacturer / user.
If axis motion cannot be prevented mechanically in the shutdown state, either an absolute
encoder must be used or the axis must be referenced again with reference point approach
after switching on.
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Note
SMExx sensor modules
Automatic referencing or restoration of the actual position to the last buffered position after
restarting the control is only possible in conjunction with SMExx (externally mounted) sensor
modules. When using SMCxx (cabinet) or SMIxx (integrated) sensor modules, the actual
position cannot be restored after restarting the control (power on). The measuring system of
the machine axis must be referenced again.
15.10.1
Automatic referencing
Function
During automatic referencing, the actual position of the active measuring system of the
machine axis is set to the last buffered position and "referenced" set as encoder state after
switching on the control. This makes it possible to start programs in the AUTOMATIC and MDI
modes directly after run-up of the control.
Requirements
The active measuring systems when the control is switched on must already have been
referenced once before switching off.
At the time the control is switched off, the machine axis must be at standstill with "Exact
stop fine" (DB31, ... DBX60.7 == 1) are located.
Note
If the machine axis is not at standstill with "Exact stop fine" when switching off, the actual
position will be initialized with " 0" when switching on. "Not referenced" is displayed as the
encoder state.
Parameter assignment
The automatic referencing is enabled by setting the encoder state to "Automatic referencing
is enabled, but the encoder has not been referenced":
MD34210 $MA_ENC_REFP_STATE[<encoder>] = 1
After the measuring system has been referenced, the encoder state displays that automatic
referencing will be executed the next time the encoder is activated:
MD34210 $MA_ENC_REFP_STATE[<encoder>] == 2
NC/PLC interface signals
After automatic referencing, the encoder state "Referenced" is displayed for the active
measuring system:
DB31, ... DBX60.4/.5 == 1 (referenced/synchronized 1/2)
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Supplementary conditions
Encoder activation with MD34210 $MA_ENC_REFP_STATE[<encoder>] == 1
An encoder state equal to "1" at the time of the encoder activation means that "Automatic
referencing" has been enabled. However, the measuring system has either not been
referenced yet or the machine axis was not switched off at standstill in the "Exact stop fine"
state. The following is set for the machine axis or the active measuring system:
Actual position = 0
Active measuring system, encoder state = "Not referenced":
DB31, ... DBX60.4 / .5 = 0 (referenced/synchronized 1/2)
References
Description of Functions, Basic functions, Section "R1 Referencing" > "Referencing with
incremental measurement systems (Page 1154)" > ""
15.10.2
Restoration of the actual position
Function
When restoring the actual position to the last buffered position, the encoder state of the active
measuring system is set to "Restored". The axis can only be traversed manually.
AUTOMATIC mode
To enable NC start for the automatic execution of programs in the AUTOMATIC mode, the
measuring system of the machine axis must be re-referenced.
MDI mode and overstore
In the MDI mode and for the overstore function, machining can also be performed, without
referencing the axes, with restored positions. To do this, NC start with restored positions must
be enabled explicitly for a specific channel:
MD20700 $MC_REFP_NC_START_LOCK = 2
Requirement
The measuring system that is active when the control is switched on must already have been
referenced once before switching off.
Parameter assignment
Release: Restoration of the actual position
The enable to restore the actual position is performed by setting the encoder state to "The last
buffered axis position before switching off will be restored, no automatic referencing":
MD34210 $MA_ENC_REFP_STATE[<encoder>] = 3
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Release: NC START for "MDI" and "Overstore" modes
The enable of NC START for execution of part programs or part program blocks in the "MDI"
and "Overstore" modes with the state "Position restored" is performed via:
MD34110 $MA_REFP_CYCLE_NR -1 (axis sequence for channel-specific referencing)
MD20700 $MC_REFP_NC_START_LOCK = 2 (NC START lock without reference point)
NC/PLC interface signals
The restored actual position is not considered to be equivalent to an actual position after
reference point approach. Therefore, the state "Position restored" and not "Referenced/
synchronized" is displayed for the measuring system of the machine axis.
Actual position restored:
DB31, ... DBX60.4/.5 = 0 (referenced/synchronized 1/2)
DB31, ... DBX71.4/.5 = 1 (position restored, encoder 1/2)
Measuring system referenced:
DB31, ... DBX60.4/.5 = 0 1 (referenced/synchronized 1/2)
DB31, ... DBX71.4/.5 = 1 0 (position restored, encoder 1/2)
Note
The monitoring of the traversing range limits (software limit switches, working area
limitation, etc.) is already active in the "Position restored" state.
Supplementary conditions
Spindles
If the encoder limit frequency is exceeded, a spindle is reset to the "Not referenced/
synchronized" state:
DB31, ... DBX60.4/.5 = 1 0 (referenced/synchronized 1/2)
DB31, ... DBX71.4/.5 = 1 0 (position restored, encoder 1/2)
References
Description of Functions, Basic functions, Section "R1 Referencing" > "Referencing with
incremental measurement systems (Page 1154)" > ""
Basic Functions
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1193
R1: Referencing
15.11 Supplementary conditions
15.11
Supplementary conditions
15.11.1
Large traverse range
Linear axes with a traversing range > 4096 encoder revolutions, rotatory absolute encoder
EQN 1325 and a parameterized absolute encoder range of
MD34220 $MA_ENC_ABS_TURNS_MODULO = 4096:
The maximum possible travel range corresponds to that of incremental encoders.
Endlessly turning rotary axes with absolute encoders:
Any number of integer transmission ratios are permitted.
We recommend that you parameterize endlessly turning rotary axes with absolute encoders
as modulo rotary axes (traversing range 0...360 degrees):
MD30310 $MA_ROT_IS_MODULO = 1
Otherwise, the rotary axis may require a very large traversing path to reach absolute zero
when the measuring system is activated.
Machine axes with absolute encoders:
In order that the controller correctly determines the current actual position after the restart of
the measuring system, the machine axis may only be moved less than half the absolute
encoder range when the measuring system is switched off:
MD34220 $MA_ENC_ABS_TURNS_MODULO
Notes on uniqueness of encoder positions
Note
Linear absolute encoders
The absolute value of linear position encoders, e.g. Heidenhain LC181, is always unique for
the scale lengths available.
Rotary absolute encoders
The absolute value of rotary absolute encoders is only unique within the range of the specific
maximum encoder revolutions.
For example, the EQN 1325 rotary absolute encoder by Heidenhain supplies a unique absolute
value in the range of 0 to 4,096 encoder revolutions.
Depending on how the encoder is connected that will result in:
Rotary axis with encoder on load: 4096 load revolutions
Rotary axis with encoder on motor: 4096 motor revolutions
Linear axis with encoder on motor: 4096 motor revolutions
Example:
An EQN 1325 rotary absolute encoder is mounted on the motor of a linear axis. For an effective
leadscrew pitch of 10 mm this will result in a unique absolute value within the travel range
-20.48 to +20.48 m.
1194
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R1: Referencing
15.12 Data lists
15.12
Data lists
15.12.1
Machine data
15.12.1.1
NC-specific machine data
Number
Identifier: $MN_
Description
11300
JOG_INC_MODE_LEVELTRIGGRD
INC/REF in jog/continuous mode
15.12.1.2
Channelspecific machine data
Number
Identifier: $MC_
Description
20700
REFP_NC_START_LOCK
NC start disable without reference point
15.12.1.3
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
30200
NUM_ENCS
Number of encoders
30240
ENC_TYP
Actual value encoder type
30242
ENC_IS_INDEPENDENT
Encoder is independent
30250
ACT_POS_ABS
Absolute encoder position at time of deactivation.
30270
ENC_ABS_BUFFERING
Absolute encoder: Traversing range extension
30300
IS_ROT_AX
Rotary axis/spindle
30310
ROT_IS_MODULO
Modulo conversion for rotary axis / spindle
30330
MODULO_RANGE
Magnitude of the modulo range
30340
MODULO_RANGE_START
Starting position of modulo range
30355
MISC_FUNCTION_MASK
Axis functions
31122
BERO_DELAY_TIME_PLUS
BERO delay time in plus direction
31123
BERO_DELAY_TIME_MINUS
BERO delay time in minus direction
34000
REFP_CAM_IS_ACTIVE
Axis with reference cam
34010
REFP_CAM_DIR_IS_MINUS
Reference point approach in minus direction
34020
REFP_VELO_SEARCH_CAM
Homing approach velocity
34030
REFP_MAX_CAM_DIST
Maximum distance to reference cam
34040
REFP_VELO_SEARCH_MARKER
Reference point creep velocity
34050
REFP_SEARCH_MARKER_REVERSE
Direction reversal to reference cam
34060
REFP_MAX_MARKER_DIST
Maximum distance to reference mark;
Max. distance to 2 reference mark for distance-coded
scales
34070
REFP_VELO_POS
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Reference point positioning velocity
1195
R1: Referencing
15.12 Data lists
Number
Identifier: $MA_
Description
34080
REFP_MOVE_DIST
Reference point distance/destination point for distance
coded system
34090
REFP_MOVE_DIST_CORR
Reference point/absolute offset, distancecoded
34092
REFP_CAM_SHIFT
Electronic reference cam shift for incremental meas
urement systems with equidistant zero marks.
34093
REFP_CAM_MARKER_DIST
Reference cam/reference mark distance
34100
REFP_SET_POS
Reference point value
34102
REFP_SYNC_ENCS
Actual value adjustment to the referencing measure
ment system
34104
REFP_PERMITTED_IN_FOLLOWUP
Enable referencing in followup mode
34110
REFP_CYCLE_NR
Axis sequence for channelspecific Homing
34120
REFP_BERO_LOW_ACTIVE
Polarity change of the BERO cam
34200
ENC_REFP_MODE
Referencing mode
34210
ENC_REFP_STATE
Status of absolute encoder
34220
ENC_ABS_TURNS_MODULO
Absolute encoder range for rotary encoders
34230
ENC_SERIAL_NUMBER
Encoder serial number
34232
EVERY_ENC_SERIAL_NUMBER
Expansion of encoder serial number
34300
ENC_REFP_MARKER_DIST
Basic distance of reference marks for distance-coded
encoders
34310
ENC_MARKER_INC
Interval between two reference marks with distanceco
ded scales
34320
ENC_INVERS
Linear measuring system inverse to machine system:
34330
REFP_STOP_AT_ABS_MARKER
Distancecoded linear measuring system without desti
nation point
35150
SPIND_DES_VELO_TOL
Spindle speed tolerance
36302
ENC_FREQ_LIMIT_LOW
Encoder limit frequency resynchronization
36310
ENC_ZERO_MONITORING
Zero mark monitoring
15.12.2
Signals
15.12.2.1
Signals to BAG
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Mode group RESET
DB11.DBX0.7
DB3000.DBX0.7
Machine function REF
DB11.DBX1.2
DB3000.DBX1.2
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Active machine function REF
DB11.DBX5.2
DB3100.DBX1.2
15.12.2.2
1196
Signals from BAG
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R1: Referencing
15.12 Data lists
15.12.2.3
Signals to channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Activate referencing
DB21, ... .DBX1.0
DB320x.DBX1.0
OEM channel signal (HMI PLC) REF
DB21, ... .DBX28.7
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Referencing active
DB21, ... .DBX33.0
DB330x.DBX1.0
Reset
DB21, ... .DBX35.7
DB330x.DBX3.7
All axes referenced
DB21, ... .DBX36.2
DB330x.DBX4.2
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Follow-up mode (request)
DB31, ... .DBX1.4
DB380x.DBX1.4
15.12.2.4
15.12.2.5
Signals from channel
Signals to axis/spindle
Position measuring system 1 / position measuring system 2 DB31, ... .DBX1.5-6
DB380x.DBX1.5-6
Reference point value 1 to 4
DB31, ... .DBX2.4-7
DB380x.DBX2.4-7
Traversing keys minus/plus
DB31, ... .DBX4.6-7
DB380x.DBX4.6-7
Deceleration of reference point approach
DB31, ... .DBX12.7
DB380x.DBX1000.7
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Referenced, synchronized 1/2
DB31, ... .DBX60.4-5
DB390x.DBX0.4-5
Follow up active
DB31, ... .DBX61.3
DB390x.DBX1.3
Traversing command minus/plus
DB31, ... .DBX64.6-7
DB390x.DBX4.6-7
Restored 1/2
DB31, ... .DBX71.4-5
DB390x.DBX11.4-5
15.12.2.6
Signals from axis/spindle
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R1: Referencing
15.12 Data lists
1198
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
S1: Spindles
16.1
16
Brief Description
The primary function of a spindle is to set a tool or workpiece in rotary motion in order to facilitate
machining.
Depending on the type of machine, the spindle must support the following functions in order
to achieve this:
Input of a direction of rotation for the spindle (M3, M4)
Input of a spindle speed (S, SVC)
Spindle stop, without orientation (M5)
Spindle stop with orientation / Spindle positioning
(SPOS, M19 and SPOSA)
Gear change (M40 to M45)
Spindleaxis functionality (spindle becomes rotary axis and vice versa)
Thread cutting (G33, G34, G35)
Tapping without compensating chuck (G331, G332)
Tapping with compensating chuck (G63)
Revolutional feedrate (G95)
Constant cutting rate (G96, G961, G97, G971)
Programmable spindle speed limits (G25, G26, LIMS=)
Position encoder assembly on the spindle or on the spindle motor
Spindle monitoring for min. and max. speed as well as
max. encoder limit frequency and end point monitoring of spindle
Switching the position control (SPCON, SPCOF, M70) on/off
Programming of spindle functions:
From the part program
Via synchronized actions
Via PLC with FC18 or via special spindle interfaces for simple spindle activation
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1199
S1: Spindles
16.2 Modes
16.2
Modes
16.2.1
Overview
Spindle modes
The spindle can have the following modes:
Control mode
Oscillation mode
Positioning mode
Synchronous mode, synchronous spindle
References:
Function Manual, Extension Functions, Synchronous Spindle (S3)
Rigid tapping
References:
Programming Manual, Fundamentals; Chapter: Motion commands
Axis mode
The spindle can be switched from spindle mode to axis mode (rotary axis) if the same motor
is used for spindle and axis operation.
1200
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
S1: Spindles
16.2 Modes
16.2.2
Mode change
Switching between spindle and axis operation can be done as follows:
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Control mode Oscillation mode
The spindle changes to oscillation mode if a new gear stage has been specified using
automatic gear step selection (M40) in conjunction with a new S value or by M41 to M45.
The spindle only changes to oscillation mode if the new gear step is not equal to the current
actual gear step.
Oscillation mode Control mode
When the new gear is engaged, the interface signal:
DB31, ... DBX84.6 (Oscillation mode)
is reset and the interface signal:
DB31, ... DBX16.3 (Gear changed)
is used to go to control mode.
The last programmed spindle speed (S value) is reactivated.
Control mode Positioning mode
To stop the spindle from rotation (M3 or M4) with orientation or to reorient it from standstill
(M5), SPOS, M19 or SPOSA are used to switch to positioning mode.
Positioning mode Control mode
M3, M4 or M5 are used to change to control mode if the orientation of the spindle is to be
terminated. The last programmed spindle speed (S value) is reactivated.
Positioning mode Oscillation mode
If the orientation of the spindle is to be terminated, M41 to M45 can be used to change to
oscillation mode. When the gear change is complete, the last programmed spindle speed
(S value) and M5 (control mode) are reactivated.
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1201
S1: Spindles
16.2 Modes
Positioning mode Axis mode
If a spindle was stopped with orientation, the assigned axis name is used to program a
change to axis mode. The gear step is retained.
Control mode Axis mode
Switching from control mode to axis mode can be also achieved by the programming of
M70. In this case, a rotating spindle is decelerated in the same way as for M5, position
control activated and the zero parameter set selected.
Axis mode Control mode
To terminate axis mode, M3, M4 or M5 can be used to change to control mode. The last
programmed spindle speed (S value) is reactivated.
Axis mode Oscillation mode
To terminate axis mode, M41 to M45 can be used to change to oscillation mode (only if the
programmed gear step is not the same as the actual gear step). When the gear change is
complete, the last programmed spindle speed (S value) and M5 (control mode) are
reactivated.
16.2.3
Control mode
When open-loop control mode?
The spindle is in open-loop control mode with the following functions:
Constant spindle speed:
S... M3/M4/M5 and G93, G94, G95, G97, G971
S... M3/M4/M5 and G33, G34, G35
S... M3/M4/M5 and G63
Constant cutting speed:
G96/G961 S... M3/M4/M5
The spindle need not be synchronized.
Requirements
A spindle position actual value encoder is absolutely essential for M3/M4/M5 in connection
with:
Revolutional feedrate (G95)
Constant cutting speed (G96, G961, G97, G971)
Thread cutting (G33, G34, G35)
Tapping without compensating chuck (G331, G332)
Activate position control (SPCON, M70)
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S1: Spindles
16.2 Modes
A spindle position actual value encoder is not required for M3/M4/M5 in connection with:
Inverse-time feedrate coding (G93)
Feedrate in mm/min or inch/min (G94)
Tapping with compensating chuck (G63)
Speed control mode
Speed control mode is particularly suitable if a constant spindle speed is required, but the
position of the spindle is not important (e.g. constant milling speed for even appearance of the
workpiece surface).
Speed control mode is activated in the part program with M3, M4, M5 or with SPCOF.
The following NC/PLC interface signal is set:
DB31, ... DBX84.7 (control mode)
NC/PLC IS:
DB31, ... DBX61.5 (position controller active)
is reset if position control is not used.
Acceleration in speed control mode is defined independently of the gear stage in the
machine data:
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL
The value should reflect the physical circumstances, if possible.
Position control mode
Position control is particularly suitable if the position of the spindle needs to be tracked over a
longer period or if synchronous spindle setpoint value linkage is to be activated.
Position control mode is switched on in the part program with: SPCON(<spindle
number>)
The following NC/PLC interface signal is set:
DB31, ... DBX61.5 (position controller active)
Acceleration in position control mode is defined independent of the gear stage in the
machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
Independent spindle reset
The spindle response after a reset or the end of the program (M2, M30) is set with the machine
data:
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1203
S1: Spindles
16.2 Modes
MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (individual spindle reset)
Value
Meaning
When the spindle is reset or at the end of the program, the spindle immediately decelerates
to a stop at the active acceleration rate. The last programmed spindle speed and direction of
rotation are deleted.
Upon reset or at the end of the program, the last programmed spindle speed (S-value) and
the last programmed direction of spindle rotation (M3, M4, M5) are retained. The spindle is
not braked.
If prior to reset or end of program the constant cutting speed (G96, G961) is active, the current
spindle speed (in relation to 100% spindle override) is internally accepted as the spindle speed
last programmed.
The spindle can only be stopped with the NC/PLC interface signal:
DB31, ... DBX2.2 (delete distance-to-go / spindle reset)
The direction of rotation is deleted in the event of all alarms generating a spindle quick stop.
The last programmed spindle speed (S value) is retained. Once the source of the alarm has
been eliminated, the spindle must be restarted.
Spindle actual speed display and spindle behavior with G96, G961
DB31, ... DBX61.4 (axis/spindle stationary)
The speed at which the spindle is deemed to be "stationary" is set with the machine data:
MD36060 $MA_STANDSTILL_VELO_TOL
The value should be measured in such a way that the following NC/PLC interface signal is
reliably present at a standstill:
DB31,... DBX61.4 (axis/spindle stationary)
If DB31,... DBX61.4 (axis/spindle stationary) is signaled and there is no closed-loop position
control active for the spindle, an actual speed of zero is displayed at the user interface, and
zero is read with the system variable $AA_S[<n>].
Spindle response at constant cutting speed G96, G961
At the start of machining (transition from G0 to Gx) and after NC stop, G60 (exact stop,
modal) and G9 (exact stop, non-modal) the system waits until the actual speed has reached
the speed setpoint tolerance range before starting the path.
DB31, ... DBX83.5 (nact = nset)
The NC/PLC IS:
DB31, ... DBX83.5 (nact = nset)
and
DB31, ... DBX83.1 (setpoint speed limited) are also set to defined values
even if significant speed changes are specified (transverse axis travels towards position
0).
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S1: Spindles
16.2 Modes
If the speed drops below the minimum speed
or when NC/PLC IS:
DB31, ... DBX61.4 (axis/spindle stationary)
is detected, NC/PLC IS:
DB31, ... DBX83.5 (nact = nset)
is reset (e.g. for an emergency machine strategy).
A path operation which has started (G64, rounding), is not interrupted.
In addition, the spindle response is influenced by the following machine data:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START (feed enable with spindle in setpoint
range).
Spindle behavior at the end of gear stage change
NC/PLC IS:
DB31, ... DBX16.3 (gear changed)
informs the NC that the new gear stage
(NC/PLC IS DB31, ... DBX16.0-16.2 (actual gear stage A to C))
applies and oscillation mode is terminated.
In this case, it does not matter whether NC/PLC IS:
DB31, ... DBX18.5 (oscillation mode)
is still set.
The actual gear stage should correspond to the set gear stage.
The actual gear stage signaled is relevant for selection of the parameter set.
Once the gear stage change (GSW) has been acknowledged via the PLC (DB31, ...
DBX16.3), the spindle is in speed control mode (DB31, ... DBX84.7 = 1).
If a direction of rotation (M3, M4, M5 or FC18: "Start spindle rotation") or a spindle speed
(S value) was programmed before the gear stage change, then the last speed and direction
of rotation will be reactivated after the gear stage change.
16.2.4
Oscillation mode
Oscillation mode is activated for the spindle during the gear step change.
The mode of operation is described in detail in the topic "Gear step change with oscillation
mode (Page 1251)".
16.2.5
Positioning mode
16.2.5.1
General functionality
When is positioning mode used?
The spindle positioning mode stops the spindle at the defined position and activates the
position control, which remains active until it is de-activated.
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1205
S1: Spindles
16.2 Modes
For the following functions the spindle is in positioning mode:
SPOS[<n>]=...
SPOS[<n>]=ACP(...)
SPOS[<n>]=ACN(...)
SPOS[<n>]=AC(...)
SPOS[<n>]=IC(...)
SPOS[<n>]=DC(...)
SPOSA[<n>]=ACP(...)
SPOSA[<n>]=ACN(...)
SPOSA[<n>]=AC(...)
SPOSA[<n>]=IC(...)
SPOSA[<n>]=DC(...) equal to SPOSA[<n>]=...
M19 or M[<n>]=19
The address extension [<n>] with <n> = spindle number may not apply for the main spindle.
SPOS[<n>]=AC(...)
Spindle positioning to an absolute position (0 to 359.999 degrees). The positioning direction
is determined either by the current direction of spindle rotation (spindle rotating) or the distanceto-go.
SPOS[<n>]=IC(...)
Spindle positioning to an incremental position (+/- 999999.99 degrees) in relation to the last
programmed position. The positioning direction is defined by the sign of the path to be
traversed.
SPOS[<n>]=DC(...)
Spindle positioning across the shortest path to an absolute position (0 to 359.999 degrees).
The positioning direction is determined either by the current direction of spindle rotation
(spindle rotating) or automatically by the control (spindle stationary).
SPOS[<n>]=...
Same functional sequence as SPOS [<n>]=DC(...).
SPOS[<n>]=ACP(...)
Approaches the position from the positive direction.
When positioning from a negative direction of rotation, the speed is decelerated to zero and
accelerated in the opposite direction to execute the positive approach.
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S1: Spindles
16.2 Modes
SPOS[<n>]=ACN(...)
Approaches the position from the negative direction.
When positioning from a positive direction of rotation, the speed is decelerated to zero and
accelerated in the opposite direction to execute the negative approach.
M19 (DIN 66025)
M19 can be used to position the spindle. The position and the position approach mode are
read here from the following setting data:
SD43240 $SA_M19_SPOS[<n>] (spindle position for spindle positioning with M19)
SD43250 $SA_M19_SPOSMODE[<n>] (spindle position for spindle positioning with M19)
The positioning options of M19 are identical to those of:
SPOS = <approach mode> <position/path>
M19 is output as an auxiliary function to the NC/PLC interface as an alternative to M3, M4,
M5, and M70. The M19 block remains active in the interpolator for the duration of positioning
(like SPOS).
Part programs using M19 as a macro (e.g. DEFINE M19 AS SPOS = 0) or as a subprogram,
continue to remain executable. For the sake of compatibility with previous controls, the internal
processing of M19 (NCK positions the spindle) can be disabled as shown in the following
example:
MD22000 $MC_AUXFU_ASSIGN_GROUP[0] = 4
MD22010 $MC_AUXFU_ASSIGN_TYPE[0] = "M"
MD22020 $MC_AUXFU_ASSIGN_EXTENSION[0] = 0
MD22030 $MC_AUXFU_ASSIGN_VALUE[0] = 19
;
;
;
;
Auxiliary function group: 4
Auxiliary function type: "M"
Auxiliary functions Extension: 0
Auxiliary function value: 19
Implicitly generated auxiliary function M19
To achieve uniformity in terms of how M19 and SPOS or SPOSA behave at the NC/PLC
interface, auxiliary function M19 can be output to the NC/PLC interface in the event of SPOS
and SPOSA.
The two following options are available for activating this function:
Channel-specific activation for all the spindles in the channel via the machine data:
MD20850 $MC_SPOS_TO_VDI (Output of M19 to the PLC with SPOS/SPOSA)
Bit
0
Value
0
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Meaning
If bit 19 is also set to "0" in the MD35035 $MA_SPIND_FUNC
TION_MASK, no auxiliary function M19 is generated in SPOS and
SPOSA. This therefore eliminates the acknowledgement time for
the auxiliary function.
The auxiliary function M19 is generated and output to the PLC dur
ing the programming of SPOS and SPOSA in the part program. The
address extension corresponds to the spindle number.
1207
S1: Spindles
16.2 Modes
Spindle-specific and cross-channel activation via the machine data:
MD35035 $MA_SPIND_FUNCTION_MASK (spindle functions)
Bit
19
Value
0
Meaning
If bit 0 is also set to "0" in the MD20850 $MC_SPOS_TO_VDI, no
auxiliary function M19 is generated in SPOS and SPOSA. This
therefore eliminates the acknowledgement time for the auxiliary
function.
The implicit auxiliary function M19 is generated and output to the
PLC during the programming of SPOS and SPOSA. The address
extension corresponds to the spindle number.
Note
Activation via MD35035 should be preferred when using a spindle in multiple channels (axis/
spindle exchange).
The auxiliary function M19 is implicitly generated if either of the MD configurations = 1.
After activation, the minimum duration of an SPOS/SPOSA block is increased to the time for
output and acknowledgement of the auxiliary functions by the PLC.
The properties of the implicitly generated auxiliary function output M19 are "Quick" and "Output
during motion". These properties are fixed settings and are independent of the M19
configuration in the auxiliary function-specific machine data (MD..._$M..._AUXFU_...).
There is no auxiliary function M19 implicitly generated in the case of spindle positioning
commands via FC 18.
End of positioning
The positioning can be programmed with:
FINEA[S<n>]:
COARSEA[S<n>]:
IPOENDA[S<n>]:
End of motion on reaching "Exact stop fine" (DB31, ... DBX60.7)
End of motion on reaching "Exact stop coarse" (DB31, ...
DBX60.6)
End of motion on reaching "IPO stop"
In addition, an end-of-motion criterion for block changes can be set in the braking ramp
(100-0%) with IPOBRKA for single-axis interpolation.
References:
Function Manual, Extended Functions; Positioning Axes (P2)
Block change
The program advances to the next block if the end-of-motion criteria for all spindles or axes
programmed in the current block, plus the block change criterion for path interpolation, are
fulfilled. This applies to both part-program and technology-cycle blocks.
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S1: Spindles
16.2 Modes
SPOS, M19 and SPOSA have the same functionality but differ in their block change behavior:
SPOS and M19
The block change is carried out if all functions programmed in the block have reached their
end-of-block criterion (e.g. all auxiliary functions acknowledged by the PLC, all axes have
reached their end points) and the spindle has completed its positioning motion.
SPOSA
The program moves to the next block if all the functions (except for spindle) programmed
in the current block have reached their end-of-block criterion. If SPOSA is the only entry in
the block, block change is performed immediately. The spindle positioning operation may
be programmed over several blocks (see WAITS).
Coordination
A coordination of the sequence of motions can be achieved with:
PLC
MD configuration
Programming in the part program
PLC
If the NC/PLC interface signal:
DB31, ... DBX83.5 (spindle in the setpoint range)
is not available, then the channel-specific NC/PLC interface signal:
DB21, ... DBX 6.1 (read-in inhibit)
can be set in order to wait for a spindle to reach a certain position.
MD configuration
Setting:
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START = 1
is used to perform path interpolation taking the tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL
into account only if the spindle has rotated up to the preselected speed.
The setting
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START = 2
is used to stop traveling path axes before the start of machining at the last G0.
Machining continues:
With the next traversing command.
If the spindle speed is reached.
When MD35510 $MA_SPIND_STOPPED_AT_IPO_START = 1
(path feed enable, if spindle stationary).
Programming in the part program
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S1: Spindles
16.2 Modes
Coordination actions in the part program have the following advantages:
The part program author can decide at what point in the program the spindle needs to be
up to speed, e.g. in order to start machining a workpiece.
This avoids unnecessary delays.
Coordination in the part program involves programming the WAITS command:
WAITS:
WAITS[<n>]:
WAITS[<n>,<m>,...]:
for main spindle (master spindle)
for spindles with number <n>
for several spindles up to the maximum number of spindles
CAUTION
Coordination error
The part program author must ensure that one of the following maintenance conditions occurs
for WAITS.
Position reached
Spindle stationary
Spindle up to programmed speed
In cases where one spindle is used in several channels, the part program author must ensure
that WAITS starts at the earliest in the phase in which the spindle from another channel has
already started to accelerate or decelerate towards the required new speed or direction of
rotation.
The control waits before executing subsequent blocks until:
Position(s) programmed with SPOSA are reached.
Spindle standstill is reached with M5:
DB31, ..., DBX 61.4 (spindle stationary)
taking into account the tolerance:
MD36060 $MA_STANDSTILL_VELO_TOL
WAITS is terminated and the next block loaded when the first occurrence of the signal is
detected.
In M3/M4 (speed control mode), the speed in the setpoint range is:
DB31, ..., DBX83.5 (spindle in setpoint range)
taking into account the tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL
WAITS is terminated and the next block loaded when the first occurrence of the signal is
detected.
This WAITS function applies in the programmed channel.
WAITS can be used to wait for all spindles known to this channel, although spindles may
also have been started in other channels.
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S1: Spindles
16.2 Modes
Special cases
Tolerance for spindle speed:
If the machine data setting is:
MD35150 $MA_SPIND_DES_VELO_TOL = 0
the NC/PLC interface signal:
DB31, ... DBX83.5 (spindle in setpoint range)
is always set to 1.
WAITS is terminated as soon as the spindle has reached the setpoint-side target after a
change in speed or direction (M3/M4).
Missing enable signals:
If the WAITS function waits for the "Spindle in setpoint range" signal in speed control mode
and the spindle stops or fails to rotate because an enable signal (axial feed enable,
controller, pulse enable, etc.) is missing, the block is not terminated until the "Spindle in
setpoint range" signal is active, once enable signals are being received again.
Response to NC and mode-group stop:
If an NC or mode-group stop is triggered during WAITS, the wait operation is resumed after
the NC start with all the above conditions.
Note
In particular when using spindles across different channels, care should be taken when
programming not to start WAITS too early in one channel, i.e. at a time when the spindle
in the other channel is still rotating at its "old" speed.
In such cases, the "Spindle in setpoint range" signal is activated and WAITS is stopped too
soon.
To prevent this happening, it is strongly recommended to set a WAITM before WAITS.
Feedrate
The positioning speed is configured in the machine data:
MD35300 $MA_SPIND_POSCTRL_VELO (position control switching speed)
The configured positioning speed can be modified by programming or by synchronized actions:
FA[S<n>]=<value>
where: <n>:
Spindle number
<value>: Positioning speed in degrees/min
With FA[S<n>]=0, the configured speed takes effect.
Acceleration
The accelerations are configured in the machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL (acceleration in position control mode)
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL (acceleration in the speed control mode)
The configured dynamic response during positioning can be modified by programming or by
synchronized actions:
ACC[S<n>]=<value>
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S1: Spindles
16.2 Modes
where: <n>:
Spindle number
<value>: Acceleration as a percentage of the configured acceleration
With ACC[S<n>]=0, the configured acceleration takes effect.
Aborting the positioning process
The positioning action is aborted:
By the NC/PLC interface signal:
DB31, ... DBX2.2 (delete distance-to-go / spindle reset).
With every reset (e.g. operator panel front reset).
Through NC stop.
The abort response in independent of the machine data:
MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (individual spindle reset)
Special features
The spindle override switch is active.
16.2.5.2
Positioning from rotation
Initial situation
The spindle can be in speed control mode or in position control mode when positioning starts
(SPOS, M19 or SPOSA command in the program).
One must distinguish between the following cases:
1212
Case 1:
Spindle in speed control mode, encoder limit frequency exceeded
Case 2:
Spindle in speed control mode, encoder limit frequency not exceeded
Case 3:
Spindle in position control mode
Case 4:
Spindle speed Position-control activation speed
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
S1: Spindles
16.2 Modes
Procedure
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Positioning from rotation
Note
The speed arising from the configuration of the encoder limit frequency for the
resynchronization of the encoder (MD36302 $MA_ENC_FREQ_LOW) must be greater than
the position-control activation speed (MD35300 $MA_SPIND_POSCTRL_VELO).
Phase 1
Positioning from phase 1a:
The spindle is rotating at a higher speed than the encoder limit frequency. The spindle is not
synchronized.
Positioning from phase 1b:
The spindle is rotating at a lower speed than the encoder limit frequency. The spindle is
synchronized.
Note
If the position control is active, the speed can only amount to 90% of the maximum speed of
the spindle or the encoder limit frequency (10% control reserve required).
Positioning from phase 1c:
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S1: Spindles
16.2 Modes
The spindle rotates at the programmed spindle speed whereby the speed is lower than the
configured position-control activation speed:
MD35300 $MA_SPIND_POSCTRL_VELO
The spindle is synchronized.
Phase 2
Spindle speed > Position-control activation speed
When the SPOS, M19 or SPOSA command is activated, the spindle begins to slow down to the
position-control activation speed with the configured acceleration:
MD35200 $MA_GEAR_STEP_SPEEDCTL_ACCEL
The spindle is synchronized once the encoder limit frequency threshold is crossed.
Spindle speed < Position-control activation speed
SPOS, M19 or SPOSA are programmed to switch the spindle to position control mode (if it is not
already in that mode).
The configured acceleration in position control mode is activated:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
The travel path to the target point is calculated.
The spindle travels to the programmed end point optimally in terms of time. This means that
the end point is approached at the highest possible speed (maximum MD35300
$MA_SPIND_POSCTRL_VELO). Depending on the appropriate secondary conditions, phases
2 - 3 - 4 - 5 or 4a - 5a are executed.
Phase 3
Spindle speed > Position-control activation speed
When the configured position-control activation speed
(MD35300 $MA_SPIND_POSCTRL_VELO) is reached:
Position control is activated (if not already active).
The distancetogo (to the target point) is calculated.
There is a switch to the configured configured acceleration in position control mode (or this
acceleration is retained):
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
Spindle speed < Position-control activation speed
The spindle was accelerated up to the configured position-control activation speed (MD35300
$MA_SPIND_POSCTRL_VELO) to reach the end point. This is not exceeded.
The braking start point calculation detects when the programmed spindle position can be
approached accurately at the acceleration configured in position control mode (MD35210
$MA_GEAR_STEP_POSCTRL_ACCEL).
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S1: Spindles
16.2 Modes
Phase 4
Spindle speed > Position-control activation speed
The spindle brakes from the calculated "braking point" with machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
to the target position.
Spindle speed < Position-control activation speed
At the time identified by the braking start point calculation in phase 3, the spindle brakes to a
standstill with the acceleration configured in position control mode (MD35210
$MA_GEAR_STEP_POSCTRL_ACCEL).
Phase 4a:
When the SPOS command is activated the proximity of the end point is such that the spindle
can no longer be accelerated to the configured position-control activation speed (MD35300
$MA_SPIND_POSCTRL_VELO).
The spindle brakes to a standstill with the acceleration configured in position control mode
(MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL).
Phase 5
Spindle speed > Position-control activation speed
Position control remains active and holds the spindle in the programmed position.
Note
The maximum encoder limit frequency of the spindle position actual-value encoder is
monitored by the control (it may be exceeded); in position control mode, the setpoint speed is
reduced to 90% of the measuring system limit speed.
The following NC/PLC interface signal is set:
DB31, ... DBX83.1 (programmed speed too high)
If "MS limit frequency exceeded" is still pending following a reduction in the setpoint speed, an
alarm is output.
Spindle speed < Position-control activation speed (Phase 5, 5a)
The spindle is stationary and it has reached the position. The position control is active and
stops the spindle in the programmed position.
If the distance between the spindle actual position and the programmed position (spindle
setpoint position) is less than the configured exact stop fine and coarse limits, the following
NC/PLC interface signals are set:
DB31, ... DBX60.7 (Position reached with coarse exact stop)
DB31, ... DBX60.7 (Position reached with fine exact stop)
The exact stop limits are defined with the machine data:
MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
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S1: Spindles
16.2 Modes
MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)
Note
The positioning procedure is considered complete when the end-of-positioning criterion is
reached and signaled.
The condition is "Exact stop fine". This applies to SPOS, M19 or SPOSA from the part program,
synchronized actions and spindle positioning by the PLC using FC 18.
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S1: Spindles
16.2 Modes
16.2.5.3
Positioning from standstill
Procedure
A distinction is made between two cases with regard to positioning from standstill:
Case 1: The spindle is not synchronized.
This is the case if the spindle is to be positioned after switching on the control and drive or
after a gear step change (e.g. for a tool change).
MD31040 $MA_ENC_IS_DIRECT = 0
Case 2: The spindle is synchronized.
This is the case if, after switching on the control and drive, the spindle is to be rotated
through a minimum of one revolution with M3 or M4 and then stopped with M5
(synchronization with the zero mark) before the first positioning action.
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Positioning with stationary spindle
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S1: Spindles
16.2 Modes
Phase 1
Case 1: Spindle not synchronized
With the programming of SPOS, M19 or SPOSA the spindle accelerates with the acceleration
from the machine data:
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL (Acceleration in the speed control
mode)
This direction of rotation is defined by the machine data:
MD35350 $MA_SPIND_POSITIONING_DIR (Direction of rotation while positioning to
standstill)
Exception:
If ACN, ACP, IC is used for positioning, the programmed direction of travel is activated.
The spindle is synchronized at the next zero mark of the spindle position actual-value encoder
and switches to the position control mode.
Whether the zero mark is found in the traversed path (except for IC), is monitored:
MD34060 $MA_REFP_MAX_MARKER_DIST (maximum distance to the reference mark)
If the speed defined in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO (Positioning speed)
is reached before the spindle is synchronized, the spindle will continue to rotate at the
positioning activation speed (it is not accelerated further).
Case 2: Spindle synchronized
SPOS, M19 or SPOSA will switch the spindle to position control mode.
The acceleration from the following machine data is active:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL (acceleration in position control mode)
The direction of rotation is defined by the programmed motion (ACP, ACN, IC, DC) or via the
pending distance-to-go.
The speed entered in
MD35300 $MA_SPIND_POSCTRL_VELO (position control activation speed)
is not exceeded in the machine data.
The travel path to the end position is calculated.
The spindle travels to the programmed end point optimally in terms of time. This means that
the end point is approached at the highest possible speed (maximum MD35300
$MA_SPIND_POSCTRL_VELO). Depending on the appropriate secondary conditions, the
phases 1 - 2 - 3 - 4 or 1- 3a - 4a are executed.
Phase 2
Case 1: Spindle not synchronized
When the spindle is synchronized, position control is activated.
The spindle rotates at the maximum speed stored in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO
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S1: Spindles
16.2 Modes
until the braking start point calculation identifies the point at which the programmed spindle
position can be approached accurately with the defined acceleration.
Case 2: Spindle synchronized
To reach the end point, the spindle is accelerated up to the speed defined in machine data:
MD35300 $MA_SPIND_POSCTRL_VELO.
This is not exceeded.
The braking start point calculation identifies when the programmed spindle position can be
approached accurately at the acceleration defined in machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL.
At the point, which is determined by the braking start point calculation in Phase 1, the spindle
decelerates to a standstill with the acceleration given in the following machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
Phase 3
At the point, which is determined by the braking start point calculation in Phase 2, the spindle
decelerates to a standstill with the acceleration given in the following machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
Phase 3a:
When the SPOS command is activated the proximity of the end point is such that the spindle
can no longer be accelerated up to machine data:
MD35300 $MA_SPIND_POSCTRL_VELO.
The spindle is braked to a standstill with the acceleration given in the following machine data:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
Phase 4, 4a
The spindle is stationary and it has reached the position. The position control is active and
stops the spindle in the programmed position.
NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop coarse)
and
DB31, ... DBX60.7 (Position reached with exact stop fine)
are set if the distance between the spindle actual position and the programmed position
(spindle setpoint position) is less than the settings for the exact stop fine and coarse limits.
This is defined in the machine data:
MD36010 $MA_STOP_LIMIT_FINE
MD36000 $MA_STOP_LIMIT_COARSE
Phase 3:
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16.2 Modes
At the point, which is determined by the braking start point calculation in Phase 2, the spindle
decelerates to a standstill with the acceleration given in the following machine data:
MD35210 $MA_GEAR_STEP_ POSCTRL_ACCEL
Phase 4:
The spindle is stationary and it has reached the position. The position control is active and
stops the spindle in the programmed position.
NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop coarse)
and
DB31, ... DBX60.7 (Position reached with exact stop fine)
are set if the distance between the spindle actual position and the programmed position
(spindle setpoint position) is less than the settings for the exact stop fine and coarse limits.
This is defined in the machine data:
MD36010 $MA_STOP_LIMIT_FINE
MD36000 $MA_STOP_LIMIT_COARSE
16.2.5.4
"Spindle in position" signal for tool change
Function
The motion sequence for a tool change, especially for milling machines, mainly comprises
positioning the spindle and then the subsequent (for optimization runs, also at the same time)
approach to the tool change position with the path axes. In this case, the mandatory
requirement is that the spindle is reached before approaching the tool change position.
If the tool change cycle is interrupted by the machine operator (e.g. with an NC stop, NC stop
axes plus spindles, mode group stop, etc.), then it must be completely ruled out that the spindle
moves into the tool changer at an incorrect position.
This is the reason that for spindle positioning, when the last programmed spindle position is
reached with "Exact stop fine" the following NC/PLC interface signal is output to check the
position:
DB31, ... DBX85.5 (spindle in position)
Note
The signal is only output for the "Spindle positioning" function.
This includes:
SPOS, SPOSA and M19 in the part program
SPOS and M19 in synchronized actions
Spindle positioning, using FC18
Spindle positioning via PLC interface (DB31, ... DBX30.4)
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Setting the signal
Requirements for output of signal DB31, ... DBX85.5 (spindle in position) are as follows:
The reference state of the spindle:
DB31, ... DBX60.4/5 (referenced/synchronized 1/2) = 1
Note
When positioning the spindle, the zero mark is automatically searched for. This is the reason
that for an error-free sequence, the referenced signal is always available at the end of
positioning movement.
"Exact stop fine" must have been reached:
DB31, ... DBX60.7 (exact stop fine) = 1
Additionally, the last programmed spindle position must have been reached on the setpoint
side.
Deleting the signal
When signal DB31, ... DBX60.7 is withdrawn (exact stop fine), then signal DB31, ... DBX85.5
(spindle in position) is also always reset.
Additional properties
If the spindle is already at the programmed position after a positioning, then the NC/PLC
interface signal DB31, ... DBX85.5 (spindle in position) remains set.
If, after a positioning ("Spindle in position" signal was output) the spindle is traversed, e.g.
in the JOG mode, then the NC/PLC interface signal DB31, ... DBX85.5 (spindle in position)
is deleted.
If the spindle is returned to its original position in this mode, then the NC/PLC interface
signal DB31, ... DBX85.5 (spindle in position) is set again. The last position selection is
kept.
16.2.6
Axis mode
16.2.6.1
General functionality
Functionality
If for certain machining tasks, e.g. on lathes with end-face machining, it is not sufficient to
traverse the spindle exclusively under speed control via M3, M4, M5 or to position with SPOS,
M19 or SPOSA, the spindle can be switched to position-controlled axis mode and traversed as
a rotary axis.
Examples of rotary axis functions:
Programming with axis name
Zero offsets (G54, G55, TRANS, etc.)
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S1: Spindles
16.2 Modes
G90, G91, IC, AC, DC, ACP, ACN
Kinematic transformations (e.g. TRANSMIT)
Path interpolation
Traversing as positioning axis
References:
Function Manual, Extended Functions; Section "Rotary axes (R2)"
Preconditions
The same spindle motor is used for spindle mode and axis mode.
The same position measurement system or separate position measurement systems can
be used for spindle mode and axis mode.
An actual position value encoder is a mandatory requirement for axis mode.
The spindle must be referenced for use of the axis mode, e.g. referenced with G74.
Example:
Program code
Comment
M70
; Switch spindle over to axis mode
G74 C1=0 Z100
; Reference axis
G0 C180 X50
; Traverse axis position-controlled
Configurable M function
The M function used to switch the spindle to axis mode can be configured channel-specifically
via the following machine data:
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR
Note
The controller detects the transition to axis mode automatically from the program sequence
(see "Implicit transition to axis mode (Page 1224)"). The explicit programming of the configured
M function for switching the spindle to axis mode in the part program is therefore not necessary.
However, the M function can continue to be programmed, e.g. to increase the readability of
the part program.
Special features
The feed override switch is active.
The NC/PLC interface signal does not terminate the axis mode per default:
DB21, ... DBX7.7 (reset).
The NC/PLC interface signals:
DB31, ... DBB16 to DBB19 and DBB82 to DBB91
are not important if:
DB31, ... DBX60.0 (axis / no spindle) = 0
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S1: Spindles
16.2 Modes
Axis mode can be activated in all gear steps.
If the actual position value encoder is installed on the motor (indirect measuring system),
the positioning and contouring accuracy can vary for the different gear steps.
The gear step cannot be changed when the axis mode is active.
The spindle must be switched to control mode.
This is done with M41 ... M45 and M5, SPCOF.
In axis mode, the first parameter set is active (machine data index = zero).
References
Function Manual, Basic Functions; Section "Velocities, setpoint / actual value systems,
closed-loop control (G2)" > "Closed-loop control" > "Parameter sets of the position
controller"
Dynamic response
The dynamic limits of the axis apply in axis mode. For example:
MD32000 $MA_MAX_AX_VELO[<axis>] (maximum axis velocity)
MD32300 $MA_MAX_AX_ACCEL[<axis>] (maximum axis acceleration)
MD32431 $MA_MAX_AX_JERK[<axis>] (maximum axial jerk for path motion)
Feedforward control
The feedforward control mode active for the axis is retained.
A detailed description of the "Dynamic feedforward control" function can be found in:
References
Function Manual, Extended Functions; Section "Compensations (K3)" > "Dynamic feedforward
control (following error compensation)"
Example: Resolution switchover for analog actuator
Switching to axis mode
Programming
Comment
SPOS=...
M5
; Controller enable off (by PLC)
is output on PLC
M70
; Switch actuator (by PLC on account of M70)
Controller enable on (by PLC)
C=...
; NC traverses with axis parameter set
Switching to spindle mode
Programming
Comment
C=...
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S1: Spindles
16.2 Modes
Programming
Comment
M71
; Output to PLC
Closed-loop controller enable off (by PLC)
Switch actuator (by PLC)
Switched to spindle parameter set (1-5) internally in
the NC, controller enable on (by PLC)
M3/4/5 or SPOS=...
; NC traverses with spindle parameter set
Change to spindle mode
The appropriate parameter set 1 ... 5 is selected for the active gear stage.
Except for tapping with compensating chuck, the feedforward control is switched on when the
following applies:
MD32620 $MA_FFW_MODE (feedforward control type) 0
Parameter set
Axis mode
Spindle mode
Valid
Valid
Valid
Valid
Valid
Valid
Spindle mode: Parameter set according to the gear stage
16.2.6.2
Implicit transition to axis mode
Function
The control system detects the transition to axis mode automatically from the program
sequence and generates the requisite M70 sequence within the control system. The situation
will dictate which steps are performed. At most, these will include:
1. Stopping the spindle
2. Switching on of the position control, treatment of feedforward control, and parameter block
changeover
3. Position synchronization of the block preparation (internal preprocessing stop, if necessary)
This function is always active. Explicit programming of M70 in the part program is, therefore,
essentially not necessary.
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S1: Spindles
16.2 Modes
Procedure
Sequence of the implicit transition to axis mode (M70 is not programmed in the part program):
Transition from speed control mode (M3, M4, M5, SPCOF, ...) to axis mode:
The transition is detected internally by the control, and an intermediate block is inserted in
front of the block which requests the axis mode. The block created contains the M70
functionality. The execution duration for this block is more or less the same as the time
required to execute a programmed M70 block. Differences may arise in the event of short
switchovers when the spindle is stationary (no braking time) if the implicit generation and
output of the auxiliary function M70 to the PLC is dispensed with (see MD35035).
Transition from positioning mode (M19, SPOS, SPOSA) to axis mode:
The transition is executed immediately and without the generation of an intermediate block.
Configured accordingly (see MD35035), the auxiliary function M70, which is generated
implicitly, is output to the PLC when the block in which the spindle has its axis mode is
loaded.
Output of auxiliary functions to PLC
The implicit transition to axis mode can be notified to the PLC in the form of an auxiliary function
output.
Activation/Deactivation
The activation/deactivation of this functionality is done using machine data:
MD35035 $MA_SPIND_FUNCTION_MASK (spindle functions)
Bit
Value
Meaning
20
No auxiliary function output to the PLC in the case of M70 functionality which is
generated inside the control.
In the case of M70 functionality which is generated inside the control, the auxiliary
function M70 is generated and output to the PLC. The address extension corre
sponds to the spindle number.
Note
An auxiliary function M70 which is programmed in the part program is always output to the
PLC.
Properties
The properties of the implicitly generated auxiliary function output M70 are "Quick" and "Output
during motion". These properties are fixed settings and are independent of the M70
configuration in the auxiliary-function-specific machine data (MD..._$M..._AUXFU_...).
M70 is only generated once during transition to axis mode. No further M70 auxiliary functions
are generated and output in adjacent blocks in which the spindle is operated as an axis. M70
is not implicitly generated and output again until axis mode is exited via, for example, SPOS,
M3, M4, M5, SPCOF, etc. and following a renewed transition to axis mode.
Constraints
Synchronized actions
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S1: Spindles
16.2 Modes
When the spindle is programmed as an axis in synchronized actions, it is essential to continue
making provisions in the application to ensure there are criteria for the transition to axis mode.
If the spindle is in speed control mode, the instruction M70 or SPOS must be programmed prior
to programming as an axis. Otherwise alarm signals occur during axis programming.
FC 18
As with synchronized actions, transition to axis mode must also be undertaken on the
application side in FC 18, e.g. through preparatory positioning instructions. Otherwise, the
FC 18 call is acknowledged with an error bit in the FC 18 status word.
No auxiliary function M70 is implicitly generated in the event of transition to axis mode through
programming via FC 18.
Examples
Example 1:
Part program: Transition from rotating spindle to axis mode
Configuration: MD35035 $MA_SPIND_FUNCTION_MASK, bit 20 = 1
Program code
Comment
N05 M3 S1000
N10 ...
N15 POS[C]=77
; Before loading N15, an M70 intermediate block is generated
in which the spindle is stopped, and M70 is output to the
PLC.
Example 2:
Part program: Transition from positioning mode to axis mode
Configuration: MD35035 $MA_SPIND_FUNCTION_MASK, bit 20 = 1
Program code
Comment
N05 SPOS=0
N10 ...
N15 C77
; Output of the implicit M70 to the PLC, no intermediate block.
Example 3:
Synchronized actions: Transition from spindle positioning mode to axis mode
Configuration: MD35035 $MA_SPIND_FUNCTION_MASK, bit 20 = 1
Program code
Comment
WHEN COND1==TRUE DO SPOS=180
WHEN COND2==TRUE DO POS[C]=270
1226
; Output of the implicit M70 to the PLC.
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S1: Spindles
16.2 Modes
Example 4:
Synchronized actions: Transition from speed control mode to axis mode with M70
Configuration: MD35035 $MA_SPIND_FUNCTION_MASK, bit 20 = 1
Program code
Comment
WHEN COND11==TRUE DO M3 S1000
WHEN COND12==TRUE DO M70
; Output of M70 to the PLC.
WHEN COND13==TRUE DO POS[C]=270
; No generation of an implicit M70 because axis mode already exists.
Example 5:
Synchronized actions: Invalid transition from speed control mode to axis mode
Configuration: MD35035 $MA_SPIND_FUNCTION_MASK, bit 20 = 1
Program code
Comment
WHEN COND21==TRUE DO M3 S1000
WHEN COND22==TRUE DO POS[C]=270
16.2.7
; Alarm 20141!
Initial spindle state
Spindle basic setting
The following machine data is used to specify a spindle mode as basic setting:
MD35020 $MA_SPIND_DEFAULT_MODE
Value
Spindle basic setting
Speed control mode, position control deselected
Speed control mode, position control activated
Positioning mode
Axis mode
Time when the spindle basic setting takes effect
The time when the spindle basic setting takes effect is set in the machine data:
MD35030 $MA_SPIND_DEFAULT_ACT_MASK
Value
Effective time
POWER ON
POWER ON and program start
POWER ON and RESET (M2 / M30)
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S1: Spindles
16.3 Reference / synchronize
16.3
Reference / synchronize
Why synchronize?
In order to ensure that the controller detects the exact position of the spindle when it is switched
on, the controller must be synchronized with the position measuring system of the spindle.
The following functions are possible only with a synchronized spindle:
Thread cutting
Tapping without compensating chuck
Axis programming
For further explanations about synchronization of the spindle, see Section "R1: Referencing
(Page 1149)".
Why reference?
In order to ensure that the controller detects the exact machine zero when it is switched on,
the controller must be synchronized with the position measurement system of the rotary axis.
This process is known as referencing. The sequence of operations required to reference an
axis is known as search for reference.
Only a referenced axis can approach a programmed position accurately on the machine.
For further explanations about referencing the rotary axis, see Section "R1: Referencing
(Page 1149)".
Installation position of the position measurement system
The position measurement systems can be installed as follows:
Directly on the motor in combination with a Bero proximity switch on the spindle as a zeromark encoder
On the motor via a measuring gearbox in combination with a Bero proximity switch on the
spindle as a zero-mark encoder
Directly on the spindle
On the spindle via a measuring gearbox in combination with a Bero proximity switch on the
spindle as a zero-mark encoder (only with ratios not equal to 1:1)
Where two position measuring systems are provided, they can be installed either in the same
location or separately.
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16.3 Reference / synchronize
Synchronization procedure
When the spindle is switched on, it can be synchronized as follows:
The spindle is started with a spindle speed (S value) and a spindle rotation (M3 or M4) and
synchronized with the next zero mark of the position measurement system or with the next
Bero signal.
The spindle is to be positioned from standstill using SPOS, M19 or SPOSA. The spindle
synchronizes with the next zero mark of the position measurement system or with the next
Bero signal. It is then positioned to the programmed position.
The spindle can be synchronized from the motion (after M3 or M4) using SPOS, M19 or
SPOSA.
The responses are as follows:
With SPOS=<Pos>, SPOS=DC(<Pos>) and SPOS=AC(<Pos>), the direction of motion
is retained and the position is approached.
With SPOS = ACN(<Pos>) or SPOS = ACP(<Pos>), the position is always
approached with a negative or positive direction of motion. If necessary, the direction
of motion is inverted prior to positioning.
Crossing the zero mark in JOG mode by means of direction keys in speed control mode.
Note
It does not make any difference whether the synchronization procedure is initiated from the
part program, FC 18 or synchronized actions.
Note
During synchronization of the spindle, all four possible reference point values are effective
depending on the measuring system selected. The measurement system offset has the
same effect.
The following machine data must be observed:
MD34080 $MA_REFP_MOVE_DIST
(Reference point distance / destination point for a distance-coded system)
MD34090 $MA_REFP_MOVE_DIST_CORR
(Reference point offset / absolute offset, distance-coded)
MD34100 $MA_REFP_SET_POS
(Reference point value, with distance-coded system without any significance)
If a non-referenced spindle with SPOS=IC(...) and a path < 360 degrees is positioned,
it may be the case that the zero mark is not crossed and the spindle position is still not
synchronized with the zero mark. This can happen:
After POWER ON
By setting the axial NC/PLC interface signals:
DB31, ... DBX17.5 (resynchronize spindle when positioning 2)
DB31, ... DBX17.4 (resynchronize spindle when positioning 1)
Special features for synchronization with BERO
The position falsification caused by the signal delay with BERO can be corrected internally in
the NC by entering a signal runtime compensation.
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16.3 Reference / synchronize
The signal runtime compensation is set by means of the machine data:
MD31122 $MA_BERO_DELAY_TIME_PLUS
(BERO delay time for a positive direction of motion)
MD31123 $MA_BERO_DELAY_TIME_MINUS
(BERO delay time for a negative direction of motion)
The effect depends on the setting in machine data:
MD34200 $MA_ENC_REFP_MODE (referencing mode)
MD34200 = 7
MD34200 = 2
The setting MD34200 $MA_ENC_REFP_MODE = 7 only executes posi
tion synchronization at a velocity/speed which is fixed in machine data:
MD34040 $MA_REFP_VELO_SEARCH_MARKER (reduced velocity)
The zero mark is not automatically sought, it has to be requested explicitly
with the 0-1 edge of the NC/PLC interface signal:
DB31, ... DBX16.4/5 (resynchronize spindle 1/2*)
*) 1/2 stands for the selected measuring system.
The velocity defined in MD34040 is also effective when referencing in
JOG-REF mode and through the part program with G74.
Setting MD34200 $MA_ENC_REFP_MODE = 2 executes position syn
chronization without specifying a specific velocity/speed.
Note
Signal propagation delays are preset on delivery so that the content generally does not have
to be changed.
Referencing sequence
If the spindle is to be programmed in axis mode directly after controller power-up, it must be
ensured that the axis is referenced.
When the controller is switched on, the spindle can be referenced (condition is one zero mark
per revolution).
For information about the referencing procedure, see Section "R1: Referencing (Page 1149)".
The rotary axis is referenced at the same time as the spindle is synchronized (see section
"Synchronization procedure") if the position measuring system used for the spindle is also
used for the rotary axis.
Position measurement systems, spindle
The spindle can be switched from spindle mode to axis mode (rotary axis) if a single motor is
used for spindle mode and axis mode.
The spindle (spindle mode and axis mode) can be equipped with one or two position
measurement systems. With two position measurement systems, it is possible to assign one
position measurement system to the spindle and the other to the rotary axis, or to assign two
position measurement systems to the spindle. Where two position measurement systems are
provided, both are updated by the controller, but only one can be active.
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16.3 Reference / synchronize
The active position measuring system is selected using the NC/PLC interface signal:
DB31, ... DBX1.5 (position measuring system 1)
or
DB31, ... DBX1.6 (position measuring system 2)
The active position measurement system is required for the following functions:
Position control of the spindle (SPCON)
Spindle positioning (SPOS, M19 and SPOSA)
Thread cutting (G33, G34, G35)
Tapping without compensating chuck (G331, G332)
Revolutional feedrate (G95)
Constant cutting rate (G96, G961, G97, G971)
Spindle actual speed display
Axis mode
Synchronous spindle setpoint coupling
Resynchronizing the position measuring system for the spindle
In the following cases, the spindle position measurement system must be resynchronized:
The position encoder is on the motor, a Bero proximity switch is mounted on the spindle
and a gear stage change is performed. Synchronization is triggered internally once the
spindle is rotating in the new gear stage (see Synchronization procedure).
The machine has a selector switch for a vertical and horizontal spindle. Two different
position encoders are used (one for the vertical spindle and one for the horizontal spindle),
but only one actual value input is used on the controller. When the system switches from
the vertical to the horizontal spindle, the spindle must be resynchronized.
This synchronization is initiated with the NC/PLC interface signal:
DB31, ... DBX16.4 (resynchronize spindle 1)
or
DB31, ... DBX16.5 (resynchronize spindle 2)
The spindle must be in open-loop control mode.
Position restoration with POWER ON
For spindles with incremental position measuring systems, it is possible to buffer the actual
values after a POWER OFF and after POWER ON, to restore the position last buffered before
switching-off, in order that position-dependent functions, e.g. transformation can be restored
(see Section "Automatic restoration of the machine reference (Page 1190)"). One application
is, e.g. tool retraction after POWER OFF when machining with tool orientation (see Section
"Tool withdrawal after POWER ON with orientation transformation (Page 614)").
The following NC/PLC interface signals display the state of the position measuring system
after position restoration:
DB31, ... DBX71.4 ("Restored 1") for position measuring system 1
DB31, ... DBX71.5 ("Restored 2") for position measuring system 2
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S1: Spindles
16.4 Configurable gear adaptation
Once the tool has been retracted in the JOG mode, axes whose positions have been restored
are referenced. As a consequence, signals DB31, ... DBX71.4/5 ("Restored 1/2") are deleted
and signals DB31, ... DBX60.4/5 ("Referenced/synchronized 1/2") are set.
Note
If machine data MD20700 $MC_REFP_NC_START_LOCK is set to a value of "2", then an NC
start is also possible with "restored" axis positions (in the MDA mode or when overstoring).
16.4
Configurable gear adaptation
16.4.1
Gear stages for spindles and gear change change
Why do we need gear stages?
Gear stages are used on spindles to step down the speed of the motor in order to generate a
high torque at low spindle speeds or to step up in order to maintain a high speed.
No. of gear stages
Five gear stages can be configured for each spindle.
The number of used gear stages is defined in machine data:
MD35090 $MA_NUM_GEAR_STEPS
Parameterization of the gear stages
The gear stages 1 to 5 can be parameterized via the following machine data:
1232
Machine data
Meaning
MD35012 $MA_GEAR_STEP_CHANGE_POSITION[<n>]
Gear stage change position
MD35110 $MA_GEAR_STEP_MAX_VELO[<n>]
Maximum speed for automatic
gear stage change
MD35120 $MA_GEAR_STEP_MIN_VELO[<n>]
Minimum speed for automatic
gear stage change
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[<n>]
Maximum speed of gear stage
MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT[<n>]
Maximum speed of gear stage in
position control
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT[<n>]
Minimum speed of gear stage
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL[<n>]
Acceleration in speed control
mode
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL[<n>]
Acceleration in position control
mode
MD35300 $MA_SPIND_POSCTRL_VELO[<n>]
Position control activation speed
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S1: Spindles
16.4 Configurable gear adaptation
Machine data
Meaning
MD35310 $MA_SPIND_POSIT_DELAY_TIME[<n>]
Positioning delay time
MD35550 $MA_DRILL_VELO_LIMIT[<n>]
Maximum speed for tapping with
out compensating chuck
Type of gear stage change
The type of gear stage change is set in machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE
Bit
Value
Meaning
The spindle motor is attached to the spindle directly (1:1) or with a non-variable trans
mission ratio (basic setting).
The machine data of the first gear stage is effective.
Spindle motor with up to five gear stages.
The gear stage change takes place:
In oscillation mode
At indefinite change position
Meaning as in Bit 0 = 0.
Meaning as in Bit 0 = 1, however, the gear stage change takes place at the configured
spindle position.
The change position is set in machine data:
MD35012 $MA_GEAR_STEP_CHANGE_POSITION
The position is approached in the current gear stage before the gear stage change.
If Bit 1 is set, then Bit 0 is ignored!
The gear stage change dialog between NCK and PLC is simulated.
The second gear stage data set is used while tapping with G331/G332 (see the following
paragraph "Second gear stage data set"). The bit must be set for the master spindle
used during the tapping.
Requirement for a gear stage change
In principle, the gear stage change is only performed if the requested gear stage is not the
same as the active gear stage.
Parameter set selection during gear stage change
The servo parameter set is also changed over with the gear stage if:
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 0 or 1
For further information, see Section "Parameter set selection during gear step change
(Page 1246)".
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S1: Spindles
16.4 Configurable gear adaptation
Request gear stage change
A gear stage change can be requested:
In the part program using:
M40 S...
Automatic gear stage selection to the programmed speed S...
M41 ... M45
Direct selection of gear stages 1 ... 5
M70
For MD35014 $MA_GEAR_STEP_USED_IN_AXISMODE = 1 ... 5
(see "Configurable gear step in M70 (Page 1263)")
G331 S...
For MD35010 $MA_GEAR_STEP_CHANGE_ENABLE, Bit 5 = 1
In synchronized actions using:
DO M40 S...
Automatic gear stage selection to the programmed speed S...
DO M41... M45
Direct selection of gear stages 1 ... 5
DO M70
For MD35014 $MA_GEAR_STEP_USED_IN_AXISMODE = 1 ... 5
Through the PLC using the FC18 function block
In the reset state through description of NC/PLC interface:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
The mechanically active gear stage can be communicated to the NC especially after a
POWER ON.
Note
If the spindle motor is attached to the spindle directly (1:1) or with a non-variable
transmission ratio (MD35010 = 0), then the M40 and M41 ... M45 auxiliary functions are
not relevant to this spindle.
1234
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S1: Spindles
16.4 Configurable gear adaptation
Gear stage change
Gear stage selection between two gear stages with specification of a maximum spindle speed
is shown in the example below:
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Gear stage change with selection between two gear stages
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S1: Spindles
16.4 Configurable gear adaptation
Process sequence of the gear stage change
If the new gear stage is preselected, the following sequence is implemented:
1. Changeover sequence
The two following NC/PLC interface signals are set:
DB31, ... DBX82.0-82.2 (setpoint gear stage A to C)
DB31, ... DBX82.3 (change over gear stage)
In accordance with the point at which NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed)
is set, the spindle decelerates to a standstill at the acceleration for oscillation or at the
acceleration for speed control / position control.
Oscillation can be activated at the latest when the spindle reaches a standstill:
DB31, ... DBX61.4 (axis/spindle stationary)
with NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed).
In principle, the new gear stage can also be engaged without oscillation
When the new gear stage is engaged, the following NC/PLC interface signals are set by
the PLC program:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)
2. End of gear stage change
The gear stage change is treated as completed (spindle operation type "oscillation mode"
is deselected), if the following NC/PLC interface signal is set:
DB31, ... DBX16.3 (gear is changed)
The new actual gear stage is changed to the servo and interpolation parameter set when
the motor is stationary.
With NC/PLC interface signal:
DB31, ... DBX16.3 (gear is changed)
is used to communicate to the NC that the new gear stage is valid and the oscillation mode
can be completed.
NC/PLC IS:
DB31, ... DBX82.3 (change gear)
is reset by the NCK,
which causes the PLC program to reset NC/PLC IS:
DB31, ... DBX16.3 (gear changed).
In this case, it does not matter whether NC/PLC IS:
DB31, ... DBX18.5 (oscillation mode)
is still set.
The actual gear stage, which should correspond to the set gear stage, is relevant
for selecting the parameter set.
If this is not the case, then Alarm 22010 :
MD11410 $MN_SUPPRESS_ALARM_MASK, Bit 3 = 0
is output.
Following acknowledgement of gear stage change via the PLC
with NC/PLC IS:
DB31, ... DBX16.3 (gear changed)
the spindle is in speed control mode (DB31, ... DBX84.7).
For further information on the signal exchange between PLC and NC, see Section "A2:
Various NC/PLC interface signals and functions (Page 35)".
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16.4 Configurable gear adaptation
Second gear stage data set
The automatic gear stage change M40 can be extended by a second configurable gear stage
data set.
The second gear stage data set is used exclusively in connection with tapping without
compensation chuck (G331, G332) so that an effective adjustment of spindle speed and motor
torque can be achieved.
The activation is undertaken by setting the following bit for the master spindle:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE, Bit 5 = 1
The number of used gear stages of the second gear stage data set is defined with the machine
data:
MD35092 $MA_NUM_GEAR_STEPS2
The second gear stage block data set is deactivated if:
MD35092 $MA_NUM_GEAR_STEPS2 = 0 (basic setting)
The first gear stage data set then selects the gear stage when M40 is active.
Note
The number of gear stages in the second data set can vary from the first. If no appropriate
gear stage is found for a programmed speed for M40, then no gear stage change is carried
out (exceptions, see "M40: Automatic gear stage selection for speeds outside the configured
switching thresholds (Page 1293)").
For more information about a typical program sequence in thread cutting without compensating
chuck G331/G332 see:
References:
Programming Manual - Fundamentals; Motion Commands
The gear stages 1 to 5 of the second gear stage data set can be parameterized via the following
machine data:
Machine data
Meaning
MD35112 $MA_GEAR_STEP_MAX_VELO2[n]
Maximum speed for automatic gear stage
change
MD35122 $MA_GEAR_STEP_MIN_VELO2[n]
Minimum speed for automatic gear stage
change
MD35212 $MA_GEAR_STEP_POSCTRL_ACCEL2[n]
Acceleration in position control mode
Note
The number of servo parameter sets concerning the mechanical factors remain unchanged.
Furthermore, five mechanical gear stages for the spindle and one for the axis operation can
be configured.
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16.4 Configurable gear adaptation
The speed limitations are configured only once for each gear stage with the following machine
data, independently of the different switching thresholds:
Machine data
Meaning
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[n]
Maximum speed of gear stage
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT[n]
Minimum speed of gear stage
For tapping without compensating chuck (G331, G332) the speed can be limited to the linear
acceleration range of the motor additionally. For this, the maximum speed of the linear motor
characteristics range is specified in the following machine data as a function of the gear stage:
MD35550 $MA_DRILL_VELO_LIMIT[n]
Specify gear stage in the part program
Automatic selection with active M40
The gear stage is automatically selected by the control. The gear stage in which the
programmed spindle speed (S...) is possible is checked in this context. If a gear stage results
from this that is not equal to the current (actual) gear stage, then the following NC/PLC interface
signals are set:
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX82.0-82.2 (setpoint gear stage A to C)
While the appropriate gear stage is being determined, a gear stage change is only requested
if the new speed is not within the permissible speed range of the active gear stage.
The speed is limited to the maximum speed of the current gear stage or raised to the minimum
speed of the current gear stage and the appropriate NC/PLC interface signal is set:
DB31, ... DBX83.1 (speed setpoint limited)
DB31, ... DBX83.2 (speed setpoint increased)
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16.4 Configurable gear adaptation
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change (M40)
Note
In the case of M40, the spindle must be in open-loop control mode for automatic gear stage
selection with an S word. Otherwise the gear stage change is rejected and the following alarm
is set:
Alarm 22000 "gear stage change is not possible"
Note
An active reduction gear is not considered in the selection for the automatic gear stage change.
Permanently defining the gear stage with M41 to M45
The gear stage can be permanently defined in the part program with M41 to M45.
If a gear stage is specified via M41 to M45 that is not equal to the current (actual) gear stage,
then the following NC/PLC interface signals are set:
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX82.0-82.2 (setpoint gear stage A to C)
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16.4 Configurable gear adaptation
The programmed spindle speed (S...) then refers to this permanently defined gear stage:
If a spindle speed is programmed and it is higher than the maximum speed of the
permanently defined gear stage (MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT), then
the speed is decreased to this limit and the following NC/PLC interface signal is set:
DB31, ... DBX83.1 (speed setpoint limited)
If a spindle speed is programmed and it is lower than the minimum speed of the permanently
defined gear stage (MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT), then the speed is
increased to this minimum and the following NC/PLC interface signal is set:
DB31, ... DBX83.2 (speed setpoint increased)
Block change
When programming the gear stage change in the part program, the gear stage change set
remains active until it is aborted by PLC.
This corresponds to the effect as if the following NC/PLC interface signal were set:
DB21, ... DBX6.1 (read-in disable)
Specification of gear stage via PLC with FC18
The gear stage change can also be performed by function block FC18 during a part program,
in the reset state or in all operating modes.
If the speed and direction of rotation is specified with FC18, the NC can be requested to select
the gear stage as appropriate for the speed. This corresponds to an automatic gear stage
change with M40.
The gear stage is not changed if:
The spindle is positioned via FC18.
The spindle is traversed in the axis mode.
For further information on the FC18 function block, see Section "P3: Basic PLC program for
SINUMERIK 840D sl (Page 821)".
Specification of a gear stage in synchronized actions
The gear stage change can be requested by synchronized actions using:
DO M40 S...
Automatic gear stage selection to the programmed speed S...
DO M41... M45
Direct selection of gear stages 1 ... 5
DO M70
For MD35014 $MA_GEAR_STEP_USED_IN_AXISMODE = 1 ... 5
(see "Configurable gear step in M70 (Page 1263)")
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The gear stage is not changed if:
The spindle is positioned via synchronized actions.
The spindle is traversed in the axis mode.
Note
For further details, please refer to the section "Specification of a gear stage in part program".
Exception:
The block change is not affected by the specification of a gear stage in synchronized actions.
Manual specification of a gear stage
Outside a part program that is running, the gear stage can also be changed without a request
from the NC or the machine. This is the case, for example, when a gear stage is changed
manually.
To select the appropriate parameter set, the NC must be informed of the current gear stage.
To enable this, the control or the part program must be in the reset state.
Supplementary conditions
Transfer of the gear stage to the NC is initiated when
NC/PLC IS:
DB31, ... DBX16.0-16.2 (actual gear stage A to C) changes.
These three bits must be set continuously during operation.
Successful transfer is acknowledged with NC/PLC IS:
DB31, ... DBX82.0-82.2 (set gear stage A to C)
to the PLC.
NC/PLC IS:
DB31, ... DBX16.3 (gear changed)
must not be set.
If position control is active when a new gear stage is specified by the PLC with
DB31, ... DBX16.0-16.2, then it is switched off for the duration of this changeover sequence.
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NC stop during gear stage change
The spindle cannot be stopped with NC/PLC IS:
DB21, ... DBX7.4 (NC stop)
if:
The spindle is not yet in oscillation mode for the gear stage change.
NC/PLC IS:
DB31, ... DBX16.3 (gear changed)
is not set.
Note
Options for aborting:
DB31, ... DBX2.2 (delete distance-to-go / spindle reset)
or
DB31, ... DBX16.3 (gear changed)
with corresponding acknowledgement from actual gear stage:
DB31, ... DBX16.0-16.2 (actual gear stage).
Spindle response after a gear stage change
How the spindle behaves once the gear stage has been changed depends on the following
initial conditions:
If the spindle was in the stop state before the gear stage change (M5, FC18: "Stop rotate
spindle"), in positioning or axis mode, M5 (spindle stop) is active after completion of the
gear stage change.
If a direction of rotation
(M3, M4, FC18: "Start spindle rotation"), then the last speed and direction of rotation will
become active again after the gear stage change. In the new gear stage, the spindle
accelerates to the last spindle speed programmed (S...).
If position control was active before the gear stage change (SPCON), then it is reactivated
after the gear stage change.
The next block in the part program can be executed.
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Special features
The following points must be observed on gear stage change:
The gear stage change is not terminated by selecting
NC/PLC IS:
DB31, ... DBX20.1 (run-up switchover to V/f mode).
Setpoint 0 is output.
The gear stage change is acknowledged as usual
via the NC/PLC interface signal:
DB31, ... DBX16.3 (gear is changed)
The "Ramp-function generator rapid stop" signal must be reset by the PLC before the gear
stage change is completed by the PLC.
The process sequence of the gear stage change is ended during NC reset without any
alarm output.
The gear stage output with NC/PLC IS:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
is applied by the NC.
Star/delta switchover with FC17
Digital main spindle drives can be switched in both directions between star and delta using
FC17, even when the spindle is running. This automatic switchover is controlled by a defined
logic circuit in FC17 which provides the user with a configurable switchover time for the relevant
spindle.
For further information on the FC17 function block, see Section "P3: Basic PLC program for
SINUMERIK 840D sl (Page 821)".
16.4.2
Spindle gear stage 0
Technical background
For machine's where the spindle load gear can be changed over, situations can occur where
the gear train between the motor and load (workpiece/tool) is interrupted. This state can occur,
e.g. when pressing Reset or Emergency Stop while performing a gear stage change or when
the machine is commissioned for the first time while it is being installed. The control must
identify this state where the gear train is open and the next gear stage change request must
be unconditionally executed.
Function
When the gear is disengaged, the binary-coded value "0" ( gear stage 0) is transferred to the
NC from the PLC using the interface signal bits DB31, ... DBX16.0-2 (actual gear stage A to
C):
DB31, ... DBX16.0-2 = 0
The value is used by the control to identify the state where the gear train is open.
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Effects on the gear stage change
Gear stage change in the part program
The actual gear stage signaled from the PLC is read by the NC when starting a part program.
If, at this instant in time, a value of "0" is read for the actual gear stage, then the next gear
stage change is executed and the gear stage change dialog is performed by the PLC. If a value
greater than "0" is read, then already in the program a comparison is made between the
requested and active gear stage. If both gear stages are the same, the gear stage is not
changed and a possibly programmed path motion is not interrupted.
Gear stage change in synchronized actions, FC18 and DBB30
The actual gear stage signaled from the PLC is always evaluated by the NC when the gear
stage is changed. The gear stage is always changed if a value of "0" is read from the NC.
When reading a value greater than "0", a comparison is made between the requested and
active gear stage. The gear stage is only changed with the PLC if the two values are not equal
and the NC/PLC interface signal DB31, ... DBX82.3 (change over gear) is then output.
Boundary conditions
Output of DB31, ... DBX16.0-2 = 0
When the gear is disengaged, the PLC must enter gear stage 0 in the NC/PLC interface
DB31, ... DBX16.0-2 (actual gear stage A to C).
Enabling the gear stage change
The precondition for a gear stage change after reaching gear stage 0 is the general enable
of the gear stage change via via machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (assign parameters to the gear stage
change)
MD35090 $MA_NUM_GEAR_STEPS (number of gear stages set up)
MD35092 $MA_NUM_GEAR_STEPS2 (2nd gear stage data set: Number of gear stages
that have been created) if MD35010 $MA_GEAR_STEP_CHANGE_ENABLE, bit 5 = 1
(tapping without compensating chuck)
PLC user program/ POWER ON ASUB
The PLC user program or POWER ON ASUB should ensure that when the gear is
disengaged (gear stage 0) before spindle motion, a gear stage change request is
programmed. For instance, this can be realized with M41 in the ASUB. Spindle motion such
as e.g. in JOG or in axis operation does not generate any gear stage change itself.
Example
Example for the sequence to select the first gear stage after POWER ON
1. POWER ON.
2. The PLC user program determines, in the mechanical environment, the "Gear is
disengaged" state.
3. The PLC transfers the "Gear is disengaged" state to the NC by setting:
DB31, ... DBX16.0-2 = 0
4. Part program start or POWER ON ASUB.
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5. N05 (part program, refer below) is executed:
The gear stage is changed to gear stage 1.
From the NC:
the following NC/PLC-interface signal is set:
DB31, ... DBX82.3 (change over gear stage)
the setpoint gear stage 1 is signaled to the PLC:
DB31, ... DBX82.0 = 1
DB31, ... DBX82.1 = 0
DB31, ... DBX82.2 = 0
6. Mechanical gear stage change, acknowledgement
If the gear stage is selected, then from the PLC:
the following NC/PLC-interface signal is set:
DB31, ... DBX16.3 (gear is changed)
Actual gear stage 1 signaled to the NC:
DB31, ... DBX16.0 = 1
DB31, ... DBX16.1 = 0
DB31, ... DBX16.2 = 0
7. N80 is executed:
Due to the optimization of the gear stage change frequency in the part program, the gear
stage is not changed.
Part program:
Program code
Comment
N05 M41
; Select 1st gear stage
...
N80 M41
; No gear stage change, if the 1st gear stage is selected.
Configuring data for spindle 1 (AX5):
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE[AX5] = 1 (enable gear stage change)
16.4.3
Determining the spindle gear stage
The actual stage of a spindle can be read using system variables:
For the display in the user interface, in synchronized actions or with a preprocessing stop
in the part program via the system variables:
$VC_SGEAR[<n>]
Currently selected spindle gear stage
$VC_SGEAR reads the actual gear stage signaled from the
PLC.
Range of values: 0 ... 5
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$AC_SGEAR[<n>]
Active spindle gear stage
$AC_SGEAR reads the setpoint gear stage in the main run.
Range of values: 1 ... 5
The data set for the spindle is activated corresponding to this
gear stage.
Note
For a search, the actual gear stage ($VC_SGEAR[<n>]) can differ from the setpoint gear stage
($AC_SGEAR[<n>]) as, during the search, no gear stage change takes place. Therefore, using
$VC_SGEAR[<n>] and $AC_SGEAR[<n>], it can be interrogated whether a gear stage change
should be made after a search.
Without preprocessing stop in the part program via system variables:
16.4.4
$P_SGEAR[<n>]
Setpoint gear stage
$P_SGEAR reads the gear stage programmed in the part pro
gram (M41 ... M45), for M40 selected, or for M70, the configured
gear stage.
$P_SEARCH_SGEAR[<n>]
Search: Gear-specific M function
$P_SEARCH_SGEAR contains the last programmed gear
stage M function collected with the block search.
Parameter set selection during gear step change
Servo parameter sets
The servo parameter sets 1 to 6 adapt the position controller to the changed properties of the
machine during a gear change of the spindle.
Parameter set selection during gear stage change
The gear stage parameter set (interpolation parameters) and, depending on the setting in the
following machine data, the servo parameter set are also modified during gear stage change.
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MD35590 $MA_PARAMSET_CHANGE_ENABLE (parameter set change possible)
Value
Meaning
In-system parameter set selection
The parameter sets of the servo are assigned permanently.
The following applies:
For axes and spindles in the axis mode, the first parameter set is active in principle.
Exception:
For G33, G34, G35, G331 and G332, for the axes involved, the parameter set with the
following number is activated:
Master spindle gear stage + 1 (corresponds to parameter set No. 2 ... 6)
For spindles in the spindle mode, the parameter set is set matching the gear stage.
Besides the in-system parameter set selection, there is also the option of an "external" pa
rameter set selection.
By the PLC (DB31, ... DBX 9.0 - 9.2)
Via programming of SCPARA in the part program or in synchronized actions
However, the in-system parameter set selection has priority.
Note: Value 1 is relevant only to axes.
The servo parameter set is specified exclusively by the PLC (DB31, ... DBX 9.0 - 9.2) or through
the programming of SCPARA in the part program or in synchronized actions (for axes and
spindles).
The 1st parameter set is selected after POWER ON.
Spindle mode
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 0 or 1
The parameter set is selected according to the gear stage + 1.
The active gear stage is located in:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
The active parameter set is output in:
DB31, ... DBX69.0-69.2 (controller parameter set A to C)
One set of parameters, with the following assignment, is provided by the NC for each of the
five gear stages:
Data set for ...
NC/PLC interface
Parameter set
Parameter set
DBX 69.2 / 69.1 / 69.0
Number
Index [n]
Axis mode
Last active gear stage
Gear stage 1
001
Gear stage 2
010
Gear stage 3
011
Gear stage 4
100
Gear stage 5
101
110
111
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Spindle in axis mode
If the spindle is in axis mode, the parameter set index "0" is selected in the servo (note
MD35590 $MA_PARAMSET_CHANGE_ENABLE!).
The gear stage change behavior depends on the setting in the machine data:
MD35014 $MA_GEAR_STEP_USED_IN_AXISMODE (gear stage for axis mode in M70)
If there is no gear stage configured for axis mode (MD35014 = 0), no implicit gear stage change
takes place in M70 (default setting!). The last gear stage is saved internally and is reactivated
with the associated parameter set during the next spindle programming.
If, however, a gear stage is configured for axis mode (MD35014 = 1 ... 5), a gear stage change
to gears 1 ... 5 takes place during the execution of M70. When changing from axis mode to
spindle mode, the gear stage loaded with M70 remains activated. The gear stage which is
activated in spindle mode prior to M70 is not automatically loaded again.
See also "Configurable gear step in M70 (Page 1263)".
Load gearbox transmission ratio
It is possible to configure positive or negative load gearbox factors for each gear stage and in
axis mode.
The setting is undertaken separately for numerator and denominator via the machine data:
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n] (load gearbox denominator)
MD31060 $MA_DRIVE_AX_RATIO_DENOM[n] (load gearbox numerator)
The setting range is the same size for positive and negative load gearbox factors.
It is not possible to enter the value "0".
Note
If an indirect encoder is configured, and the load gearbox transmission ratio changes, then the
reference is lost and the NC/PLC interface signal:
DB31, ... DBX60.4/60.5 (referenced / synchronized 1 or 2)
is reset for the relevant measuring system.
References
For further information about control and servo parameter set, please refer to:
Functions Manual - Basic Functions; Velocities, Setpoint-Actual Value Systems, ClosedLoop Control (G2)
Programming Manual, Job Planning; Section: Programmable servo parameter set
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16.4.5
Intermediate gear
Application and functions
A configured intermediate gear can be used to adapt a variety of rotating tools. The
intermediate gear on the tool side has a multiplicative effect on the motor/load gearbox.
It is set via machine data:
MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (intermediate gear numerator)
MD31064 $MA_DRIVE_AX_RATIO2_DENOM (intermediate gear denominator)
An encoder on the tool for the intermediate gear
is configured with machine data:
MD31044 $MA_ENC_IS_DIRECT2 (encoder on intermediate gear)
.
Change parameters for this machine data can be activated with "NewConfig" either using the
SinuCOM-NC commissioning software or via a softkey on the operator panel (HMI). The
existing motor/load gearboxes, on the other hand, are active after POWER ON.
Tool change
If the intermediate gear is changed at the same time as the tool, the user must also reconfigure
the transmission ratio of the numerator and denominator via the machine data of the
intermediate gear.
Example:
CAUTION
Engineering error
It remains the task of the user to stop within the appropriate period in order to make changes
to the machine data when required and then activate a "NewConfig".
In the case of an installed tool with a transmission ratio of 2:1, a suitable intermediate gear is
configured and is activated immediately in the part program with the command NEWCONF.
Program code
N05 $MA_DRIVE_AX_RATIO2-NUMERA[AX5] = 2
M10 $MA_DRIVE_AX_RATIO2-DENOM[AX5] = 1
N15 NEWCONF
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Changeover
Changeover to a new transmission ratio is performed immediately by means of NewConfig.
From a technological viewpoint, the associated mechanical changeover process takes some
time, since, in mechanical terms, a different intermediate gear with rotating tool is being
installed.
Note
At zero speed, changeover is jerk-free. The user is therefore responsible for taking appropriate
precautions.
Applications in which changeover takes place during motion and which require smoothed or
soft speed transition can be handled using existing setpoint speed filters.
For further explanations regarding control engineering dependencies, see Section "G2:
Velocities, setpoint / actual value systems, closed-loop control (Page 317)".
16.4.6
Nonacknowledged gear step change
Mode change
A gear stage change that has not been acknowledged cannot be interrupted by a change in
operating mode (e.g. switchover to JOG).
The switchover is delayed by the maximum period entered in machine data:
MD10192 $MN_GEAR_CHANGE_WAIT_TIME
.
If the gear stage change is not acknowledged within this time, the NC will output an alarm:
Further events
Events that initiate reorganization will also wait until a gear stage change is completed.
The time entered in machine data:
MD10192 $MN_GEAR_CHANGE_WAIT_TIME
determines how long the control waits before executing the gear stage change.
If this time elapses without the gear stage change being completed, the NC responds with an
alarm.
The following events have an analog response:
User ASUB
Mode change
Delete distance-to-go
Axis interchange
Activate PI user data
Enable PI service machine data
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Switch over skip block, switch over Dry Run
Editing in the modes
Compensation block alarms
Overstore
Rapid retraction with G33, G34, G35
Subprogram level abort, subprogram abort
Response after POWER ON
The active gear stage on the machine can be specified by the PLC after POWER ON and in
the RESET state.
The NCK will then select the appropriate parameter set
and check back the NC/PLC interface signals:
DB31, ... DBX82.0-82.2 (set gear stage A to C)
to the PLC.
16.4.7
Gear step change with oscillation mode
What is oscillation?
Oscillation in this context means that the spindle motor rotates alternately in the clockwise and
counter-clockwise directions. This oscillation movement makes it easy to engage a new gear
stage.
Oscillation mode
NC/PLC IS:
DB31, ... DBX82.3 (change gear)
displays that a gear stage change is required.
In principle, the new gear stage can also be engaged without oscillation
1. MD35010 $MA_GEAR_STEP_CHANGE_ENABLE must be set to 1.
2. NC/PLC interface signal DB31, ... DBX84.6 (oscillation mode) is set.
3. The acceleration is set in the machine data:
MD35410 $MA_SPIND_OSCILL_ACCEL
DB31, ... DBX18.5 (oscillation speed)
The spindle is in oscillation mode if a new gear stage was defined using automatic gear stage
selection (M40) or M41 to M45 (DB31, ... DBX82.3 (change gear) is set).
NC/PLC IS:
DB31, ... DBX82.3 (change gear)
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is only enabled when a new gear stage is defined
that is not the same as the current actual gear stage.
If NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed)
is simply set by the PLC without a new gear stage being defined by the NC,
the spindle does not change to oscillation mode.
Oscillation mode is activated with NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed)
.
Depending on NC/PLC IS:
DB31, ... DBX18.4 (oscillation via PLC)
while the function is in operation, a distinction is made between:
Oscillation via NCK
Oscillation via PLC
Oscillation with FC 18
References:
Function Manual, Basic Functions; PLC Basic Program (P3)
Oscillation time
The oscillation time for oscillation mode can be defined in a machine date for each direction
of rotation:
Oscillation time in M3 direction
(referred to as t1 in the following):
MD35440 $MA_SPIND_OSCILL_TIME_CW
Oscillation time in M4 direction
(referred to as t2 in the following):
MD35450 $MA_SPIND_OSCILL_TIME_CCW
Oscillation via NCK
Phase 1:
NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed)
accelerates the spindle motor to the speed (with oscillation acceleration) defined in machine
data:
MD35400 $MA_SPIND_OSCILL_DES_VELO (oscillation speed)
.
Start direction is defined through the following machine data:
MD35430 $MA_SPIND_OSCILL_START_DIR (start direction with oscillation)
The time t1 (or t2) is started
according to which start direction is given in the machine data:
MD35430 $MA_SPIND_OSCILL_START_DIR
The time - and not the fact that the oscillation speed is reached - is always decisive.
Phase 2:
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If time t1 (t2) has elapsed, the spindle motor
accelerates in the opposite direction to the speed defined in machine data:
MD35400 $MA_SPIND_OSCILL_DES_VELO
.
Time t2 (t1) starts.
Phase 3:
If time t2 (t1) has passed, the spindle motor accelerates in the opposite direction (same
direction as in Phase 1) to the speed defined in machine data:
MD35400 $MA_SPIND_OSCILL_DES_VELO
.
Time t1 (t2) starts. The process continues with Phase 2.
Oscillation via PLC
NC/PLC IS:
DB31, ... DBX18.4 (oscillation via PLC)
and
DB31, ... DBX18.5 (oscillation speed)
accelerates the spindle motor to the speed (with oscillation acceleration) defined in machine
data:
MD35400 $MA_SPIND_OSCILL_DES_VELO (oscillation speed)
.
The direction of rotation is defined by NC/PLC IS:
DB31, ... DBX18.7 (set direction of rotation CCW)
and
DB31, ... DBX18.6 (set direction of rotation CW)
.
The oscillation movement and the two times t1 and t2 (for clockwise and counter-clockwise
rotation) must be simulated on the PLC.
Special features
Setting/Resetting the NC/PLC IS and machine data in oscillation mode:
To decelerate the spindle, the PLC user need not set NC/PLC IS:
DB31, ... DBX4.3 (spindle stop)
.
The spindle is brought to a standstill internally by the control when a gear stage change is
requested.
The gear stage change should always be terminated with NC/PLC IS:
DB31, ... DBX16.3 (gear changed)
.
NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed)
should be used to support mechanical engagement of the gear.
It has no effect on the internal control mechanism for the gear stage change procedure and
should therefore only be set as necessary.
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If NC/PLC IS:
DB31, ... DBX18.5 (oscillation speed)
is reset, oscillation mode stops.
However, the spindle remains in "oscillation mode".
The acceleration is defined in the following machine data:
MD35410 $MA_SPIND_OSCILL_ACCEL
The spindle will cease to be synchronized if an indirect measuring system (motor encoder)
is used.
If the machine data is set to:
MD31050 $MA_ENC_IS_DIRECT = 0,
NC/PLC IS:
DB31, ... DBX60.4/5 = 0 (referenced/synchronized)
is automatically deleted.
The zero mark is synchronized the next time it is crossed.
End of oscillation mode
On termination of oscillation mode, the spindle returns to open-loop control mode and
automatically changes to the mode defined by SPCON or SPCOF.
All gear-specific limit values (min./max. speed, etc.) correspond to the set values of the actual
gear stage.
Functionality
Machine tools of conventional design require a gear stage of the spindle in oscillation mode.
If the machine data configuration is:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 1
the following sequence is implemented:
Deceleration of the spindle.
The braking action corresponds to an M5 movement.
Output of VDI interface signals:
DB31, ... DBX84.6 (oscillation mode)
DB31, ... DBX82.3 (change gear)
DB31, ... DBX82.0-82.2 (set gear stage A to C).
If position control has been enabled, it is disabled:
DB31, ... DBX61.5 = 0.
The load gearbox can now "disengage".
NC/PLC IS:
DB31, ... DBX18.5 (oscillation enable)
can be set by the PLC.
The spindle motor then performs an oscillation motion with preset values.
The oscillation motion is designed to facilitate and accelerate the re-engaging of the gear
wheels.
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Writing of NC/PLC IS:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
by the PLC.
Once the PLC has sent:
DB31, ... DBX16.3 (gear changed)
to the NCK, the last movement to be active is continued, if available.
For indirect encoders (motor encoders), the homing status is cleared:
DB31, ... DBX60.4/5 = 0.
Block change
If the spindle is switched to oscillation mode
with NC/PLC IS:
DB31, ... DBX82.3 (change gear),
the processing of the part program remains suspended.
A new block is not executed.
If oscillation mode is terminated with NC/PLC IS:
DB31, ... DBX16.3 (gear changed),
the processing of the part program is resumed.
A new block is executed.
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Figure 16-5
Block change following oscillation mode
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16.4 Configurable gear adaptation
Oscillation mode
Typical time sequence for the gear stage change with a spindle:
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t1:
With the programming of S1300, NCK detects a new gear stage (second gear stage), sets NST
DB31, ... DBX82.3 (change gear) and blocks processing for the next part program block (= in
ternal feed disable*).
t2:
The spindle is stationary, and oscillation starts (oscillation via the NCK). NST DB31, ... DBX18.5
(oscillation speed) must be set at the latest by t2.
t3:
The new gear stage is engaged. The PLC user transfers the new (actual) gear stage to the NCK
and sets NST DB31, ... DBX16.3 (gear is changed).
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S1: Spindles
16.4 Configurable gear adaptation
t4:
NCK then retracts NST DB31, ... DBX82.3 (change gear), ends the oscillation, releases the next
part program block for processing, and accelerates the spindle to the new S value (S1300).
*:
The internal feed disable is set if:
The spindle gear stage change has been programmed via the part program and
A processing block is activated (i.e. G0 is not active)
The internal feed disable is not set during a gear stage change from synchronized actions or in
the case of specifications via the PLC with FC 18.
Figure 16-6
16.4.8
Gear stage change with stationary spindle
Gear stage change at fixed position
Application and advantages
Machine tools increasingly use standardized spindle drives, firstly to save technological dead
time on a gear stage change and secondly to gain the cost benefits of using standardized
components.
The "Gear stage change at fixed position" function supports the "directed gear stage change"
of load gearboxes that need to be activated in a different way than the NC. The gear stage
change can in this case only be performed at a defined spindle position. An oscillation
movement as required by conventional load gearboxes is thus no longer necessary.
Sequence for gear stage change at fixed position
The gear stage change at fixed position
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S1: Spindles
16.4 Configurable gear adaptation
Machine data configuration:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 2
runs the following sequence:
Positioning of the spindle from standstill or movement to the position configured in machine
data:
MD35012 $MA_GEAR_STEP_CHANGE_POSITION.
If the gear stage change is performed out of a movement, then the current direction of
rotation is maintained. The spindle is in positioning mode during the positioning action.
NC/PLC IS:
DB31, ... DBX84.5 (positioning mode)
is output.
If no reference is available:
DB31, ... DBX60.4/5 = 0
or NC/PLC IS:
DB31, ... DBX17.4/5 (resynchronize on positioning MS 1/2)
is set, the positioning action is extended by the time it takes to find the zero mark.
After reaching the gear stage change position configured in machine data:
MD35012$MA_GEAR_STEP_CHANGE_POSITION
the machine waits for the time in machine data:
MD35310 $MA_SPIND_POSIT_DELAY_TIME
before switching to oscillation mode,
and the known gear stage change dialog starts.
Output of NC/PLC interface signals:
DB31, ... DBX84.6 (oscillation mode)
DB31, ... DBX82.3 (change gear)
DB31, ... DBX82.0-82.2 (set gear stage A to C).
Position control is not disabled when an active measuring system with indirect encoder
(motor encoder) is used:
MD31040 $MA_ENC_IS_DIRECT = 0
If a measuring system with a direct encoder (load encoder) is active, position control is
deactivated:
DB31, ... DBX61.5 = 0,
because the induction flux to the load is interrupted and closed-loop position control is no
longer possible.
If position-controlled operation is not possible, it can be disabled by
resetting "Controller enable":
DB31, ... DBX2.1 = 0
.
Mechanical switchover of the gear stage on the machine.
No oscillation movement is required from the drive.
NC/PLC IS:
DB31, ... DBX18.5 (oscillation enable)
and
DB31, ... DBX18.4 (oscillation via PLC)
should not be set.
In principle, oscillation movement is still possible at this point.
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16.4 Configurable gear adaptation
Writing of NC/PLC IS:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
by the PLC.
After signal:
DB31, ... DBX16.3 (gear stage changed),
the last movement to be active is continued, if available.
For indirect encoders (motor encoders), the referencing status is cleared:
DB31, ... DBX60.4/5 = 0.
The spindle is in speed control mode and NC/PLC IS:
DB31, ... DBX84.7 (open-loop control mode)
is output.
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16.4 Configurable gear adaptation
GSC at fixed position
Typical time sequence for the gear stage change at fixed position:
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t1:
With the programming of S1300, NCK detects a new gear stage (second gear stage), NCK sets
NST DB31, ... DBX84.5 (positioning mode) and blocks processing for the next part program block
(= internal feed disable*).
t2:
The spindle is stationary, and exact stop is signaled.
t3:
Gear stage change - wait time
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S1: Spindles
16.4 Configurable gear adaptation
t4:
The new gear stage is engaged. The PLC user transfers the new (actual) gear stage to the NCK
and sets NST DB31, ... DBX16.3 (gear is changed).
t5:
NCK then retracts NST DB31, ... DBX82.3 (change gear), releases the next part program block
for processing, and accelerates the spindle to the new S value (S1300).
*:
The internal feed disable is set if:
The spindle gear stage change has been programmed via the part program and
A processing block is activated (i.e. G0 is not active)
The internal feed disable is not set during a gear stage change from synchronized actions or in
the case of specifications via the PLC with FC 18.
Figure 16-7
Gear stage change with stationary spindle
gear stage change position MD35012
The gear stage change position is defined in machine data:
MD35012 $MA_GEAR_STEP_CHANGE_POSITION
for each gear stage.
Gear stage change wait time MD35310
After the positioning action the machine waits for the time configured in machine data:
MD35310 $MA_SPIND_POSIT_DELAY_TIME
until gear change request:
DB31, ... DBX84.6 (oscillation mode)
DB31, ... DBX82.3 (change gear)
and
DB31, ... DBX82.0-82.2 (set gear stage A to C)
are output.
Position identifiers / position
The position is always approached via the shortest path (corresponds to DC).
If no reference is available and the spindle is in standstill
(e.g. after Power On), then the direction of travel is determined by the following machine data:
MD35350 $MA_SPIND_POSITIONING_DIR
If an adjustable gear stage change position is required, then this can be achieved by writing
the machine data and by a subsequent NewConfig.
The change of the MD value can be achieved by the part program or HMI.
If the system is unable to reach the preset position, then alarm 22020 is signaled and the gear
stage change dialog between NCK and PLC does not take place in order not to destroy the
gears. As this alarm is serious, the part program cannot continue and the cause must be
eliminated under all circumstances. Experience has shown that the abortion of positioning is
usually due to incorrect MD settings or incompatible PLC signals.
Speed
The positioning speed is taken from the machine data which is configured depending on the
gear stage:
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16.4 Configurable gear adaptation
MD35300 $MA_SPIND_POSCTRL_VELO
NC/PLC IS "Spindle speed override"/"Feedrate override" at
DB31, ... DBX17.0=0: DB31, ... DBB19)
as well as:
DB31, ... DBX17.0=1: DB31, ... DBB0
are effective as normal for positioning.
The positioning speed can be changed proportionally through the program statement
OVRA[Sn].
Note
OVRA[Sn] is valid modally. After the gear stage change, a value appropriate for the machining
should be reset.
The part program statement FA[Sn] does not change the positioning speed during gear stage
change.
Acceleration
The acceleration values are determined by the machine data which is configured depending
on the gear stage:
MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL
and
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
The acceleration can be changed proportionally by programming ACC[Sn].
Note
ACC[Sn] is valid modally. After the gear stage change, a value appropriate for the machining
should be reset.
Speed-dependent acceleration
The "knee-shaped acceleration characteristic" is effective as in positioning with SPOS or FC18.
Jerk
It is currently not possible to limit the change in acceleration.
End of positioning
The transition between the end of the positioning action (DB31, ... DBX84.5)
and the start of oscillation mode (DB31, ... DBX84.6) is defined on
reaching "Exact stop fine" (DB31, ... DB60.7) and the time value entered in machine data:
MD3510 $MA_SPIND_POSIT_DELAY_TIME
.
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16.4 Configurable gear adaptation
The determination of the transition condition has an effect firstly on the gear stage change time
and secondly on the accuracy of the approach to the preset gear stage change position.
Block change
The block change is stopped and the machining blocks are not started until the gear stage has
been changed by the PLC (DB31, ... DBX16.3).
End of gear stage change
Once the gear stage change has been completed, the spindle returns to open-loop control
mode and will automatically change to the closed-loop control mode defined by SPCON or
SPCOF.
All gear-specific limit values (min./max. speed of gear stage, etc.) correspond to the checkback values of the actual gear stage.
Supplementary conditions
The spindle must have at least one measuring system.
Position-controlled operation must be possible and must have been activated.
Generally, it must be possible to execute SPOS from the part program, from a synchronized
action or via FC18: Start spindle positioning without errors.
Unless all requirements can be met, the function described cannot be used successfully.
Activation
The function of gear stage change at fixed position
is activated by the configuration:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 2
16.4.9
Configurable gear step in M70
Technical background
In some machines the spindle needs to be in a particular gear stage during axis mode.
Possible reasons:
Only one optimization (KV, feedforward control, filter) to suit a gear stage can be found in
the servo parameter set for axis mode (index 0). The machine data for this parameter set
should not be rewritten.
There is only one mechanical transmission ratio which, unlike the others, possesses little
or no backlash compensation. The spindle can only follow a path motion or transformations
(e.g. TRANSMIT) together with other axes in this gear step.
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16.4 Configurable gear adaptation
Function
If the function is activated, a predefined gear step is loaded automatically during transition to
axis mode.
The gear step change is integrated into the M70 process and occurs after spindle deceleration
and before the loading of the servo parameter set with index 0 (note
MD35590 $MA_PARAMSET_CHANGE_ENABLE!).
The typical dialog between NC and PLC which occurs during gear step changes is executed
in a similar way to programmed gear step changes (M41 ... M45) performed.
Preconditions
Gear step changes during transition to axis mode require general enabling of the gear step
change via the machine data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (assign parameters to the gear step
change).
MD35090 $MA_NUM_GEAR_STEPS (number of gear steps set up)
Activation/deactivation
The function is activated/deactivated via the machine data:
MD35014 $MA_GEAR_STEP_USED_IN_AXISMODE (gear step for axis mode in M70)
Value
Meaning
No implicit gear step change occurs in M70. The current gear step is retained (default
setting!).
1 ... 5
A gear stage change to gear stage 1 ... 5 occurs during the processing of M70.
Supplementary conditions
Gear step change at fixed position (MD35010 $MA_GEAR_STEP_CHANGE_ENABLE = 2)
The "gear step change at fixed position" function is supported. The sequence in M70 is then
extended by the time it takes to position the spindle. The position is approached at the current
gear step.
Transition to axis mode without programming M70
The control system detects the transition to axis mode automatically from the program
sequence (see "Implicit transition to axis mode (Page 1224)") and generates the requisite M70
sequence, including the gear step change, within the control system.
Transition to axis mode with FC 18
Implicit gear step change is not supported in transition to axis mode with the FC 18 ("Start
axis"). This requires the right gear step to be engaged by the PLC application before switching
to axis mode. The gear step change is also possible with the FC 18 ("Start gear step change").
Change from axis mode to spindle mode
When changing from axis mode to spindle mode, the gear step loaded with M70 remains
activated. The gear stage which is activated in spindle mode prior to M70 is not automatically
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16.4 Configurable gear adaptation
loaded again. The servo parameter set is changed from parameter set 1 (index 0) to parameter
sets 2 ... 6 (index 1 ... 5) to suit the gear step (with
MD35590 $MA_PARAMSET_CHANGE_ENABLE < 2).
Example
Gear step 4 should be loaded in the case of spindle transition to axis mode.
Configuration: MD35014 $MA_GEAR_STEP_USED_IN_AXISMODE[<spindle name>] = 4
Program code
Comment
N05 M3 S1000
N10 G1 X100 F1000
N15 M70
; Gear step 4 is loaded.
N20 POS[C]=77
N25 ...
Note
MD35014 can be changed in the NewConfig. Thus, the gear step being loaded can still be
changed in the part program before transition to axis mode, if necessary.
16.4.10
Suppression of the gear stage change for DryRun, program test and SERUPRO
Function
For test feed rate (DryRun), program test and SERUPRO, normally, a gear stage change is
not required. This is the reason that it can be suppressed for these functions. The
corresponding configuration is realized with bits 0 ... 2 in machine data:
MD35035 $MA_SPIND_FUNCTION_MASK
Dry run feedrate (DryRun)
Bit 0 = 0
When the DryRun function is active - for part program blocks - gear stages are changed
with M40, M41 to M45, or programming via FC18 and synchronized actions.
Bit 0 = 1
When the DryRun function is active - for part program blocks - a gear stage change is
suppressed with M40, M41 to M45, programming via FC18 and synchronized actions.
Program test and SERUPRO
Bit 1 = 0
For active program test / SERUPRO function - for part program blocks - gear stages are
selected with M40, M41 to M45, programming via FC18 and synchronized actions.
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16.4 Configurable gear adaptation
Bit 1 = 1
For active program test / SERUPRO function - for part program blocks - a gear stage
change is suppressed with M40, M41 to M45, programming via FC18 and synchronized
actions.
DryRun, program testing and SERUPRO
Bit 2 = 0
Gear stage change for programmed gear stage is not performed subsequently on REPOS
after deselection of functions DryRun, Program Test and SERUPRO.
Bit 2 = 1
Gear stage change for programmed gear stage is performed after deselection of functions
DryRun and SERUPRO if possible.
Sequence
If a gear stage change is suppressed, if necessary, the interpolator will limit the programmed
spindle speed to the permissible speed range of the active gear stage.
NC/PLC interface signals DB31, ... DBX83.2 (setpoint speed increased) and DB31, ... DBX83.1
(setpoint speed limited) generated as a result of this limit are suppressed.
Monitoring by the PLC program is not necessary during DryRun and in dry run feedrate.
When the gear stage change is suppressed, no new gear stage setpoint
(DB31,... DBX82.0-82.2) is output to the PLC.
The gear stage change request DB31, ... DBX82.3 (change gear) is also suppressed.
This ensures that no gear stage change information has to be processed by the PLC program.
Determining the last active gear stage
System variable $P_GEAR returns the gear stage programmed in the part program (which
may not have been output to the PLC).
System variable $AC_SGEAR can be used to read the last active gear stage from the part
program, synchronized actions and at the user interface.
Behavior after deselection
The DryRun function can be deselected within a running part program. Once it has been
deselected, the correct gear stage requested by the part program must be identified and
selected.
It cannot be assured that the remainder of the part program will run without errors until the
correct gear stage has been activated. Any necessary gear stage change is performed in the
system REPOS started on deselection if the spindle is in speed control mode. A complete gear
stage change dialog takes place with the PLC and the last programmed gear stage is activated.
If, for REPOS, there is a mismatch between the gear stage programmed in the part program
and the actual gear stage supplied via the NC/PLC interface, then no gear stage change takes
place.
The same applies to the SERUPRO function.
Further explanations regarding the block search function SERUPRO, see:
References:
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S1: Spindles
16.5 Additional adaptations to the spindle functionality that can be configured
Function Manual, Basic Functions; Mode Group, Channel, Program Mode, Reset Response
(K1)
Boundary conditions
If the gear stage change is suppressed, the output spindle speed moves within the speed
range specified by the current gear stage.
The following restrictions apply to the subsequent activation of a gear stage change with
REPOS:
The gear stage change is not activated subsequently if the spindle in the deselection or
target block is a command spindle (synchronized action) or PLC spindle (FC18).
If the gear stage cannot be activated because the spindle is in position or axis mode or a
link is active, alarm 22011"Channel%1 block%3 spindle2% Change to programmed gear
stage not possible" is signaled.
Example
Gear stage change in DryRun
; 1. Activate 1st gear stage for output state
N00 M3 S1000 M41
; 1st gear stage is selected
M0
; Part program stops
; PI service: Activate dry run feedrate (DryRun)
; (Configuring)
N10 M42
2nd gear stage requested, no gear stage change
takes place
N11 G0 X0 Y0 Z0
; Positioning axes
N12 M0
; Part program stops
; PI service: Deactivate dry run feedrate (DryRun)
; REORG and REPOS are performed
; now the gear stage change to the 2nd gear stage
takes place
N20 G1 Z100 F1000
...
N99 M30
16.5
; Part program end
Additional adaptations to the spindle functionality that can be
configured
Spindle-specific functions are set using machine data:
MD35035 $MA_SPIND_FUNCTION_MASK (spindle functions)
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16.5 Additional adaptations to the spindle functionality that can be configured
MD35035 is bit coded:
Bit
Meaning
0 ... 2
Gear stage change behavior for test feedrate (DryRun), program test and SERUPRO
See "Suppression of the gear stage change for DryRun, program test and SERUPRO
(Page 1265)".
The programmed speed S... including speed setpoints FC18 and synchronized actions can
be accepted in setting data SD43200 $SA_SPIND_S (speed for spindle start via PLC interface).
See "Special spindle motion via the PLC interface (Page 1277)".
For bit 5 = 1, the content of setting data SD43200 $SA_SPIND_S acts as the speed setpoint
for JOG. You can use the JOG keys to operate the spindle at the speed defined in SD43200.
If the content is zero, other JOG speed setpoints are active(see SD41200 $SN_JOG
SPIND_SET_VELO).
The programmed cutting velocity S... including setpoints via FC18 and synchronized actions
can be accepted in setting data SD43202 $SA_SPIND_CONSTCUT_S (cutting rate for spindle
start via the PLC interface).
See "Special spindle motion via the PLC interface (Page 1277)".
10
For the master spindle, the value of the 15th G group (feedrate type) can be accepted in setting
data SD43206 $SA_SPIND_SPEED_TYPE (spindle speed type for spindle start via the PLC
interface).
See "Special spindle motion via the PLC interface (Page 1277)".
12
Bit 12 = 0
Spindle override is not effective for the zero mark search with M19, SPOS or
SPOSA = 0.
Bit 12 = 1
Spindle override is effective for the zero mark search with M19, SPOS or SPOSA
= 0.
19
When programming SPOS and SPOSA, auxiliary function M19 can be implicitly generated and
output to the PLC.
20
In the case of M70 functionality which is generated in the control, auxiliary function M70 can
be implicitly generated and output to the PLC.
See "Positioning mode (Page 1205)".
See "Implicit transition to axis mode (Page 1224)".
22
Bit 22 = 0
The NC/PLC interface signal DB31, ... DBX17.6 (invert M3/M4) also affects the
function "interpolatory tapping (G331/G332)".
Note:
The following must be observed for this setting:
For part programs with G331 and G332, it is necessary to set NC/PLC
interface signal DB31, ... DBX17.6 (invert M3/M4) before part program start
to a stable value.
Existing application-based solutions, e.g. as are used in tapping cycles,
must, if required, be adapted. It is known, for example, in tapping cycles, that
the spindle direction of rotation can be inverted using MIRROR depending
on a cyclic-specific setting data.
Bit 22 = 1
The NC/PLC interface signal DB31, ... DBX17.6 (invert M3/M4) does not affect
the function "interpolatory tapping (G331/G332)".
Changes to MD35035 become effective after an NC reset.
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16.6 Selectable spindles
16.6
Selectable spindles
Function
The "selectable spindles" function allows you to write part programs with reference to the
spindles used ("channel spindle, logical spindle") regardless of the actual assignment of
configured spindles ("physical spindles") to a channel.
The physical spindles loaded or unloaded by "axis replacement" no longer have to be specified
explicitly in the part program.
Spindle number converter (SD42800)
Each spindle is uniquely mapped to a machine axis using a configurable number:
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX...] = <spindle number>
This number always applies to one spindle, whereby it is of no importance in which channel
the spindle is actively handled.
The channel spindles can be switched over because an intermediate level is introduced
between the logical spindle numbers used in the part program and the physical spindles
existing in the channel.
Every logical spindle used in the part program is assigned a physical spindle in a table
comprising setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[<n>] (spindle number converter) = ...
Index <n> corresponds to the programmed spindle number or the programmed address
extension. The contents of the particular SD is the physical spindle that is actually available.
The spindle number converter is effective in spindle programming by means of:
The part program
Synchronized actions
The spindle number converter has no effect with PLC commands, which use function block
FC18. The physical spindle must always be addressed there within the context of the axis.
Logical spindles can be changed over by changing SD42800. The changeover can be made
from the part program, from the PLC and/or HMI.
Note
The logical master spindle is contained in setting data SD42800
$SC_SPIND_ASSIGN_TAB[0]. It is only used for display purposes.
This setting data is defined in the part program by SETMS (logical spindle).
Unused spindles are assigned the value 0 in SD42800.
System variables, which are involved in the spindle changeover:
$P_S, $P_SDIR, $P_SMODE, $P_GWPS, $AC_SDIR, AC_SMODE, $AC_MSNUM, $AA_S
References:
Programming Manual, Job Planning
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S1: Spindles
16.6 Selectable spindles
The converted, physical spindle number is always output as the address extension in the
auxiliary function output.
Supplementary conditions
Switchable channel spindles are not a substitute for the Axis replacement function.
You can only switch spindles, which have been assigned to the channel by means of
configuration.
If spindles, which are presently active in another channel, are designated for switchover,
either the "Auto-Get" function is triggered for the physical spindle or alarm 16105 "Assigned
spindles do not exist" is output, depending on the configuration variant.
If SD42800 $SC_SPIND_ASSIGN_TAB[<n>] is specified by the PLC or from HMI, then the
channel whose table is changed should be in Reset status or the spindle to be changed
should not be used in the running part program.
A synchronized response can be achieved by means of a STOPRE preprocessor stop.
The multiple mapping of logical to physical spindles is not prevented in the NC. However,
with the display of logical spindle in the user interface, there are ambiguities corresponding
to the change table.
Spindle conversion operates on spindles via FC 18.
Activation
SD42800 $SC_SPIND_ASSIGN_TAB[<n>] is enabled by setting the following machine data
setting:
MD20092 $MC_SPIND_ASSIGN_TAB_ENABLE=1
Basic setting SD42800
After switching on the NC with the commissioning switch in setting 1 (delete SRAM) SD42800
$SC_SPIND_ASSIGN_TAB[<n>] is in the basic setting.
The numbers of the logical and physical spindles are identical.
SD42800 $SC_SPIND_ASSIGN_TAB[1] = 1
SD42800 $SC_SPIND_ASSIGN_TAB[2] = 2
SD42800 $SC_SPIND_ASSIGN_TAB[3] = 3
SD42800 $SC_SPIND_ASSIGN_TAB[4] = 4
SD42800 $SC_SPIND_ASSIGN_TAB[5] = 5
...
Example
Spindle configurations:
Assignment, spindle number and machine axis:
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16.6 Selectable spindles
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX4] = 1
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX5] = 2
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX6] = 3
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX [AX7] = 5
Accepting a machine axis in a channel:
MD20070 $MC_AXCONF_MACHAX_USED[0] = 4
MD20070 $MC_AXCONF_MACHAX_USED[1] = 5
MD20070 $MC_AXCONF_MACHAX_USED[2] = 6
MD20070 $MC_AXCONF_MACHAX_USED[3] = 7
Specifying the master spindle:
MD20090 $MC_SPIND_DEF_MASTER_SPIND = 1
Spindle number converter:
MD20092 $MC_SPIND_ASSIGN_TAB_ENABLE=1
; Activate spindle number converter
SD42800 $SC_SPIND_ASSIGN_TAB[0]=1
; Master spindle as configured
SD42800 $SC_SPIND_ASSIGN_TAB[1]=1
; Basic setting of the table
SD42800 $SC_SPIND_ASSIGN_TAB[2]=2
SD42800 $SC_SPIND_ASSIGN_TAB[3]=3
SD42800 $SC_SPIND_ASSIGN_TAB[4]=0
M3 S1000
; Logical spindle not assigned
; Address extension=1, M1=3 S1=1000 is output
The spindle with configured No. "1" (No. of the physical master
spindle) rotates.
...
...
SD42800 $SC_SPIND_ASSIGN_TAB[1]=5
; Assignment of logical spindle 1 to physical spindle 5
SD42800 $SC_SPIND_ASSIGN_TAB[2]=3
; Assignment of logical spindle 2 to physical spindle 3.
Notice:physical spindle 3 has now been
assigned twice. When programming logical spindles 2 and 3, physical spindle
3 is always addressed. In the basic machine displays, both spindles rotate.
SETMS(2)
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; SD42800 $SC_SPIND_ASSIGN_TAB[0] = 2 defined internally by NCK.
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16.7 Programming
...
M5
; Master spindle = address extension=2, the unset spindle number
is output. M3=5
The physical spindle configured with number "3" stops.
...
GET(S4)
; Alarm 16105, as logical spindle "4" cannot be switched.
...
RELEASE(S1)
; Channel spindle "1" = physical. Spindle "5" is enabled.
...
M30
16.7
Programming
16.7.1
Programming from the part program
Programming statements
Statement
Description
SETMS:
Master spindle is the spindle specified in the following machine data:
MD20090 $MC_SPIND_DEF_MASTER_SPIND (position of deletion of the master spin
dle in the channel)
SETMS(<n>):
The spindle with the number <n> is the master spindle
(may differ from the initial setting:
MD20090 $MC_SPIND_DEF_MASTER_SPIND).
The master spindle must be defined for the following functions:
G95:
Revolutional feedrate
G96 S.../G961
S...:
Constant cutting rate in m/min or feet/min
G97/G971:
Cancel G96/G961 and freeze last spindle speed
G63:
Tapping with compensating chuck
G33/G34/G35:
Thread cutting
G331/G332:
Tapping without compensating chuck
G4 S...:
Dwell time in spindle revolutions
Programming M3, M4, M5, S, SVC, SPOS, M19, SPOSA, M40, M41 to M45, and WAITS
without entering the spindle number
The current master spindle setting can be retained via RESET / part program end and
part program start. The setting is done via the machine data:
MD20110 $MC_RESET_MODE_MASK
MD20112 $MC_START_MODE_MASK
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16.7 Programming
Statement
Description
M3:
Clockwise spindle rotation for the master spindle
M<n>=3:
Clockwise spindle rotation for spindle number <n>
M4:
Counter-clockwise spindle rotation for the master spindle
M<n>=4:
Counter-clockwise spindle rotation for spindle number <n>
M5:
Spindle stop without orientation for the master spindle
M<n>=5:
Spindle stop without orientation for spindle number <n>
S...:
Spindle speed in rpm for the master spindle
S<n>=...:
Spindle speed in rpm for spindle number <n>
SVC=...:
Cutting rate in m/min or feet/min for the master spindle
SVC[<n>]=...:
Cutting rate in m/min or feet/min for the spindle <n>
SPOS=...:
Spindle positioning for the master spindle
SPOS[<n>]=...:
Spindle positioning for spindle number <n>
SPOSA=...:
Spindle positioning for the master spindle
SPOSA[<n>]=...:
Spindle positioning for spindle number <n>
The block change is only performed when the spindle is in position.
The block change is executed immediately. Spindle positioning continues, regardless of
further part program processing, until the spindle has reached its position.
SPOS=DC(...):
SPOS[<n>]=DC(...):
SPOSA=DC(...):
The direction of motion is retained for positioning while in motion and the position ap
proached. When positioning from standstill, the position is approached via the shortest
path.
SPOSA[<n>]=DC(...):
SPOS=ACN(...):
SPOS[<n>]=ACN(...):
The position is always approached with negative direction of motion. If necessary, the
direction of motion is inverted prior to positioning.
SPOSA=ACN(...):
SPOSA[<n>]=ACN(...):
SPOS=ACP(...):
SPOS[<n>]=ACP(...):
The position is always approached with positive direction of motion.
If necessary, the direction of motion is inverted prior to positioning.
SPOSA=ACP(...):
SPOSA[<n>]=ACP(...):
SPOS=IC(...):
SPOS[<n>]=IC(...):
SPOSA=IC(...):
The travel path is specified. The direction of travel is determined from the sign in front of
the travel path. If the spindle is in motion, the direction of travel is inverted as necessary
to allow traversing in the programmed direction.
SPOSA[<n>]=IC(...):
If the zero mark is crossed during traversing, the spindle is automatically synchronized
with the zero mark if no reference is available or if a new one has been requested via an
interface signal.
M19:
Positioning the master spindle to the position in SD43240
M[<n>]=19:
Positioning spindle number <n> to the position in SD43240
The block change is only performed when the spindle is in position.
M70:
M<n>=70:
Bring spindle to standstill and activate position control, select zero parameter set, activate
axis mode
for the master spindle
for spindle number <n>
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S1: Spindles
16.7 Programming
Statement
Description
Spindle position control ON
SPCON:
for the master spindle
SPCON(<n>):
for spindle number <n>
SPCON(<n>,<m>):
for spindle numbers <n> and <m>
Spindle position control OFF, activate speed control mode
PCOF:
for the master spindle
SPCOF(<n>):
for spindle number <n>
SPCOF(<n>,<m>):
for spindle numbers <n> and <m>
FPRAON(S<n>):
Revolutional feedrate for spindle <n> ON, derived from the master spindle
FPRAON(S<n>,S<m>):
Revolutional feedrate for spindle <n> ON, derived from spindle <m>
The revolutional feedrate value must be specified with FA[S<m>].
FPRAOF(S<n>):
Revolutional feedrate for spindle <n> OFF
C30 G90 G1 F3600
Rotary axis C (spindle in axis mode) travels to the position 30 degrees at a speed of 3600
degrees/min = 10 rpm
Programmable minimum spindle speed limitation
G25 S...:
for the master spindle
G25 S<n>:
for spindle number <n>
Programmable maximum spindle speed limitation
G26 S...:
for the master spindle
G26 S<n>:
for spindle number <n>
Programmable maximum spindle speed limitation with G96, G961, G97
LIMS=...:
for the master spindle
LIMS[<n>]=...:
for spindle number <n>
VELOLIM[<spindle>]=...:
Programmable limiting of the configured gear stage dependent maximum speed
Using machine data (MD30455 $MA_MISC_FUNCTION_MASK, bit 6), when program
ming in the part program, it can be set as to whether VELOLIM is effective independent
of whether used as spindle or axis (bit 6 = 1) - or is able to be programmed separately
for each operating mode (bit 6 = 0). If they are to be separately effective, then the selection
is made using the name when programming:
Spindle name S<n> for spindle operating modes
Axis name, e.g. "C", for axis operation
The correction value refers to:
Spindles in axis operation (if MD30455 Bit 6 = 0):
To the configured maximum axis velocity (MD32000 $MA_MAX_AX_VELO).
Spindles in spindle or axis operation (if MD30455 bit 6 = 1):
To the maximum speed of the active gear unit stage
(MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[<n>])
For further explanations about the programming of VELOIM, see:
References:
Programming Manual, Work Preparation
WAITS:
Synchronization command for master spindle
The subsequent blocks are not processed until the spindle programmed in a previous NC
block with SPOSA has reached its position (with exact stop fine).
WAITS after M5: Wait until the spindle is stationary.
WAITS after M3/M4: Wait until the spindle reaches its setpoint speed.
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S1: Spindles
16.7 Programming
Statement
Description
WAITS(<n>):
Synchronization command for spindle number <n>
WAITS(<n>,<m>):
Synchronization command for spindle numbers <n> and <m>
FA[S<n>]:
Programming of positioning speed (axial feed) for spindle <n> in [deg/min]
With FA[S<n>]=0, the configured value takes effect once more:
MD35300 $MA_SPIND_POSCTRL_VELO
OVRA[S<n>]:
Programming of the axial override value for spindle <n> in [%]
ACC[S<n>]:
Programming of the axial acceleration capacity for spindle <n> in [%]
SPI(<n>):
With SPI(<n>) a spindle number is converted into the data type AXIS according to
machine data
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ ]
.
SPI is used if axis functions are to be programmed with the spindle.
The following commands are possible with SPI:
Frame commands:
CTRANS()
CFINE()
CMIRROR()
CSCALE()
Velocity and acceleration values for following spindles:
FA[SPI(<n>)]
ACC[SPI(<n>)]
OVRA[SPI(<n>)]
System variables:
$P_PFRAME[SPI(<n>),TR]=<value>
$P_PFRAME=
CTRANS(X,<axis value>,Y,<axis value>,SPI(<n>),<axis value>)
$P_PFRAME=
CSCALE(X,<scale>,Y,<scale>,SPI(<n>),<scale>)
$P_PFRAME=CMIRROR(S<n>,Y,Z)
$P_UBFR=CTRANS(A,10) : CFINE (19,0.1)
For further explanations about the programming of SPI, see:
References:
Programming Manual, Work Preparation.
M40:
Automatic gear stage selection for the master spindle
M<n>=40:
Automatic gear stage selection for spindle number <n>
M41 to M45:
Select gear stage 1 to 5 for the master spindle
M<n>=41 to M<n>=45:
Select gear stage 1 to 5 for spindle number <n>.
Note
M functions M3, M4, M5, and M70 are not output in DB21, ... DBB194 and DBB202 if a spindle
is configured in a channel. These M functions are offered as extended M functions in DB21, ...
DBB68 ff. and in the relevant axis DBs, DB31, ... DBB86 ff.
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16.7 Programming
References
More detailed explanations for programming the spindle can be found in:
Programming Manual, Fundamentals
16.7.2
Programming via synchronized actions
M functions M40 to M45 can also be programmed in synchronized actions.
Please note:
The programming of M40 ... M45 in the part program has no effect on the current status of
the automatic gear step change of synchronized actions, and vice versa.
When programming S values with M40, automatic gear step change is effective separately
for synchronized actions and the part program.
M40 is deactivated after POWER ON.
The gear step is not adjusted if an S value is specified from a synchronized action.
An M40 command programmed using synchronized actions always remains active for
synchronized actions (modal) and is not reset on reset.
M41 ... M45 selects first to fifth gear steps in accordance with the programming in the part
program.
An axis replacement is necessary in order to run the function.
Once the gear step change has been performed, the spindle status is neutral (same
response to M3, M4, M5 programming).
References
For further explanations regarding the programming of the spindle as well as spindle
movements from synchronized actions, refer to:
Programming Manual, Job Planning
Function Manual, Synchronized Actions
16.7.3
Programming spindle controls via PLC with FC18 - only 840D sl
When the PLC specifies the direction of rotation and speed using FC18, the NCK can determine
and select a gear step to match the speed. This is equivalent to the M40 functionality when
programming via the part program.
The correct start code must be set when FC18 is called in a PLC user program, in order to
activate gear step selection.
References
More detailed explanations regarding the programming of spindle controls by PLC with FC18
can be found in:
Function Manual, Basic Functions, Basic PLC Program (P3)
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16.7 Programming
16.7.4
Special spindle motion via the PLC interface
Note
The function is only available when using SINUMERIK Operate!
Why use a special spindle interface?
This function can be used to program the spindle via an axial PLC interface as an alternative
to the FC18. The simplicity of the settings results in slightly restricted functionality. This
functionality can be used preferably for simple control applications.
Functionality
Spindles can be started and stopped outside a part program that is being executed via the
internal DBB30 spindle interface:
DB31, DBX30.0 (spindle stop)
DB31, DBX30.1 (spindle start, clockwise)
DB31, DBX30.2 (spindle start, counter-clockwise)
DB31, ... DBX30.3 (select gear stage)
Supplementary signal to the signal "spindle start, clockwise/counter-clockwise"; determines
the gear stage that matches the speed analog to M40 in the part program.
DB31, DBX30.4 (spindle positioning start)
In order to start a spindle job, the channel handling the spindle must be in the acceptance
state. A spindle job is always started on the Low-High edge of an internal DBB30 signal.
Generally, the internal DBB30 start signals do not have any meaning in the static state and do
not prevent the spindle being programmed by FC18, synchronized actions, the part program
or JOG traversing (e.g. when the STOP signal is statically at "1").
Requirements
In order that spindle jobs are accepted via the DBB30 spindle interface, the following conditions
must be fulfilled (acceptance state):
The channel state must be in the "interrupted" or "reset" mode:
DB21, ... DBX35.6 = 1 (channel state "interrupted")
DB21, ... DBX35.7 = 1 (channel state "reset")
The program state must be in the "interrupted" or "canceled" mode:
DB21, ... DBX35.3 = 1 (program state "interrupted")
DB21, ... DBX35.4 = 1 (program state "interrupted")
These states will occur on RESET and in JOG mode.
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16.7 Programming
At the start time, the spindle concerned must meet the following requirements:
It must be in the state "Channel axis" or "Neutral axis" and must not be moved by means
of the JOG keys.
When the spindle is specified, no positioning may be carried out by FC18 or synchronized
actions.
Note
Spindle job outside the acceptance range
Low-high edges outside the acceptance range will be ignored. No alarm message is output by
the NCK. It can be conceivable that the acceptance range will be indicated to the operator by
a user-side PLC application.
Spindle jobs outside the acceptance range can also be carried out using FC18 or ASUB.
Multi-channel operation
In the case of multi-channel operation, the spindle started by the PLC becomes active in the
channel that handles the spindle at the appropriate moment.
The channel can be determined on the PLC side by reading the NC/PLC interface signals:
DB31, ... DBX68.0-68.3 (NC axis/spindle in channel A to D)
Spindle definitions
The spindle settings are retained after a change in mode (e.g. from JOG to AUTOMATIC). The
spindle definitions are applied to the part program at the start of the program and can be
modified again using part program operations.
Using the following settings in the machine data:
MD35035 $MA_SPIND_FUNCTION_MASK (spindle functions),
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16.7 Programming
certain spindle definitions (speed or cutting speed, feedrate type) can be taken from the part
program, synchronized action and FC18 and entered in the corresponding setting data:
Bit 4 = 1
The programmed speed S... including speed setpoints via FC18 and synchronized
actions are accepted in the following setting data:
SD43200 $SA_SPIND_S (speed for spindle start via PLC interface)
Programmed S values that are not programmed speed values are not accepted in the
SD. These include, for example:
S value at constant cutting speed (G96, G961)
S value for rotation-related dwell time (G4)
Bit 8 = 1
The programmed cutting speed S... including setpoints via FC18 and synchronized
actions are accepted in the following setting data:
SD43202 $SA_SPIND_CONSTCUT_S (cutting speed for spindle start via PLC inter
face)
Programmed S values that are not programmed cutting speed values are not accepted
in the SD. These include, for example:
S value outside the constant cutting speed (G96, G961, G962)
S value for rotation-related dwell time (G4)
Bit 10 = 1
For the master spindle, the value of the 15th G group (feedrate type) is accepted in the
following setting data SD43206 $SA_SPIND_SPEED_TYPE.
SD43206 $SA_SPIND_SPEED_TYPE (spindle speed type for spindle start via PLC
interface)
For all other spindles, the value in SD43206 remains unchanged.
Speed default
Speed defaults from part program, FC18 or synchronized actions are written to the following
setting data from all the usual sources:
SD43200 $SA_SPIND_S (speed for spindle start via PLC interface)
The setting data can be written to as follows:
Through speed programming
Through direct programming in the part program
Through HMI software
Note
The setting data is written immediately and asynchronously to part-program execution.
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S1: Spindles
16.7 Programming
The following conditions apply when writing:
Programming through:
Conditions:
Speed programming
MD35035 $MA_SPIND_FUNCTION_MASK Bit 4 = 1 must be set.
Constant cutting speed G96, G961 must not be active.
The following NC/PLC interface signal must be set:
DB31, ... DBX 84.0 = 0 (constant cutting speed is active)
Direct programming in the part
program
A programmed S-value and the value of the directly written SD can
be outdated with respect to time. If this is the case, after programming
the SD, the statement STOPRE should be executed.
HMI
Only positive values including zero can be accepted. Otherwise, a
corresponding message is generated.
Gear stage change and effect on speed
In the current version, no gear stage change is triggered if the setpoint speed is out of the
speed range of the gear stage (exceptions, see "M40: Automatic gear stage selection for
speeds outside the configured switching thresholds (Page 1293)"). The usual speed limitations
and the speed increase to the setpoint speed are active.
Setpoint speed for JOG
For the following MD configuration:
MD35035 $MA_SPIND_FUNCTION_MASK bit 5 = 1
the content from SD43200 $SA_SPIND_S is active as setpoint speed for JOG.
You can use the JOG keys to operate the spindle at the speed defined in SD43200.
If the content is zero, other JOG speed definitions are active
(see SD41200 $SN_JOGSPIND_SET_VELO).
Constant cutting speed setting
Defaults for constant cutting speed from part program, FC18 or synchronized actions are
written to the following setting data from all the usual sources:
SD43202 $SA_SPIND_CONSTCUT_S (cutting speed for spindle start via PLC interface)
Requirements
The requirement for the definition of a constant cutting speed to be active is:
The spindle involved must be the master spindle in the channel that handles the spindle.
This condition is fulfilled if the following NC/PLC interface signal is set:
DB31, ... DBX84.0 = 1 (constant cutting speed is active)
Writing from the part program
When writing from the part program, the value for the constant cutting speed is interpreted as
follows:
If G710 is active in the 12th G group:
If G700 is set in the 12th G group:
1280
Metric
Inch as [feet/min]
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S1: Spindles
16.7 Programming
For G70, G71 and when writing from an external (HMI), the setting in the machine data:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC
determines the interpretation of the written values.
For further explanations regarding the measuring system (metric/inch) see Section "G2:
Velocities, setpoint / actual value systems, closed-loop control (Page 317)".
Definition via FC18
If the constant cutting speed is defined via FC18, the setting of bit 6 in byte 2 in the "Signals
to concurring positioning axes" area determines how the speed value (bytes 8 ... 11) is
interpreted.
Setting via synchronized actions
For definition via synchronized actions, analog to the part program, the feedrate type defines
how the S value is interpreted.
Reading from part program and synchronized actions
The programmed cutting speed value can be determined in the part program and in the
synchronized actions by reading the following system variables:
$P_CONSTCUT_S[<n>] (last programmed constant cutting speed)
$AC_CONSTCUT_S[<n>] (actual constant cutting speed)
Defined range of values of the two new system variables: RV = {0, DBL_Max}
The programmed cutting speed value can also be read via the OPI interface.
Definition of the spindle speed type for the master spindle
Definition of the spindle speed type for the master spindle from part program, FC18 or
synchronized actions are written to the following setting data from all the usual sources:
SD43206 $SA_SPIND_SPEED_TYPE (spindle speed type for spindle start via PLC
interface)
The value range and the functionality correspond to the 15th G group (feedrate type).
Permissible values are G values: 93, 94, 95, 96, 961, 97 and 971.
Depending on the setting, for DB31, DBX30.1/2 (spindle start, clockwise/counter-clockwise)
either the speed from SD43200 $SA_SPIND_S or the cutting speed from
SD43202 $SA_SPIND_CONSTCUT_S is active:
93, 94, 95, 97 and 971:
96 and 961:
The master spindle is started with the speed from SD43200.
The speed of the master spindle is obtained from the specified
cutting velocity (SD43202) and the radius of the transverse
axis.
Definitions for spindle positioning
The definitions for spindle positioning using DB31, DBX30.4 (spindle positioning start) are
read from the following setting data:
SD43240 $SA_M19_SPOS (spindle position for spindle positioning with M19)
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S1: Spindles
16.7 Programming
SD43250 $SA_M19_SPOSMODE (spindle position approach mode for spindle positioning with
M19)
16.7.5
External programming (PLC, HMI)
SD43300 and SD42600
The revolutional feedrate behaviour can be selected externally via the axial setting data:
SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE (Rotational feedrate for spindles)
in JOG operating mode using the channel-specific setting data
SD42600 $SC_JOG_FEED_PER_REV_SOURCE (Revolutional fedrate control in JOG mode)
.
The following settings can be made via the setting data:
>0:
The machine axis number of the rotary axis/spindle from which the revolutional feedrate shall
be derived.
-1:
The revolutional feedrate is derived from the master spindle of the channel in which the axis/
spindle is active in each case.
0:
Function is deselected.
FPRAON (S2)
Revolutional feedrate for spindle S2 ON, derived from the master spindle
FPRAON (S2, A)
Revolutional feedrate for spindle S2 ON, derived from axis A.
The revolutional feedrate value must be specified with FA[Sn].
FPRAOF (S2)
Revolutional feedrate for spindle S2 OFF.
SPI(n)
It is also possible to program SPI(n) instead of SPI(Sn).
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S1: Spindles
16.8 Spindle monitoring
16.8
Spindle monitoring
16.8.1
Permissible speed ranges
The permissible speed range of a spindle results from the parameterized or programmed
speed limit values and the active spindle function (G94, G95, G96, G961, G97, G971, G33,
G34, G35, G331, G332, etc.).
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Figure 16-8
Ranges of spindle monitoring functions / speeds
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16.8 Spindle monitoring
16.8.2
Axis/spindle stationary
Functions such as tool change, open machine doors, path feedrate enable, etc. are only
possible at the machine when the spindle is stationary.
Function
The "axis/spindle stationary" state is reached if a setpoint is no longer generated and the
spindle actual speed falls below the configured threshold value for "axis/spindle stationary":
MD36060 $MA_STANDSTILL_VELO_TOL (max. velocity/speed for "axis/spindle stationary")
If the spindle has come to a standstill, the following NC/PLC interface signal is set:
DB31, ... DBX61.4 (axis/spindle stationary)
Effectiveness
Monitoring for spindle stop is effective in all spindle modes and in axis mode.
Deactivate path feed
If a spindle is stopped in the open-loop control mode (M5), then path feed is deactivated if the
following machine data is set:
MD35510 $MA_SPIND_STOPPED_AT_IPO_START (feedrate enable for spindle stopped)
The path feed is re-enabled if the spindle comes to a standstill.
16.8.3
Spindle in setpoint range
Function
"Spindle in setpoint range" spindle monitoring checks whether:
The programmed spindle speed is reached.
The spindle is at a standstill:
DB31, ... DBX61.4 (axis/spindle stationary) = 1
The spindle is still in the acceleration or deceleration phase.
In the spindle mode, open-loop control mode, the setpoint speed is compared with the actual
speed. If the actual speed deviates by more than the spindle tolerance that can be entered via
MD (refer below) then:
The following axial NC/PLC interface signal is set to "0":
DB31, ... DBX83.5 (spindle in setpoint range) = 0
The next machining block is not enabled (depending on the setting in
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START, see "Axis/spindle stationary
(Page 1284)").
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16.8 Spindle monitoring
Spindle setpoint speed
The spindle setpoint speed is derived from the programmed speed taking into account the
spindle correction and the active limits.
If the programmed speed is limited or increased, this is displayed using DB31, ... DBX83.1
(setpoint speed limited) or DB31, ... DBX83.2 (setpoint speed increased) (see also "Minimum /
maximum speed of the gear stage (Page 1285)"). The means that reaching the tolerance range
of the setpoint speed is not prevented.
Tolerance range for setpoint speed
The tolerance range of the setpoint speed is defined by the spindle speed tolerance factor:
MD35150 $MA_SPIND_DES_VELO_TOL
Example:
MD35150 $MA_SPIND_DES_VELO_TOL = 0.1
The spindle actual speed may deviate 10% from the setpoint speed.
The following NC/PLC interface signal is set to "1" if the spindle actual speed lies within the
tolerance range:
DB31, ... DBX83.5 (spindle in setpoint range) = 1
Special case:
If the spindle speed tolerance is set to "0", then DB31, ... DBX83.5 (spindle in the setpoint
range) is permanently set to "1" and no path control is performed.
Speed change
Path control only takes place at the start of the traverse block and only if a speed change has
been programmed. If the speed tolerance range is exited, e.g. due to an overload, the path
movement is not automatically brought to a standstill.
16.8.4
Minimum / maximum speed of the gear stage
Minimum speed
The minimum speed of the gear stage of a spindle is configured in the machine data:
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT[<n>]
The speed setpoints, generated taking into account the override, do not fall below the minimum
speed.
If an S value is programmed, which is less than the minimum speed, the setpoint speed is
increased to the minimum speed and the following NC/PLC interface signal is set:
DB31, ... DBX83.2 (speed setpoint increased)
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S1: Spindles
16.8 Spindle monitoring
The minimum gear stage speed is effective only in speed mode and can only be undershot by:
Spindle override 0%
M5
S0
DB31, ... DBX4.3 (spindle stop)
DB31, ... DBX2.1 (withdraw controller enable)
DB21, ... DBX7.7 (reset)
DB31, ... DBX2.2 (delete distance-to-go / spindle reset)
DB31, ... DBX18.5 (oscillation speed)
DB21, ... DBX7.4 (NC stop axes plus spindles)
DB31, ... DBX1.3 (axis/spindle disable)
DB31, ... DBX16.7 (delete S value)
Maximum speed
The maximum speed of the gear stage of a spindle is configured in machine data:
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[<n>]
The speed setpoints, generated taking into account the override, are limited to this speed.
The following NC/PLC interface signal is set in the case that the speed is limited:
DB31, ... DBX83.1 (speed setpoint limited)
16.8.5
Diagnosis of spindle speed limitation
Function
The limit or increase of the spindle speed is signaled by the output of the following NC/PLC
interface signals:
DB31, ... DBX83.1 (setpoint speed limited)
DB31, ... DBX83.2 (setpoint speed increased)
To diagnose the effective/limiting spindle parameters, one can have read access to the most
important parameters of spindle motion via system variables. The system variables are
indexed with the spindle number and they return only values that are relevant to the speed
control and spindle position modes.
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S1: Spindles
16.8 Spindle monitoring
The following system variables are available in the spindle mode:
System variable
Meaning
$AC_SMAXVELO[<n>]
Maximum possible spindle speed [rpm] resulting from the
active limiting data.
$AC_SMAXVELO_INFO[<n>]
Specification of the speed limiting data as numerical value.
*)
$AC_SMINVELO[<n>]
Minimum possible spindle speed [rpm], corresponds to the
minimum speed in the speed control mode.
$AC_SMINVELO_INFO[<n>]
Specification of the speed increasing data as numerical val
ue. *)
$AC_SMAXACC[<n>]
Acceleration value of spindle [r/s2].
$AC_SMAXACC_INFO[<n>]
Acceleration limiting cause in the form of a numerical value.
*)
$AC_SPIND_STATE[<n>]
Status bits of the spindle.
<n>: Spindle no. (n= 0: the variables are related to the current master spindle)
*) The text of the numerical value should be taken from from the description of the system variables.
Evaluation of diagnosis data:
The system variables for each spindle can be read via synchronized actions and in the part
program, giving due consideration to the preprocessing stop in the NCK .
Boundary conditions
The values delivered by the system variables depend on the spindle mode:
Speed control mode:
All system variables deliver current values.
Positioning mode:
The system variables $AC_SMAXVELO, $AC_SMAXACC and $AC_SPIND_STATE
deliver valid values. The system variables $AC_SMINVELO and $AC_SMINVELO_INFO
deliver the data that becomes effective on changing to the speed control mode.
Axis mode (e.g. if the spindle is used by a transformation TRANSMIT, TRACYL,... or follows
a path motion as a special axis):
The system variable $AC_SPIND_STATE can also be used in the axis mode. Separate
system variables are available in the axis mode for dynamic data:
$AA_VMAXM, $AA_VMAXB and $AA_VLFCT.
The following control response is obtained for a type SERUPRO block search:
The system variable $AC_SMAXVELO / $AC_SMAXACC delivers the maximum
representable speed / acceleration.
$AC_SMAXVELO_INFO and $AC_SMAXACC_INFO deliver the VALUE "0" (no limitation
is active).
$AC_SMINVELO and $AC_SMINVELO_INFO deliver data as in case of normal part
program processing.
$AC_SPIND_STATE returns the states as they are set for SERUPRO.
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16.8 Spindle monitoring
Example
Example of the visualization of the content of the system variables for Spindle 1. The variables
are written to the R parameters cyclically. These can be displayed on HMI in the R Parameters
area.
Program code
N05 IDS=1 WHENEVER TRUE DO $R10=$AC_SMAXVELO[1]
N10 IDS=2 WHENEVER TRUE DO $R11=$AC_SMAXVELO_INFO[1]
N15 IDS=3 WHENEVER TRUE DO $R12=$AC_SMINVELO[1]
N20 IDS=4 WHENEVER TRUE DO $R13=$AC_SMINVELO_INFO[1]
N25 IDS=5 WHENEVER TRUE DO $R14=$AC_SPIND_STATE[1]
See also
Spindle in setpoint range (Page 1284)
16.8.6
Maximum spindle speed
Maximum spindle speed: parameterizable, machine-dependent limit value
The maximum machine-dependent spindle speed for protecting the spindle chuck or the tool,
for example is parameterized using the following machine data:
MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed)
The spindle speed is monitored by the NC in the actual values, i.e. taking into account the
current gear stage.
Note
Machine manufacturer
It is recommended that changes to the maximum spindle speed in machine data MD35100
only be made when the spindle is stationary. This is particularly important for spindles that are
active after NC reset (see also MD35040 SPIND_ACTIVE_AFTER_RESET). Otherwise alarm
22100 may be output.
References
Manufacturer documentation: List Manual, "Detailed Machine Data Description"
User documentation: Diagnostics Manual
Responses to violation
If the actual speed of a spindle exceeds the parameterized maximum spindle speed by more
than the tolerance value,
"Actual spindle speed" > MD35100 $MA_SPIND_VELO_LIMIT (maximum
spindle speed) +
MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance value)
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S1: Spindles
16.8 Spindle monitoring
the following effects can be seen on the NC side.
DB31, ... DBX83.0 = 1 (speed limit exceeded)
Alarm 22100 "Chuck speed exceeded" is displayed
All axes and spindles of the channel are stopped
Note
Rotary axis / spindle
If a spindle is also temporarily operated as a rotary axis, alarm 22100 "Chuck speed exceeded"
is displayed if:
"Actual speed of the rotary axis" > MD35100 $MA_SPIND_VELO_LIMIT
(maximum spindle speed) +
MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance value)
Remedy: Adjust the maximum spindle speed to the maximum rotary axis speed during rotary
operation:
MD35100 $MA_SPIND_VELO_LIMIT = MD32000 $MA_MAX_AX_VELO (maximum
speed of the rotary axis)
For the change to take effect a reset must be triggered.
Maximum spindle speed: Configurable process-dependent limit value
The maximum process-related spindle speed is configured through the following setting data:
SD43235 $SA_SPIND_USER_VELO_LIMIT (maximum spindle speed)
Changes can be made by writing the setting data through:
Programming in an NC program
Manually through the user interface by the machine operator
Changes become effective immediately.
Limitation of the speed setpoint
Where appropriate, the controller limits programmed spindle speed setpoints to the values
specified in the setting data. The limitation is then displayed through the following system
variables:
$AC_SMAXVELO_INFO[<Spindle number>] == 21
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16.8 Spindle monitoring
16.8.7
Maximum encoder limit frequency
CAUTION
Limit violation
The maximum encoder frequency limit of the actual spindle position encoder is monitored by
the control (the limit can be exceeded). It is the responsibility of the machine tool manufacturer
to ensure that the configuration of the spindle motor, gearbox, measuring gearbox, encoder
and machine data prevents the maximum speed of the actual spindle position encoder being
exceeded.
Maximum encoder frequency exceeded.
If the spindle speed reaches a speed (large S value programmed), which exceeds the
maximum encoder limit frequency (the maximum mechanical speed limit of the encoder must
not be exceeded), the synchronization is lost. The spindle continues to rotate, but with reduced
functionality.
With the following functions, the spindle speed is reduced until the active measurement system
is operating below the encoder limit frequency again:
Thread cutting (G33, G34, G35)
Tapping without compensating chuck (G331, G332)
Revolutional feedrate (G95)
Constant cutting rate (G96, G961, G97, G971)
SPCON (position-controlled spindle operation)
When the encoder limit frequency is exceeded
NC/PLC IS:
DB31, ... DBX60.4 (referenced/synchronized 1)
or
DB31, ... DBX60.5 (referenced/synchronized 2)
are reset for the measurement system in question and NC/PLC IS:
DB31, ... DBX60.2 (encoder limit frequency 1 exceeded)
or
DB31, ... DBX60.3 (encoder limit frequency 2 exceeded)
are set.
If the spindle is in axis mode, the maximum encoder limit frequency must not be exceeded.
The maximum velocity (MD32000 $MA_MAX_AX_VELO) must lie below the maximum
encoder limit frequency; otherwise, alarm 21610 is output and the axis is brought to a standstill.
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S1: Spindles
16.8 Spindle monitoring
Maximum encoder limit frequency undershot
If the maximum encoder frequency limit has been exceeded and the speed subsequently falls
below the maximum encoder limit frequency (smaller S value programmed, spindle offset
switch changed, etc.), the spindle is automatically synchronized with the next zero mark or the
next Bero signal. The new synchronization will always be carried out for the active position
measuring system that has lost its synchronization and whose maximum encoder limit
frequency is currently undershot.
Special features
If the following functions are active, the maximum encoder frequency cannot be exceeded:
Spindle positioning mode, axis mode
Thread cutting (G33, G34, G35)
Tapping without compensating chuck G331, G332 (does not apply to G63)
Revolutional feedrate (G95)
Constant cutting rate (G96, G961, G97, G971)
SPCON
16.8.8
End point monitoring
End point monitoring
During positioning (the spindle is in positioning mode), the system monitors the distance from
the spindle (with reference to the actual position) to the programmed spindle position setpoint
(end point).
For this to work, in machine data:
MD36000 $MA_STOP_LIMIT_COARSE (Exact stop limit coarse)
and
MD36010 $MA_STOP_LIMIT_FINE (Exact stop limit fine)
two limit values can be defined as an incremental path starting from the spindle position
setpoint.
Regardless of the two limit values, the positioning of the spindle is always as accurate as
defined by the connected spindle measurement encoder, the backlash, the transmission ratio,
etc.
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S1: Spindles
16.8 Spindle monitoring
Exact stop window dependent on parameter set
Various parameter-set-dependent exact stop windows can be configured.
This makes it possible to work to different levels of accuracy in axis mode and spindle
positioning. The exact stop window can be configured separately for each gear step for spindle
positioning.
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Figure 16-9
Exact stop zones of a spindle
DB31, ... DBX60.7 and DB31, ... DBX60.6 (position reached with exact stop coarse / fine)
The two limit values defined by machine data:
MD36000 $MA_STOP_LIMIT_COARSE (Exact stop limit coarse)
and
MD36010 $MA_STOP_LIMIT_FINE (Exact stop limit fine)
are output to the PLC using NC/PLC IS:
DB31, ... DBX60.7 (Position reached with exact stop coarse)
and
DB31, ... DBX60.6 (Position reached with exact stop fine).
Block change for SPOS and M19
When positioning the spindle with SPOS or M19 the block is changed
dependent on end point monitoring with NC/PLC IS:
DB31, ... DBX60.6 (Position reached with exact stop fine).
All other functions programmed in the block must have achieved their end criterion (e.g., all
auxiliary functions acknowledged by the PLC).
With SPOSA, the block change does not depend on the monitoring of the end point.
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S1: Spindles
16.8 Spindle monitoring
16.8.9
M40: Automatic gear stage selection for speeds outside the configured switching
thresholds
Function
When M40 is active, an automatic gear stage selection is also made if the programmed spindle
speed S lies outside the configured switching thresholds.
In this case, a distinction is made between the following cases:
Programmed speed too high
The programmed speed is higher than the configured maximum speed of the numerically
largest gear stage:
S... > MD35110 $MA_GEAR_STEP_MAX_VELO[<n>]
In this case, the highest gear stage is selected (according to MD35090
$MA_NUM_GEAR_STEPS).
Programmed speed too low
The programmed spindle speed is less than the configured minimum speed of the first gear
stage:
S... < MD35120 $MA_GEAR_STEP_MIN_VELO[1]
In this case, the first gear stage is selected.
Programmed speed = 0
When programming speed 0 (S0) the behavior depends on the configuration of the
minimum speed of the first gear stage MD35120 $MA_GEAR_STEP_MIN_VELO[1]:
If MD35120 $MA_GEAR_STEP_MIN_VELO[1] = 0 is configured, then when
programming S0, the first gear stage is selected.
If MD35120 $MA_GEAR_STEP_MIN_VELO[1] > 0 is configured, when programming
S0 no gear stage change is performed and the last gear stage remains active. This
means that it remains possible to stop the spindle with S0 (instead of M5) without initiating
a gear stage change.
Effectiveness
Selecting the highest gear stage or the first gear stage for automatic gear stage selection (M40)
is active when programming spindle speeds S using the part program, in synchronized actions
or when entering via PLC FC18.
For speed programming from the part program for tapping with G331, the behavior is also
supported for the second data set to select the gear stage (precondition:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE, bit 5 = 1).
Boundary conditions
Enabling the gear stage change
The precondition for the function is that the gear stage change is generally enabled via machine
data:
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (assign parameters to the gear stage
change)
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16.9 Spindle with SMI 24 (Weiss spindle)
MD35090 $MA_NUM_GEAR_STEPS (number of gear stages set up)
Example
Automatic gear stage selection M40 is the initial setting after NC reset.
Part program:
Program code
Comment
...
N15 S3500 M3
; S3500 is greater than MD35110 of the 2nd gear stage. The
2nd gear stage is selected.
...
N50 S0 M3
; Spindle is stopped, S0 does not request a gear stage
change (special handling, S0).
...
N95 S5 M3
; S5 is less than MD35120 of the 1st gear stage. The 1st
gear stage is selected.
...
Configuring data for spindle 1 (AX5):
MD35010 $MA_GEAR_STEP_CHANGE_ENABLE[AX5] = 1
MD35090 $MA_NUM_GEAR_STEPS[AX5] = 2
MD35110 $MA_GEAR_STEP_MAX_VELO[1,AX5] = 500
MD35120 $MA_GEAR_STEP_MIN_VELO[1,AX5] = 10
MD35110 $MA_GEAR_STEP_MAX_VELO[2,AX5] = 2000
MD35120 $MA_GEAR_STEP_MIN_VELO[2,AX5] = 500
16.9
Spindle with SMI 24 (Weiss spindle)
16.9.1
General Information
; Enable gear stage change
; Number of existing gear
stages
; Upper switching threshold
for gear stage 1
; Lower switching threshold
for gear stage 1
; Upper switching threshold
for gear stage 2
; Lower switching threshold
for gear stage 2
In order to be able to process the sensor data of the spindle in the control, the sensors must
first be connected to I/O modules and transferred to the PLC via fieldbus (PROFIBUS DP or
PROFINET I/O).
For a spindle with SMI 24 (Weiss spindle), the sensor data are transferred to the drive using
DRIVE-CLiQ and are available there in drive parameters. When using cyclic drive telegram
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16.9 Spindle with SMI 24 (Weiss spindle)
139, sensor data from the drive are transferred to the control. They are then available there in
the following system data:
System variable
OPI variables
NC/PLC interface signals
Requirement
The spindle is connected to the drive via Sensor Module SMI 24 using DRIVE-CLiQ.
Drive telegram 139 is configured for the spindle.
Note
Drive telegram 139
In principle, a spindle with Sensor Module SMI 24 can also be operated with another drive
telegram. However, sensor data is only transferred to the control using drive telegram 139.
16.9.2
Sensor data
Sensors in the spindle motor
The spindle sensors provide information about the clamping device and the angular position
of the motor shaft:
Analog sensor S1: Clamped state
Voltage value in the range from 0 - 10 V depending on the position of the draw bar.
Digital sensor S4: Piston end position
0 = piston not in position
1 = piston is in position, i.e. piston is free to move
Digital sensor S5: Angular position of the motor shaft
0 = motor shaft not aligned
1 = motor shaft is in position (requirement: The spindle is stationary)
Note
Spindle with sensor module SMI 24 and axis container
A spindle with sensor module SMI 24 and drive telegram 139 for the transmission of sensor
data to the control must not be part of an axis container whose axes are distributed over several
NCUs via an NCU link.
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16.9 Spindle with SMI 24 (Weiss spindle)
Transmission of sensor data
Sensor data is transferred to the control from sensor module SMI 24 in cyclic drive telegram
139 as process data 11 - 14. Drive telegram 139 is based on drive telegram 136, where sensor
data is transferred instead of the data of the 2nd encoder. A detailed description of drive
telegram 139 can be found in:
References:
SINAMICS S120/S150 List Manual; Function Diagrams, Section: PROFIdrive
System data: Sensor data
Sensor data can be read into the control via the following system data:
Meaning
System variable
$VA_
NC/PLC inter OPI variables
face
Drive param
eters
DB31, ...
Sensor configuration
MOT_SENSOR_CONF[<axis>]
DBB132
vaMotSensorConf
r5000
Clamped state
MOT_CLAMPING_STATE[<axis>]
DBW134
vaMotClampingState
r5001
Measured value ana
log sensor S1 2)
MOT_SENSOR_ANA[<axis>]
DBW136
vaMotSensorAna
r5002
Status digital sensors
MOT_SENSOR_DIGI[<axis>]
DBW138
vaMotSensorDigi
r5003
<axis>:
Machine axis name: AX1 ... AXn or spindle name: S1 ... Sm
1)
1)
2)
See Section "Clamped state (Page 1297)"
Sensor S1: 0 - 10 V
Analog actual value: 0 - 10000 increments, resolution 1 mV
Example:
SIMATIC S7 input module: 0 - 27648 increments, resolution 0.36 mV
Adaptation factor if you change to a spindle with SMI 24: 2,7648
Detailed system data description
For information about NC/PLC interfaces, see Section "Signals from axis/spindle (DB31, ...)
(Page 1642)".
References:
System variable:
OPI variables:
Drive parameters:
1296
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List Manual 2; Variables
SINAMICS S120/S150 List Manual
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S1: Spindles
16.9 Spindle with SMI 24 (Weiss spindle)
16.9.3
Clamped state
Sensor S1 supplies an analog voltage value 0 V - 10 V depending on the position of the
clamping device. The voltage value is available in the system data for evaluation of the clamped
state on the user side.
Note
The subsequently described evaluation of sensor S1 to generate the state value for the
clamped state and limiting the spindle speed are only realized if the following state values are
displayed in drive parameter r5000:
r5000.0 == 1: Sensors available
r5000.1 == 1: Sensor S1 (clamped state) available
r5000.10 == 1: State values are generated, speed limits p5043 active
See also Section "Sensor data (Page 1295)", paragraph: "System data: sensor data"
State value
To simplify the evaluation, the clamped state in the system data is also available as state value
0 - 11.
A voltage range corresponds to a certain clamped state. The voltage ranges can be set using
drive parameter p5041[0...5].
A voltage tolerance can also be set for the voltage ranges using drive parameter p5040.
Note
The voltage range voltage tolerance must not overlap.
Speed limits
For the clamped states with state values 3 - 10, speed limit values can be specified using drive
parameter p5043[0...6]. In the other clamped states (state values 1, 2 and 11), a limit value of
0 [rpm] permanently applies.
In the various clamped states, the controller limits the spindle speed to the applicable limit.
Note
Changing the speed limits
A change of the speed limits in drive parameter p5043[0...6] is only effective in the controller
(limitation of the spindle speed to the new speed limit) after:
Power-on reset or when the controller is switched-off/switched-on
Deselection of the "Parking" state for the spindle (see Section "Parking a machine axis
(Page 113)")
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16.9 Spindle with SMI 24 (Weiss spindle)
Context: State value, voltage range and speed limit
State value 1)
Clamped state
Voltage range 2)
Speed limit
Upper limit
Lower limit
Sensor S1 not available or state values inac
tive
State initialization running
3)
Released with signal (error state)
p5041[0] + p5040
3)
Released
p5041[0]
p5041[1]
p5043[0]
Clamping with tool
p5043[1]
Releasing with tool
p5043[2]
Releasing without tool
p5043[3]
p5041[2]
p5041[3]
p5043[4]
Clamped with tool AND S4 == 0
Clamped with tool AND S4 == 1
p5043[4]
Clamping without tool
p5043[5]
10
Clamped without tool
p5041[4]
p5041[5]
p5043[6]
11
Clamped with signal (error state)
p5041[5] - p5040
3)
1)
2)
3)
16.9.4
The state value can be read into the controller using the following system data:
System variable:
$VA_MOT_CLAMPING_STATE[<axis>]
NC/PLC interface:
DB31, ... DBW134
OPI variables:
vaMotClampingState
Drive parameters:
r5001
p5041[0...5]: Voltage threshold values, p5040: Voltage threshold values tolerance
Speed limit permanently set: 0 [rpm]
Additional drive parameters
P5042:Transition time
The following times can be set in drive parameter p5042 for the clamped state identification:
p5042[0]: Stabilization time for "clamped with tool"
The clamped state "clamped with tool" must be present in the spindle motor for at least the
set stabilization time before the state is signaled to the controller.
p5042[1]: Maximum time for clamping
The transition from the "released" state to the "clamped with tool" or "clamped without tool"
state may take as a maximum the set time.
r5044: Speed limitation from the clamping cycle
The speed limit from p5043[6] which is active in the clamped state "clamped without tool" is
displayed in drive parameter r5044.
A value of 65535 means that the speed limit is not active.
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16.11 Examples
16.10
Supplementary conditions
16.10.1
Changing control parameters
For spindles that are not in position-controlled mode, machine data changes also take effect
when the spindle is not stationary with the NEWCONF command.
In the case of changes to control parameters, speed setpoint jumps may occur when the new
values take effect. Control parameters are, for example:
MD32200 $MA_POSCTRL_GAIN (servo gain factor)
MD32210 $MA_POSCTRL_INTEGR_TIME (position controller integral time)
MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)
16.11
Examples
16.11.1
Automatic gear step selection (M40)
Example
To illustrate the contents of the new block search variables:
Assumptions about automatic gear step selection (M40):
S0...500
S501..1000
S1001..2000
1. Gear step
2. Gear step
3. Gear step
Content of system variables:
$P_SEARCH_S
$P_SEARCH_DIR
$P_SEARCH_GEAR
; Collected S value
; Collected direction of rotation
; Collected gear step
Collected
S value:
N05 G94 M40 M3 S1000
N10 G96 S222
N20 G97
N30 S1500
N40 SPOS=0**
; 0/last speed
; 1000
: 222
; f (PlanAxPosPCS)*
; 1500
; 1500
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Direction of rotaGear step:
tion:
-5
40/last GS
3
40
3
40
3
40
3
40
-19
40
1299
S1: Spindles
16.12 Data lists
N50 M19**
N60 G94 G331 Z10 S300
N70 M42
N80 M4
N90 M70
N100 M3 M40
N999 M30
; 1500
; 300
; 300
; 300
; 300
; 300
-19
-19
-19
4
70
3
40
40
42
42
42
40
f (PlanAxPosPCS): The speed depends on the current position of the transverse axis in the
workpiece coordinate system.
**
($P_SEARCH_SPOS and $P_SEARCH_SPOSMODE are programmed)
16.12
Data lists
16.12.1
Machine data
16.12.1.1
NC-specific machine data
Number
Identifier: $MN_
Description
10192
GEAR_CHANGE_WAIT_TIME
Wait time for acknowledgment of a gear stage change
during reorganization
10714
M_NO_FCT_EOP
M function for spindle active after RESET
12060
OVR_SPIND_IS_GRAY_CODE
Spindle override with Gray coding
12070
OVR_FACTOR_SPIND_SPEED
Evaluation of spindle speed override switch
12080
OVR_REFERENCE_IS_PROG_FEED
Override reference velocity
12082
OVR_REFERENCE_IS_MIN_FEED
Defining the reference of the path override
12090
OVR_FUNCTION_MASK
Selection of override specifications
16.12.1.2
Channelspecific machine data
Number
Identifier: $MC_
Description
20090
SPIND_DEF_MASTER_SPIND
Initial setting for master spindle on channel
20092
SPIND_ASSIGN_TAB_ENABLE
Enabling/disabling of spindle converter
20850
SPOS_TO_VDI
Output of M19 to the PLC with SPOS/SPOSA
22400
S_VALUES_ACTIVE_AFTER_RESET
S function active after RESET
1300
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S1: Spindles
16.12 Data lists
16.12.1.3
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
30300
IS_ROT_AX
Rotary axis
30310
ROT_IS_MODULO
Modulo conversion
31044
ENC_IS_DIRECT2
Encoder on intermediate gear
31050
DRIVE_AX_RATIO_DENOM
Denominator load gearbox
31060
DRIVE_AX_RATIO_NUMERA
Numerator load gearbox
31064
DRIVE_AX_RATIO2_DENOM
Intermediate gear denominator
31066
DRIVE_AX_RATIO2_NUMERA
Intermediate gear numerator
31070
DRIVE_ENC_RATIO_DENOM
Measuring gear denominator
31080
DRIVE_ENC_RATIO_NUMERA
Measuring gear numerator
31122
BERO_DELAY_TIME_PLUS
BERO delay time in plus direction
31123
BERO_DELAY_TIME_MINUS
BERO delay time in minus direction
32200
POSCTRL_GAIN
KV factor
32800
EQUIV_CURRCTRL_TIME
Equivalent time constant current control circuit for feed
forward control
32810
EQUIV_SPEEDCTRL_TIME
Equivalent time constant speed control circuit for feed
forward control
32910
DYN_MATCH_TIME
Time constant for dynamic matching
34040
REFP_VELO_SEARCH_MARKER
Reference point creep speed
34060
REFP_MAX_MARKER_DIST
Monitoring of zero mark distance
34080
REFP_MOVE_DIST
Reference point distance/destination point for distance
coded system
34090
REFP_MOVE_DIST_CORR
Reference point offset/absolute offset, distancecoded
34100
REFP_SET_POS
Reference point value
34200
ENC_REFP_MODE
Homing mode
35000
SPIND_ASSIGN_TO_MACHAX
Assignment of spindle to machine axis
35010
GEAR_STEP_CHANGE_ENABLE
Type of gear step change
35012
GEAR_STEP_CHANGE_POSITION
Gear step change position
35014
GEAR_STEP_USED_IN_AXISMODE
Gear step for axis mode with M70
35020
SPIND_DEFAULT_MODE
Basic spindle setting
35030
SPIND_DEFAULT_ACT_MASK
Activate initial spindle setting
35035
SPIND_FUNCTION_MASK
Setting of spindle-specific functions
35040
SPIND_ACTIVE_AFTER_RESET
Spindle active after reset
35090
NUM_GEAR_STEPS
Number of installed gear steps
35092
NUM_GEAR_STEPS2
2nd gear step data set: Number of installed gear steps
35100
SPIND_VELO_LIMIT
Maximum spindle speed
35110
GEAR_STEP_MAX_VELO[n]
Maximum speed for automatic gear stage change
35112
GEAR_STEP_MAX_VELO2[n]
2nd gear step data set: Maximum speed for automatic
gear stage change
35120
GEAR_STEP_MIN_VELO[n]
Minimum speed for automatic gear stage change
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S1: Spindles
16.12 Data lists
Number
Identifier: $MA_
Description
35122
GEAR_STEP_MIN_VELO2[n]
2nd gear step data set: Minimum speed for automatic
gear stage change
35130
GEAR_STEP_MAX_VELO_LIMIT[n]
Maximum speed of gear step
35135
GEAR_STEP_PC_MAX_VELO_LIMIT[n]
Maximum speed of gear step in position control
35140
GEAR_STEP_MIN_VELO_LIMIT[n]
Minimum speed of gear step
35150
SPIND_DES_VELO_TOL
Spindle speed tolerance
35160
SPIND_EXTERN_VELO_LIMIT
Spindle speed limitation via PLC
35200
GEAR_STEP_SPEEDCTRL_ACCEL[n]
Acceleration in speed control mode
35210
GEAR_STEP_POSCTRL_ACCEL[n]
Acceleration in position control mode
35212
GEAR_STEP_POSCTRL_ACCEL2[n]
2nd gear step data set: Acceleration in position control
mode
35220
ACCEL_REDUCTION_SPEED_POINT
Speed limit for reduced acceleration
35230
ACCEL_REDUCTION_FACTOR
Reduced acceleration
35300
SPIND_POSCTRL_VELO
position control activation speed
35350
SPIND_POSITIONING_DIR
Positioning direction of rotation for a nonsynchronized
spindle
35400
SPIND_OSCILL_DES_VELO
Oscillation speed
35410
SPIND_OSCILL_ACCEL
Oscillation acceleration
35430
SPIND_OSCILL_START_DIR
Oscillation start direction
35440
SPIND_OSCILL_TIME_CW
Oscillation time for M3 direction
35450
SPIND_OSCILL_TIME_CCW
Oscillation time for M4 direction
35500
SPIND_ON_SPEED_AT_IPO_START
Feed enable with spindle in setpoint range
35510
SPIND_STOPPED_AT_IPO_START
Feed enable with stationary spindle
35550
DRILL_VELO_LIMIT[n]
Maximum speeds for tapping
35590
PARAMSET_CHANGE_ENABLE
Parameter set definition possible from PLC
36060
STANDSTILL_VELO_TOL
Threshold velocity "Axis/spindle stationary"
36200
AX_VELO_LIMIT
Threshold value for velocity monitoring.
16.12.2
Setting data
16.12.2.1
Channelspecific setting data
Number
Identifier: $SC_
Description
42600
JOG_FEED_PER_REF_SOURCE
Revolutional feedrate control in JOG mode
42800
SPIND_ASSIGN_TAB
Spindle number converter
42900
MIRROR_TOOL_LENGTH
Mirror tool length offset
42910
MIRROR_TOOL_WEAR
Mirror wear values of tool length compensation
42920
WEAR_SIGN_CUTPOS
Mirror wear values of machining plane
1302
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S1: Spindles
16.12 Data lists
Number
Identifier: $SC_
Description
42930
WEAR_SIGN
Invert sign of all wear values
42940
TOOL_LENGTH_CONST
Retain the assignment of tool length components when
changing the machining plane (G17 to G19)
16.12.2.2
Axis/spindle-specific setting data
Number
Identifier: $SA_
Description
43200
SPIND_S
Speed for spindle start via PLC interface
43202
SPIND_CONSTCUT_S
Cutting rate for spindle start via PLC interface
43206
SPIND_SPEED_TYPE
For spindle start via PLC interface
43210
SPIND_MIN_VELO_G25
Progr. Spindle speed limiting G25
43220
SPIND_MAX_VELO_G26
Progr. Spindle speed limiting G26
43230
SPIND_MAX_VELO_LIMS
Progr. spindle speed limiting G96/G961
43235
SPIND_USER_VELO_LIMIT
Maximum spindle speed
43240
M19_SPOS
Spindle position for spindle positioning with M19
43250
M19_SPOSMODE
Spindle positioning approach mode for spindle posi
tioning with M19
43300
ASSIGN_FEED_PER_REF_SOURCE
Rotational feedrate for positioning axes/spindles
16.12.3
signals
16.12.3.1
Signals to axis/spindle
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Feedrate override A to H
DB31, ... .DBX0.0-7
DB380x.DBX0.0-7
Axis/spindle disable
DB31, ... .DBX1.3
DB380x.DBX1.3
Follow-up mode
DB31, ... .DBX1.4
DB380x.DBX1.4
Position measuring system 1
DB31, ... .DBX1.5
DB380x.DBX1.5
Position measuring system 2
DB31, ... .DBX1.6
DB380x.DBX1.6
Override active
DB31, ... .DBX1.7
DB380x.DBX1.7
Controller enable
DB31, ... .DBX2.1
DB380x.DBX2.1
Spindle reset/delete distancetogo
DB31, ... .DBX2.2
DB380x.DBX2.2
Velocity/spindle speed limitation
DB31, ... .DBX3.6
DB380x.DBX3.6
Program test Axis/Spindle Enable
DB31, ... .DBX3.7
DB380x.DBX3.7
Actual gear stage A to C
DB31, ... .DBX16.0-2
DB380x.DBX2000.0-2
Gear is changed over
DB31, ... .DBX16.3
DB380x.DBX2000.3
Resynchronize spindle 1
DB31, ... .DBX16.4
DB380x.DBX2000.4
Resynchronize spindle 2
DB31, ... .DBX16.5
DB380x.DBX2000.5
no n-monitoring with gear change
DB31, ... .DBX16.6
DB380x.DBX2000.6
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S1: Spindles
16.12 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Delete S value
DB31, ... .DBX16.7
DB380x.DBX2000.7
Feedrate override for spindle valid
DB31, ... .DBX17.0
DB380x.DBX2001.0
Resynchronize spindle during positioning 1
DB31, ... .DBX17.4
DB380x.DBX2001.4
Resynchronize spindle during positioning 2
DB31, ... .DBX17.5
DB380x.DBX2001.5
Invert M3/M4
DB31, ... .DBX17.6
DB380x.DBX2001.6
Oscillation controlled by the PLC
DB31, ... .DBX18.4
DB380x.DBX2002.4
Oscillation enable (oscillation speed)
DB31, ... .DBX18.5
DB380x.DBX2002.5
Oscillation rotation direction clockwise (Set rotation direc
tion clockwise)
DB31, ... .DBX18.6
DB380x.DBX2002.6
Oscillation rotation direction counterclockwise (Set rotation
direction counterclockwise)
DB31, ... .DBX18.7
DB380x.DBX2002.7
Spindle override A to H
DB31, ... .DBX19.0-7
DB380x.DBX2003.0-7
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Spindle/No Axis
DB31, ... .DBX60.0
DB390x.DBX0.0
Encoder limit frequency exceeded 1
DB31, ... .DBX60.2
DB390x.DBX0.2
Encoder limit frequency exceeded 2
DB31, ... .DBX60.3
Homed/synchronized 1
DB31, ... .DBX60.4
DB390x.DBX0.4
Homed/synchronized 2
DB31, ... .DBX60.5
DB390x.DBX0.5
Position reached with exact stop coarse
DB31, ... .DBX60.6
DB390x.DBX0.6
Position reached with exact stop fine
DB31, ... .DBX60.7
DB390x.DBX0.7
Axis/spindle stationary (n < nmin)
DB31, ... .DBX61.4
DB390x.DBX1.4
Position controller active
DB31, ... .DBX61.5
DB390x.DBX1.5
Speed controller active
DB31, ... .DBX61.6
DB390x.DBX1.6
Current controller active
DB31, ... .DBX61.7
DB390x.DBX1.7
Restored 1
DB31, ... .DBX71.4
DB390x.DBX11.4
Restored 2
DB31, ... .DBX71.5
DB390x.DBX11.5
Setpoint gear stage A to C
DB31, ... .DBX82.0-2
DB390x.DBX2000.0-2
Change gear
DB31, ... .DBX82.3
DB390x.DBX2000.3
Speed limit exceeded
DB31, ... .DBX83.0
DB390x.DBX2001.0
Setpoint speed limited
DB31, ... .DBX83.1
DB390x.DBX2001.1
Setpoint speed increased
DB31, ... .DBX83.2
DB390x.DBX2001.2
Spindle in setpoint range
DB31, ... .DBX83.5
DB390x.DBX2001.5
Actual direction of rotation clockwise
DB31, ... .DBX83.7
DB390x.DBX2001.7
Rigid tapping active
DB31, ... .DBX84.3
DB390x.DBX2002.3
active spindle mode synchronous mode
DB31, ... .DBX84.4
DB390x.DBX2002.4
Active spindle positioning mode
DB31, ... .DBX84.5
DB390x.DBX2002.5
Active spindle mode oscillation mode
DB31, ... .DBX84.6
DB390x.DBX2002.6
Active spindle control mode
DB31, ... .DBX84.7
DB390x.DBX2002.7
16.12.3.2
1304
Signals from axis/spindle
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S1: Spindles
16.12 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Spindle actually reached in position
DB31, ... .DBX85.5
DB390x.DBX2003.5
M function for spindle
DB31, ... .DBB86-87
DB370x.DBD0000
S function for spindle
DB31, ... .DBB88-91
DB370x.DBD0004
Sensors available
DB31, ... .DBX132.0
DB390x.DBX7000.0
Sensor S1 available (clamped state)
DB31, ... .DBX132.1
DB390x.DBX7000.1
Sensor S4 available (piston end position)
DB31, ... .DBX132.4
DB390x.DBX7000.4
Sensor S5 available (angular position of the motor shaft)
DB31, ... .DBX132.5
DB390x.DBX7000.5
State value is generated, speed limitation p5043 is active
DB31, ... .DBX133.2
DB390x.DBX7001.2
Clamped state
DB31, ... .DBW134
DB390x.DBW7002
Analog value: Clamped state
DB31, ... .DBW136
DB390x.DBW7004
Sensor S4 (piston end position)
DB31, ... .DBX138.4
DB390x.DBX7006.4
Sensor S5 (angular position of the motor shaft)
DB31, ... .DBX138.5
DB390x.DBX7006.5
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S1: Spindles
16.12 Data lists
1306
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V1: Feedrates
17.1
17
Brief description
Types of feedrate
The feedrate determines the machining speed (axis or path velocity) and is observed in every
type of interpolation, even where allowance is made for tool offsets on the contour or on the
tool center point path (depending on G functions).
The following types of feedrate allow optimum adaptation to the various technological
applications (turning, milling, drilling, etc.):
Rapid traverse feedrate (G0)
Inverse-time feedrate (G93)
Linear feedrate (G94)
Revolutional feedrate (G95)
Constant cutting rate (G96, G961)
Constant speed (G97, G971)
Feedrate for thread cutting (G33, G34, G35)
Feedrate for tapping without compensating chuck (G331, G332)
Feedrate for tapping with compensating chuck (G63)
Feedrate for chamfer/rounding FRC, FRCM
Non-modal feedrate FB
Axis assignment of the feedrates
Feedrates can be assigned to the axes variably to adjust to the different technological
requirements.
The following versions are possible:
Separate feedrates for the working plane and the infeed axis
Variable axis assignment for path feedrate
Feedrate for positioning axes
Feedrate control
The programmed feedrate can be changed during the machining or for test purposes to enable
adjustment to the changed technological conditions.
Via the machine control panel
Via the operator panel front
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V1: Feedrates
17.2 Path feedrate F
Via the PLC
Per program command
17.2
Path feedrate F
Path feedrate F
The path feedrate represents the geometrical total of the speed components in the participating
axes. It is therefore generated from the individual motions of the interpolating axes.
The default uses the axial speeds of the geometry axes which have been programmed. The
FGROUP command can be used to include other geometry and/or synchronized axes in the
calculation of the path feedrate.
The path feedrate F determines the machining speed and is observed in every type of
interpolation even where allowance is made for tool offsets. The value programmed under the
address F remains in a program until a new F value or a new type of feedrate is programmed.
Range of values for path feedrate F
See Description of Functions G2: "Speeds, Setpoint / Actual Value Systems, Closed-Loop
Control", Section: "Velocities (Page 317)".
F value at PLC interface
The F value of the current path feedrate is always entered in the channel-specific PLC interface
for auxiliary functions (DB21, ... DBB158 to 193).
For explanations about the associated interface signals (change signal, F value), see
Description of Functions "H2: Auxiliary function outputs to PLC (Page 377)".
Feedrate with transition circle
References:
Programming Manual, Fundamentals
Feedrate for internal radius and external radius path sections
For circular blocks or spline blocks with curvature in the same direction and tool radius offset
activated (G41/G42), the programmed feedrate can act on the center point path or on the
contour (depending on the internal radius or external radius path sections).
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V1: Feedrates
17.2 Path feedrate F
A group of G functions is provided for this purpose:
CFTCP
Programmed feedrate acting on the center point path.
CFC
Programmed feedrate acting on the contour.
CFCIN
Programmed feedrate acting only on the contour with a concave spline.
References:
Programming Manual, Fundamentals
Maximum tool path velocity
The maximum path velocity results from the maximum velocities of the linear or rotary axes
involved (MD32000 $MA_MAX_AX_VELO), i.e. the axis with the lowest maximum velocity
determines the maximum path velocity. This cannot be exceeded.
If G0 is programmed, traversing is at the path velocity resulting from the MD32000
$MA_MAX_AX_VELO limitation.
Limit velocity for path axes
In addition, the FL[<axis>] statement can be used to program a limit velocity for path axes
(geometry and synchronized axes).
This enables separate feedrates to be programmed for the working plane and infeed axis. This
means that a feedrate is specified for the path-related interpolation and for the infeed axis. The
axis perpendicular to the selected machining plane is designated as the infeed axis. The infeed
axis-specific feedrate can be programmed to limit the axis velocity and therefore the path
velocity. No coordinate rotations through frames should be included, i.e. the infeed axis must
be an axis of the standard coordinate system. This function can be used to compensate for
the fact that a cutter has a lower cutting performance on the face side than across the cutter
circumference.
Programming example:
Program code
Comment
... G94 ...
; Selection of feedrate type (mm/min)
X30 Y20 F200
; Path feedrate = 200 mm/s
FL[Z]=50 Z-30
; Max. feedrate for Z axis: 50 mm/s
Low-resolution encoders
When using low-resolution encoders, more continuous path or axis motions can be achieved
with smoothed actual values. The larger the time constant, the better the smoothing of the
actual values, and the longer the overtravel.
MD34990 $MA_ENC_ACTVAL_SMOOTH_TIME[<axis>] (smoothing time constant for actual
values)
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V1: Feedrates
17.2 Path feedrate F
Smoothed actual values are used for:
Thread cutting (G33, G34, G35)
Feedrate per revolution ((G95, G96, G97, FPRAON)
Display of speed, actual position and velocity
17.2.1
Feedrate type G93, G94, G95
Effectiveness
The feedrate types G93, G94, G95 are active for the G functions of group 1 (except G0) in the
automatic modes.
G94 or G95 can be used for traversing in JOG mode.
References:
Function Manual, Extended Functions; Manual and Handwheel Travel (H1)
Inverse-time feedrate (G93)
The inverse-time feedrate is used when it is easier to program the duration, rather than the
feedrate, for retraction of a block.
The inverse-time feedrate is calculated from the following formula:
)
with
F:
v:
s:
Y
V
Inverse-time feedrate in rpm
Required path velocity in mm/min or inch/min
Path length in mm/inch
Programming example:
Program code
Comment
N10 G1 G93 X100 Y200 F2
; The programmed path is traversed in 0.5 min.
...
Note
G93 may not be used when G41/G42 is active. If the block length varies greatly from block
to block, a new F value should be programmed in each block for G93.
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V1: Feedrates
17.2 Path feedrate F
Linear feedrate (G94)
The linear feedrate is programmed in the following units relative to a linear or rotary axis:
[mm/min, degrees/min] on standard metric systems
[inch/min, degrees/min] on standard imperial systems
Revolutional feedrate (G95)
The revolutional feedrate is programmed in the following units relative to a master spindle:
[mm/rev] on standard metric systems
[inch/rev] on standard imperial systems
[degrees/rev] on a rotary axis
The path velocity is calculated from the actual speed of the spindle according to the following
formula:
9 Q )
with
V:
n:
F:
Path velocity in mm/min or inch/min
Speed of the master spindle in rpm
Programmed revolutional feedrate in mm/rev or inch/rev
Note
The programmed F value is deleted when the system switches between the feedrate types
G93, G94 and G95.
Tooth feedrate
Primarily for milling operations, the tooth feedrate FZ... (feed distance per tooth), which is
more commonly used in practice, can be programmed instead of the revolutional feedrate
F...:
The controller uses the $TC_DPNT (number of teeth per revolution) tool parameter associated
with the active tool offset data record to calculate the effective revolutional feedrate for each
traversing block from the programmed tooth feedrate.
) )=
7&B'317
with
F:
FZ:
$TC_DPNT:
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Revolutional feedrate in mm/rev or inch/rev
Tooth feedrate in mm/tooth or inch/tooth
Tool parameter: Number of teeth/rev
1311
V1: Feedrates
17.2 Path feedrate F
Example: Milling cutter with 5 teeth ($TC_DPNE = 5)
Program code
Comment
N10 G0 X100 Y50
N20 G1 G95 FZ=0.02
; Tooth feedrate 0.02 mm/tooth
N30 T3 D1
; Load tool and activate tool offset data record.
M40 M3 S200
; Spindle speed 200 rpm
N50 X20
; Milling with:
FZ = 0.02 mm/tooth
effective revolutional feedrate:
F = 0.02 mm/tooth * 5 teeth/rev = 0.1 mm/rev
or
F = 0.1 mm/rev * 200 rpm = 20 mm/min
Revolutional feedrate in JOG mode
In JOG mode, the response of the axis/spindle also depends on the following setting data:
SD41100 $SN_JOG_REV_IS_ACTIVE (revolutional feedrate for JOG active)
If this setting data is active, an axis/spindle is always moved with revolutional feedrate:
MD32050 $MA_JOG_REV_VELO (revolutional feedrate with JOG)
or
MD32040 $MA_JOG_REV_VELO_RAPID (revolutional feedrate with JOG with rapid traverse
overlay)
depending on the master spindle.
If the setting data is inactive:
The response of the axis/spindle depends on the setting data:
SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE (revolutional feedrate for position
axes/spindles)
The response of a geometry axis on which a frame acts is to rotate, depending on the
channel-specific setting data:
SD42600 $SC_JOG_FEED_PER_REV_SOURCE
DB31, ... DBX62.2 (revolutional feedrate active)
A programmed, active revolutional feedrate (G95) is displayed using the following NC/PLC
interface signal.
DB31, ... DBX62.2 (revolutional feedrate active)
17.2.2
Type of feedrate G96, G961, G962, G97, G971
Constant cutting rate (G96, G961)
The constant cutting rate is used on turning machines to keep the cutting conditions constant,
independently of the work diameter of the workpiece. This allows the tool to be operated in the
optimum cutting performance range and therefore increases its service life.
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V1: Feedrates
17.2 Path feedrate F
Selection of G96, G961:
When programming G96, G961, the corresponding S value is interpreted as the cutting rate
in m/min or ft/min along the transverse axis. If the workpiece diameter decreases during
machining, the speed is increased until the constant cutting speed is reached.
When G96, G961 is first selected in the part program, a constant cutting rate must be entered
in mm/min or ft/min.
With G96, the control system will automatically switch to revolutional feedrate (as with G95),
i.e. the programmed feedrate F is interpreted in mm/rev or inch/rev.
When programming G961, linear feedrate is selected automatically (as with G94). A
programmed feedrate F is interpreted in mm/min or inch/min.
Determining the spindle speed
Based on the programmed cutting rate (either SG96 or SG961) and the actual cartesian position
of the transverse axis (radius), the control system calculates the spindle speed at the TCP
using the following formula:
Q
n:
Spindle speed
6 6SHHG
U
SSpeed:
Programmed cutting rate
Circle constant
r:
Radius (distance, center of rotation to TCP)
The following is assumed when determining the radius:
The transverse axis position 0 in the WCS represents the center of rotation.
Position offsets (such as online tool offset, external zero offset, $AA_OFF, DRF offset and
compile cycles) and position components through couplings (e.g. following axis for TRAIL)
are not taken into account when determining the radius.
Frames (e.g. programmable frames such as SCALE, TRANS or ROT) are taken into account
in the calculation of the spindle speed and can bring about a change in speed, if the effective
diameter at the TCP changes.
Diameter programming and reference axis for several transverse axes in one channel:
One or more transverse axes are permitted and can be activated simultaneously or separately:
Programming and displaying in the user interface in the diameter
Assignment of the specified reference axis with SCC[<axis>] for a constant cutting rate
G96, G961, G962
For more information, see Description of Functions "P1: Transverse axes (Page 811)".
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17.2 Path feedrate F
Example
SG96 = 230 m/min
Where r = 0.2 m n = 183.12 rpm
Where r = 0.1 m n = 366.24 rpm
The smaller the workpiece diameter, the higher the speed.
For G96, G961 or G962, a geometry axis must be defined as the transverse axis.
The transverse axis, whose position affects the speed of the mater spindle, is defined using
channel-specific machine data:
MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function)
The function G96, G961 or G962 requires that the machine zero and the workpiece zero of
the transverse axis are in the turning center of the spindle.
Constant speed (G97, G971)
G97, G971 deactivates the "Constant cutting rate function" (G96, G961) and saves the last
calculated spindle speed. With G97, the feedrate is interpreted as a revolutional feedrate (as
with G95). When programming G971, linear feedrate is selected (as with G94). The feedrate
F is interpreted in mm/min or inch/min.
When G97, G971 is active, an S value can be reprogrammed to define a new spindle speed.
This will not modify the cutting rate programmed in G96, G961.
G97, G971 can be used to avoid speed variations in motions along the transverse axis without
machining (e.g. cutting tool).
Note
G96, G961 is only active during workpiece machining (G1, G2, G3, spline interpolation, etc.,
where feedrate F is active).
The response of the spindle speed for active G96, G961 and G0 blocks can be defined in the
channel-specific machine data:
MD20750 ALLOW_G0_IN_G96 (G0 logic for G96, G961)
When constant cutting rate G96, G961 is selected, no gear stage change can take place.
The spindle speed override switch acts on the spindle speed calculated.
A DRF offset in the transverse axis does not affect the spindle speed setpoint calculation.
At the start of machining (after G0) and after NC stop, G60, G09, ... the path start waits for
"nAct= nSet".
The interface signals "nAct = nSet" and "Set speed limited" are not modified by internal speed
settings.
When the speed falls below the minimum speed or if the signal "Axis/spindle stationary" is
recognized, "nAct =nSet" is reset.
A path operation which has started (G64, rounding), is not interrupted.
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Spindle speed limitation with G96, G961
A maximum spindle speed can be specified for the "Constant cutting rate" function:
In the setting data:
SD43230 $SA_SPIND_MAX_VELO_LIMS (spindle speed limitation for G96/G961)
In the part program (for the master spindle) with the programming command LIMS
The most recently changed value (LIMS or SD) is active.
LIMS is effective with G96, G961, G97 and can be specified on up to four speed limitations in
the part program in one block. Spindle number <Sn> = 1, 2, 3, or 4 of the master spindle that
is possible in the particular instance can be programmed in part program command LM[<Sn>].
When the block is loaded in the main run, all programmed values are transferred to the setting
data SD43230 $SA_SPIND_MAX_VELO_LIMS.
Depending on the machine data:
MD10710 PROG_SD_RESET_SAVE_TAB[n] (setting data to be updated),
the speed limit set with LIMS remains stored after the control is switched off.
When G96, G961, G97 are reactivated, this speed limitation is also activated.
The maximum permissible spindle speed defined via G26 or via the setting data:
SD43220 $SA_SPIND_MAX_VELO_G26 (maximum spindle speed)
cannot be exceeded.
In the event of incorrect programming that would cause one of the speed limits (G26 or
SD43220 $SA_SPIND_MAX_VELO_G26) to be exceeded, the following interface signal is set.
DB31, ... DBX83.1 (programmed speed too high)
In order to ensure smooth rotation with large part diameters, the spindle speed is not permitted
to fall below a minimum level.
This speed can be set via the setting data:
SD43210 $SA_SPIND_MIN_VELO_G25 (minimum spindle speed)
and, depending on the gear step, with the machine data:
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (minimum speed of the gear step)
.
The minimum spindle speed can be changed in the part program with G25. In the event of
incorrect programming that would cause one of the speed limits (G25 or SD43210
$SA_SPIND_MIN_VELO_G25) to be undershot, the following interface signal is set.
DB31, ... DBX83.2 (speed setpoint too low)
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17.2 Path feedrate F
For more information on the spindle-speed limitations, see function description S1: "Spindles",
Section: "Spindle monitoring (Page 1283)".
Note
The speed limits changed with G25/G26/LIMS in the part program are taken into the setting
data and therefore remain saved after the end of program.
However, if the speed limits changed with G25/G26/LIMS are no longer to apply after the end
of program, the following definitions must be inserted in the GUD block of the machine
manufacturer:
REDEF $SA_SPIND_MIN_VELO_G25 PRLOC
REDEF $SA_SPIND_MAX_VELO_G26 PRLOC
REDEF $SA_SPIND_MAX_VELO_LIMS PRLOC
Master spindle changeover with G96, G961
If the master spindle is switched over when G96, G961 are active, the speed of the former
master spindle is retained. This corresponds to a transition from G96 to G97. The master
spindle newly defined with SETMS executes the "Constant cutting rate" function generated in
this way.
Alarms
Constant cutting rate G96, G961, G962
If no F value is programmed, alarm 10860 "No feedrate programmed" is output. The alarm
is not generated with G0 blocks.
Alarm 14800 "Programmed path velocity smaller than or equal to zero" is output while
programming a negative path velocity.
If, with an active G96, G961 or G962, no transverse axis is defined in the machine data:
MD20100 $MC_DIAMETER_AX_DEF (geometry axis with transverse axis function),
alarm 10870 "No transverse axis defined" is output.
If a negative maximum spindle speed is programmed with the LIMS program command
when G96, G961 are active, alarm 14820 "Negative maximum spindle speed programmed
for G96, G961" is output.
If no constant cutting rate is programmed when G96, G961 is selected for the first time,
alarm 10900 "No S value programmed for constant cutting rate" is output.
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17.2.3
Feedrate for thread cutting (G33, G34, G35, G335, G336)
17.2.3.1
Feedrate with G33
G33
The function G33 can be used to machine threads with constant pitch of the following type:
Speed S, feedrate F, thread pitch
A revolutional feedrate [mm/revolution] is used for G33 threads. The revolutional feedrate is
defined by programming the thread pitch [mm/revolution].
The speed of the axes for the thread length is calculated from the programmed spindle speed
S and the thread pitch.
Feedrate F [mm/min] = speed S [rev/min] * pitch [mm/rev]
At the end of the acceleration ramp, the position coupling between the spindle actual value
(spindle setpoint with SPCON on master spindle) and the axis setpoint is established. At this
moment, the position of the axis in relation to the zero mark of the spindle (including zero mark
offsets) is as if the axis had accelerated abruptly at the start of the block when the thread start
position (zero mark plus SF) was crossed. Compensation is made for the following error of the
axis.
Minimum spindle speed
In order to ensure smooth rotation at low speeds, the spindle speed is not permitted to fall
below a minimum level.
This speed can be set:
With the setting data:
SD43210 $SA_SPIND_MIN_VELO_G25 (minimum spindle speed)
For each gear stage with the machine data:
MD35140 $MA_GEAR _STEP_MIN_VELO_LIMIT (minimum speed for gear stage
change)
The minimum spindle speed can be changed in the part program with G25.
NC stop, single block
NC stop and single block (even at the block boundary) are only active after completion of thread
chaining. All successive G33 blocks and the first following non-G33 block are traversed as a
block.
Premature abortion without destruction
Thread cutting can be aborted without destruction before the end point is reached. This can
be done by activating a retraction motion.
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17.2 Path feedrate F
Thread cutting with ROT frame
With ROT frame and G33, G34, G35, alarm 10607 "Thread with frame not executable" is
activated if the rotation causes a change in the thread length and thus the pitch. Rotation
around the thread axis is permissible.
Alarm 10607 "Thread with frame not executable" can be suppressed by setting bit 12 in
machine data MD11410 $MN_SUPPRESS_ALARM_MASK, if the ROT instruction is used
intentionally in the application.
All other frames are accepted by the NC without alarm. Attention is drawn to the pitch-changing
effect of SCALE.
17.2.3.2
Programmable run-in and run-out path for G33, G34 and G35
Function
The run-in and run-out path of the thread can be specified with the DITS and DITE statements.
The thread axis is accelerated or braked within the specified path.
[
Run-in/run-out path, depending on the machining direction
Short run-in path
Due to the collar on the thread run-in, little room is left for the tool start ramp.
This must therefore be specified shorter via DITS.
Short run-out path
Due to the collar on the thread run-out, little room is left for the deceleration ramp, leading to
the risk of collision between the workpiece and the tool edge. The deceleration ramp can be
specified shorter using DITE. Due to the inertia of the mechanical system, however, a collision
can still occur.
Remedy: Program a shorter thread, reduce the spindle speed.
Note
DITE acts at the end of the thread as a rounding clearance. This achieves a smooth change
in the axis motion.
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Effects
The programmed run-in and run-out path only increases the rate of acceleration on the path.
If one of the two paths is set larger than the thread axis needs with active acceleration, the
thread axis is accelerated or decelerated with maximum acceleration.
Note
The axis can be overloaded if the specified path is too short.
Activation
The DITS and DITE statements are always active for thread cutting.
Example
Program code
Comment
N...
N59 G90 G0 Z100 X10 SOFT M3 S500
N60 G33 Z50 K5 SF=180 DITS=1 DITE=3
; Start of corner rounding with Z=53
N61 G0 X20
Note
Only paths, and not positions, are programmed with DITS and DITE.
The programmed run-in/run-out path is handled according to the current dimension setting
(inches, metric).
Setting data SD42010 (acceleration behavior of axis when thread cutting)
When a block containing DITS and/or DITE is inserted in the main run, the programmed runin/run-out path is taken into the setting data:
SD42010 $SC_THREAD_RAMP_DISP[ 0 ] = programmed value of DITS
SD42010 $SC_THREAD_RAMP_DISP[ 1 ] = programmed value of DITE
If no run-in/run-out path is programmed before or in the first thread block, the current value of
the setting data is used.
SD42010 $SC_THREAD_RAMP_DISP[ 0 ] = <value>
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17.2 Path feedrate F
SD42010 $SC_THREAD_RAMP_DISP[ 1 ] = <value>
<value>
Meaning
0 > <value> -1
The feed axis is accelerated with the acceleration according to the current pro
gramming BRISK/SOFT
<Value> = 0
The feed axis is accelerated in steps (BRISK).
<Value> > 0
The maximum thread run-up or deceleration distance is specified.
Note
Too short a distance can result in an acceleration overload of the axis.
With reset / program end, the setting data is reset to the values -1, -1.
MD10710 $MN_PROG_SD_RESET_SAVE_TAB can be used to specify that the value of the
setting data written with DITS and DITE can be saved retentively at reset / program end and
therefore retained after power on.
17.2.3.3
Linear increasing/decreasing thread pitch change with G34 and G35
Function
The thread pitch increase (G34) defines the numerical increase in the pitch value. A larger
pitch results in a larger distance between the threads on the workpieces. The velocity of the
thread axis therefore increases with assumed constant spindle speed.
The opposite therefore applies for the decrease in thread pitch (G35).
The following definitions are made for the thread pitch change:
G34: Increase in thread pitch corresponds to progressive change
G35: Decrease in thread pitch corresponds to degressive change
Both G34 and G35 functions imply the functionality of G33 and also provide the option of
programming an absolute pitch change value for the thread under F. If the start and end pitch
of a thread is known, the thread pitch change can be determined using the following equation:
)
_NH ND _
O*
The meaning is as follows:
F:
The thread pitch change to be programmed [mm/rev2]
ke:
Thread pitch of axis target point coordinate, thread axis [mm/rev]
ka:
Initial thread pitch (programmed under I, J or K) [mm/rev]
lG:
Thread length [mm]
The absolute value of F must be applied to G34 or G35 depending on the required pitch
increase of decrease.
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17.2 Path feedrate F
When the thread length lG, pitch change F and initial pitch ka are known, the pitch increase at
the end of block ke can be determined as follows by modifying the formula:
For G34 (increasing pitch):
NH
N D
NH
) O *
For G35 (decreasing pitch):
) O *
Note
If the formula results in a negative root expression, the thread cannot be machined!
In this case, the NC signals alarm 10605 or alarm 22275.
Application
The G34 and G35 functions can be used to produce self-shearing threads.
Example
Thread cutting G33 with decreasing thread pitch G35
Program code
Comment
N1608 M3 S10
; Spindle speed
N1609 G0 G64 Z40 X216
; Approach starting point
N1610 G33 Z0 K100 SF=R14
; Thread with constant pitch 100 mm/rev
N1611 G35 Z-220 K100 F17.045455
; Thread pitch decrease 17.045455 mm/rev2
; Thread pitch at end of block 50 mm/rev
N1612 G33 Z-240 K50
; Traverse thread block without jerk
N1613 G0 X218
N1614 G0 Z40
N1616 M17
Monitoring during the block preparation
Any pitch changes that would overload the thread axis when G34 is active or would result in
an axis standstill when G35 is active, are detected in advance during block preparation. Alarm
10604 "Thread pitch increase too high" or 10605 "Thread pitch decrease too high" is signaled.
During thread cutting, certain practical applications require a correction of the spindle speed.
In this case, the operator will base his correction on the permissible velocity of the thread axis.
To do this, it is possible to suppress the output of alarms 10604 and 10605 as follows:
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17.2 Path feedrate F
MD11410 $MN_SUPPRESS_ALARM_MASK bit 10 = 1
Block preparation is then continued normally.
Monitoring during the execution
The following situations are monitored cyclically when the thread is machined (interpolation):
Exceeding of maximum velocity of thread axis
Reaching of axis standstill with G35
The following alarm is signaled when the monitoring function responds:
Alarm 22269 "Maximum velocity of thread axis reached" or
Alarm 22275 "Zero velocity of thread axis reached"
17.2.3.4
Fast retraction during thread cutting
Function
The "Fast retraction for thread cutting (G33)" function can be used to interrupt thread cutting
without causing irreparable damage in the following circumstances:
NC stop (NC/PLC interface signal)
Alarms that implicitly trigger NC stop
Switching of a rapid input
References
Programming Manual, Job Planning; Section "Fast retraction from the contour"
The retraction motion can be programmed via:
Retraction path and retraction direction (relative)
Retraction position (absolute)
Note
Tapping
The "Fast retraction" function cannot be used with tapping (G331/G332).
Programming
Syntax
Enable fast retraction, retraction motion via retraction path and retraction direction:
G33 ... LFON DILF=<value> LFTXT/LFWP ALF=<value>
Enable fast retraction, retraction motion via retraction position:
POLF[<axis name>]=<value> LFPOS
POLFMASK/POLFMLIN(<axis 1 name>,<axis 2 name>, etc.)
G33 ... LFON
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Disable fast retraction for thread cutting:
LFOF
Meaning
LFON:
LFOF:
DILF= :
LFTXT
LFWP:
ALF= :
LFPOS:
POLFMASK:
POLFMLIN:
Enable fast retraction for thread cutting (G33).
Disable fast retraction for thread cutting (G33).
Define length of retraction path.
The value preset during MD configuration (MD21200 $MC_LIFTFAST_DIST)
can be modified in the part program by programming DILF.
Note:
The configured MD value is always active following NC-RESET.
The retraction direction is controlled in conjunction with ALF with G functions
LFTXT and LFWP.
LFTXT: The plane in which the retraction motion is executed is calculated
from the path tangent and the tool direction (default setting).
LFWP:
The plane in which the retraction motion is executed is the active
working plane.
The direction is programmed in discrete degree increments with ALF in the
plane of the retraction motion.
With LFTXT, retraction in the tool direction is defined for ALF=1.
With LFWP the direction in the working plane is derived from the following
assignment:
G17 (X/Y plane)
ALF=1 ; Retraction in the X direction
ALF=3 ; Retraction in the Y direction
G18 (Z/X plane)
ALF=1 ; Retraction in the Z direction
ALF=3 ; Retraction in the X direction
G19 (Y/Z plane)
ALF=1 ; Retraction in the Y direction
ALF=3 ; Retraction in the Z direction
References:
Programming options with ALF are also described in "Traverse direction for
fast retraction from the contour" in the Programming Manual, Job Planning.
Retraction of the axis declared with POLFMASK or POLFMLIN to the absolute
axis position programmed with POLF.
Release of axes (<axis 1 name>,<axis 1 name>, etc.) for inde
pendent retraction to absolute position.
Release of axes for retraction to absolute position in linear relation
Note:
Depending on the dynamic response of all the axes involved, the linear relation
cannot always be established before the lift position is reached.
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17.2 Path feedrate F
Define absolute retraction position for the geometry axis or machine axis in
the index
Effectiveness: Modal
=<value>:
In the case of geometry axes, the assigned value is interpre
ted as a position in the workpiece coordinate system. In the
case of machine axes, it is interpreted as a position in the
machine coordinate system.
The values assigned can also be programmed as incremen
tal dimensions:
=IC<value>
<axis name>: Name of a geometry axis or machine axis
POLF[]:
Note
LFON or LFOF can always be programmed, but the evaluation is performed exclusively during
thread cutting (G33).
Note
POLF with POLFMASK/POLFMLIN are not restricted to thread cutting applications.
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Figure 17-1
1324
Interruption of G33 through retraction motion
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17.2 Path feedrate F
Dynamic response of the retraction motion
The retraction motion is executed with maximum axis dynamic response:
MD32000 $MA_MAX_AX_VELO[<axis>] (velocity)
MD32300 $MA_MAX_AX_ACCEL[<axis>] (acceleration)
MD32431 $MA_MAX_AX_JERK[<axis>] (jerk)
Example
Program code
Comment
N55 M3 S500 G90 G18
; Set active machining plane.
...
N65 MSG ("thread cutting")
MM_THREAD:
N67 $AC_LIFTFAST=0
; Reset before starting the thread.
N68 G0 Z5
N69 X10
N70 G33 Z30 K5 LFON DILF=10 LFWP ALF=7
; Enable fast retraction for thread cutting.
; Retraction path = 10 mm
; Retraction plane Z/X (because of G18).
; Retraction direction -X (with ALF=3; retraction direction +X).
N71 G33 Z55 X15
N72 G1
; Deselect thread cutting.
N69 IF $AC_LIFTFAST GOTOB MM_THREAD
; If thread cutting has been interrupted.
N90 MSG ("")
...
N70 M30
N55 M3 S500 G90 G0 X0 Z0
...
N87 MSG ("tapping")
N88 LFOF
; Deactivate fast retraction before tapping.
N89 CYCLE...
; Tapping cycle with G33.
N90 MSG ("")
...
N99 M30
Behavior at power on and reset
After power on and reset, the following settings are activated:
Initial settings for the retraction motion (LFON /LFOF) and retraction direction (LFTXT/
LFWP): MD20150 $MC_GCODE_RESET_VALUES
Retraction path: MD21200 $MC_LIFTFAST_DIST
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17.2 Path feedrate F
17.2.3.5
Convex thread (G335, G336)
Function
The G functions G335 and G336 can be used to turn convex threads (= differing to the
cylindrical form). Application is the machining of extremely large components that sag in the
machine because of their self-weight. Paraxial thread would result in the thread being too small
in the middle of the component. This can be compensated with convex threads.
/RQJVDJJLQJZRUNSLHFH
&LUFXODUWRROSDWK
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Figure 17-2
Turning a convex thread
Programming
The turning of a convex thread is programmed with G335 or G336:
G335:
Turning of a convex thread on a circular tool path in a clockwise direction
G336:
Turning of a convex thread on a circular tool path in a counter-clockwise direction
The programming is performed first as for a linear thread by specifying the axial block end
points and the pitch via parameters I, J and K.
An arc is also specified. As for G2/G3, this can be programmed via the center point, radius,
opening angle or intermediate point specification. When programming the convex thread with
center point programming, the following must be taken into account: Since I, J and K are used
for the pitch in thread cutting, the circle parameters in the center point programming must be
programmed with IR=..., JR=... and KR=....
IR=...:
Cartesian coordinate for the circle center point in the X direction
JR=...:
Cartesian coordinate for the circle center point in the Y direction
KR=...:
Cartesian coordinate for the circle center point in the Z direction
Note
IR, JR and KR are the default values of the interpolation parameter names for a convex thread
that can be set via machine data MD10651 $MN_IPO_PARAM_THREAD_NAME_TAB.
Optionally, a starting point offset SF can also be specified.
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Syntax
The syntax for the programming of a convex thread therefore has the following general form:
G335/G336 <axis target point coordinate(s)> <pitch> <arc> [<starting
point offset>]
Permissible arc areas
The arc programmed at G335/G336 must be in an area in which the specified thread main axis
(I, J or K) has the main axis share on the arc over the entire arc:
;
r
r
=
Permissible areas for the Z axis (pitch programmed Permissible areas for the X axis (pitch programmed
with K)
with I)
A change of the thread main axis as shown in the following figure is not permitted:
;
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r
=
Figure 17-3
Convex thread: Area that is not permissible
Boundary conditions
Frames
G335 and G336 are also possible with active frames. However, you must ensure that the
permissible arc areas are maintained in the basic coordinate system (BCS).
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17.2 Path feedrate F
Response for
The G335/G336 response for:
Power On / Power Off
Mode change
NCK / mode group / channel / part program end reset
Block search / REPOS / ASUB
Alarms / emergency stop / malfuncations
corresponds to the behavior for G33/G34/G35.
There are no specific restrictions.
Examples
Example 1: Convex thread in the clockwise direction with end and center point programming
Program code
Comment
N5 G0 G18 X50 Z50
; Approach starting point.
N10 G335 Z100 K=3.5 KR=25 IR=-20 SF=90
; Turn convex thread in the clockwise direction.
;
.
6WDUWSRLQW
(QGSRLQW
,5
&HQWHUSRLQW
.5
Figure 17-4
Convex thread in the clockwise direction with end and center point programming
Example 2: Convex thread in the counter-clockwise direction with end and center point
programming
1328
Program code
Comment
N5 G0 G18 X50 Z50
; Approach starting point.
N10 G336 Z100 K=3.5 KR=25 IR=20 SF=90
; Turn convex thread in the counter-clockwise direction.
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.
&HQWHUSRLQW
,5
6WDUWSRLQW
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.5
Figure 17-5
Convex thread in the counter-clockwise direction with end and center point programming
Example 3: Convex thread in the clockwise direction with end point and radius programming
Program code
N5 G0 G18 X50 Z50
N10 G335 Z100 K=3.5 CR=32 SF=90
;
.
6WDUWSRLQW
(QGSRLQW
&5
&HQWHUSRLQW
Figure 17-6
Convex thread in the clockwise direction with end point and radius programming
Example 4: Convex thread in the clockwise direction with end point and opening angle
programming
Program code
N5 G0 G18 X50 Z50
N10 G335 Z100 K=3.5 AR=102.75 SF=90
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;
.
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(QGSRLQW
$5
&HQWHUSRLQW
Figure 17-7
Convex thread in the clockwise direction with end point and opening angle programming
Example 5: Convex thread in the clockwise direction with center point and opening angle
programming
Program code
N5 G0 G18 X50 Z50
N10 G335 K=3.5 KR=25 IR=-20 AR=102.75 SF=90
;
.
6WDUWSRLQW
(QGSRLQW
$5
,5
&HQWHUSRLQW
.5
Figure 17-8
Convex thread in the clockwise direction with center point and opening angle programming
Example 6: Convex thread in the clockwise direction with end and intermediate point
programming
Program code
N5 G0 G18 X50 Z50
N10 G335 Z100 K=3.5 I1=60 K1=64
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17.2 Path feedrate F
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17.2.4
Convex thread in the clockwise direction with end and intermediate point programming
Feedrate for tapping without compensating chuck (G331, G332)
Function
A thread can be tapped without compensating chuck with the functions G331 (tapping) and
G332 (tapping retraction).
Requirement
The technical requirement for tapping without compensating chuck is a position-controlled
spindle with position measuring system.
Speed S, feedrate F, thread pitch
A revolutional feedrate [mm/rev] is used for G331 and G332. The revolutional feedrate is
defined by programming the thread pitch [mm/rev].
The speed of the axes for the thread length is calculated from the programmed spindle speed
S and the thread pitch.
Feedrate F [mm/min] = speed S [rev/min] * pitch [mm/rev]
Override
The revolutional feedrate in G331 and G332 can be influenced by an override.
Depending on the configuration, the override affects either the spindle speed or the path
feedrate:
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17.2 Path feedrate F
MD12090 $MN_OVR_FUNCTION_MASK
Bit
Value
Meaning
The override influences the spindle speed (initial setting).
Depending on the setting in the machine data:
MD12080 $MN_OVR_REFERENCE_IS_PROG_FEED
the override is related either to the programmed spindle speed or to the configured
spindle speed limitation.
The override influences the path feedrate
Depending on the setting in machine data: MD12082 $MN_OVR_REFER
ENCE_IS_MIN_FEED
the override is related either to the programmed path feedrate or to the configured
path feedrate limitation.
Note
The following overrides are not effective in G331 and G332:
Programmable path feedrate override OVR
Rapid traverse override
Inhibiting stop events for G331/G332
During tapping, a stop can be prevented if the block contains a path motion or a G4 as follows:
MD11550 $MN_STOP_MODE_MASK, bit 0 = 0
The stop which was activated previously is possible again after G331/G332 has been executed.
References
For further information on G331/G332, see Programming Manual Fundamentals.
17.2.5
Feedrate for tapping with compensating chuck (G63)
Function
G63 is a subfunction for tapping threads using a tap with compensating chuck. An encoder
(position encoder) is not required.
Speed S, feedrate F, thread pitch
With G63, a speed S must be programmed for the spindle and a feedrate F for the infeed axis
(axis for thread length).
The feedrate F must be calculated by the programmer on the basis of the speed S and the
thread pitch.
Feedrate F [mm/min] = speed S [rev/min] * pitch [mm/rev]
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17.3 Feedrate for positioning axes (FA)
References
For more information on G63, see Programming Manual Fundamentals.
17.3
Feedrate for positioning axes (FA)
Function
The velocity of a positioning axis is programmed with axis-specific feedrate FA.
FA is modal.
The feedrate is always G94.
Note
The maximum axis velocity (MD32000 $MA_MAX_AX_VELO) is not exceeded.
Programming
No more than five axis-specific feedrates can be programmed in each part program block.
Syntax:
FA[<positioning axis>] = <feedrate value>
<positioning axis>:
<feedrate value>:
Name of the channel axis
(MD20080 $MC_AXCONF_CHANAX_NAME_TAB)
Feedrate
Value range:
0.001999 999.999 mm/min, deg/min
or
0.00139 999.9999 inch/min
Default setting
If no axial feedrate FA is programmed, the axial default setting is applied:
MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity)
Output to PLC
The feedrate value can be output to the the PLC:
To the channel-specific NC/PLC interface via:
DB21, ... DBB158 - DBB193
To the axis-specific NC/PLC interface via:
DB31, ... DBB78 - DBB81
The output time is specified with the machine data:
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17.4 Feedrate control
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of F functions)
The output is suppressed in the default setting (MD22240 = 3), because drops in velocity can
occur through the output of F functions to the NC/PLC interface in continuous-path mode.
For more information, see Description of Functions "H2: Auxiliary function outputs to PLC
(Page 377)".
Reset behavior
The behavior after the end of program or NC reset is specified by the machine data:
MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET (F function is active even after reset)
Value
Meaning
The default values are effective after NC reset.
The last programmed FA values are effective after NC reset.
17.4
Feedrate control
17.4.1
Feedrate disable and feedrate/spindle stop
Function
The "Feed disable" or "Feed/spindle stop" brings the axes to a standstill with adherence to the
braking characteristics and the path contour (exception: G33 block).
Channel-specific feedrate disable
The NC/PLC interface signal:
DB21, ... DBX6.0 (feedrate disable)
stops all axes (geometry and auxiliary axes) of a channel in all modes.
Effectiveness of the channel-specific feedrate disable:
With active G33, G34, G35:
Not effective
With active G63:
Effective
With active G331, G332:
Effective
"Feed stop" for geometry axes in JOG mode
The NC/PLC interface signals:
DB21, ... DBX12.3 (feed stop for geometry axis 1)
DB21, ... DBX16.3 (feed stop for geometry axis 2)
DB21, ... DBX20.3 (feed stop for geometry axis 3)
stop the relevant geometry axes if a channel in JOG mode.
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Axis-specific "Feed stop"
The axis-specific NC/PLC interface signal:
DB31, ... DBX4.3 (feed stop)
stops the respective machine axis.
In automatic mode:
If the "Feed stop" is performed for a path axis, all the axes traversed in the current block
and all axes participating in the axis group are stopped.
If the "Feed stop" is performed for a positioning axis, only this axis is stopped.
Only the current axis is stopped in JOG mode.
Effectiveness of the axis-specific "Feed stop":
With active G33, G34, G35:
Effective (causes contour deviations)
With active G63:
Effective
With active G331, G332:
Effective
Axis/spindle disable
With active "Axis/spindle disable":
DB31, ... DBX1.3 = 1
The axial PLC interlocks "No controller enable" and "Feed stop" have no effect.
However, the axial and channel-specific override are effective.
"Spindle stop"
The NC/PLC interface signal:
DB31, ... DBX4.3 (spindle stop)
stops the respective spindle.
Effectiveness of the "Spindle stop" function
17.4.2
With active G33, G34, G35:
Effective (may cause contour deviations depending on dy
namic characteristics)
With active G63:
Effective
With active G331, G332:
Not effective
Feedrate override on machine control panel
Function
With the "Feedrate override via the machine control panel", the user can locally increase or
decrease the path feedrate at the machine as a percentage with immediate effect. To achieve
this, the programmed feedrates are multiplied with the override values available at the NC/PLC
interface.
The feedrate can be changed axis-specifically for positioning axes.
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17.4 Feedrate control
The "Spindle override" can be used to change the spindle speed and the cutting rate (G96,
G961).
With a feedrate change, the axial acceleration and velocity limits are maintained. There are
no contour errors along the path.
The feedrate override can be changed separately for path and position axes.
The overrides influence the programmed values or the limits (e.g. G26, LIMS for spindle speed).
Channel-specific feedrate and rapid traverse
For feedrate and rapid traverse override, dedicated enable signals and correction/offset factors
are available in the NC/PLC interface:
DB21, ... DBX6.7 (feedrate override active)
DB21, ... DBB4 (feedrate override)
DB21, ... DBX6.6 (rapid traverse override active)
DB21, ... DBB5 (rapid traverse override)
The override factors can be specified from the PLC either in the binary or gray-coded format.
The format is communicated to the NC via the following machine data:
MD12020 $MN_OVR_FEED_IS_GRAY_CODE (path feedrate override switch gray-coded)
MD12040 $MN_OVR_RAPID_IS_GRAY_CODE (rapid traverse override switch gray-coded)
The following permanent assignment applies to binary code:
Binary code
decimal
Override factor
00000000
0.00 0%
00000001
0.01 1%
00000010
0.02 2%
00000011
0.03 3%
00000100
0.04 4%
...
...
...
01100100
100
1.00 100%
...
...
...
11001000
200
2.00 200%
With Gray coding, the override factors corresponding to the switch position must be entered
in the following machine data:
MD12030 $MN_OVR_FACTOR_FEEDRATE [<n>] (evaluation of the path feedrate override
switch)
MD12050 $MN_OVR_FACTOR_RAPID_TRA [<n>] (evaluation of the rapid traverse override
switch)
An active feedrate override has an effect on all path axes that are assigned to the current
channel. An active rapid traverse override has an effect on all the axes that are traversed with
rapid traverse and that are assigned to the current channel.
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No rapid traverse override switch available
If there is no dedicated rapid traverse override switch, you can choose between rapid traverse
override and feedrate override. The override to be active can be selected via the PLC or
operator panel front. When rapid traverse override is active, the feedrate override values are
limited to 100%.
When the rapid traverse override is activated via the operator panel front, the basic PLC
program:
Transfers the selection of the feedrate override for rapid traverse on the activation signal
for the rapid traverse override:
DB21, ... DBX6.6 = DB21, ... DBX25.3
Transfers the feedrate override value in the rapid traverse override value:
DB21, ... DBB5 = DB21, ... DBB4
When the rapid traverse override is selected via the PLC, the PLC user program:
Must set the activation signal for the rapid traverse override:
DB21, ... DBX6.6 = 1
Must transfer the feedrate override value in the rapid traverse override value:
DB21, ... DBB5 = DB21, ... DBB4
Effectiveness of the channel-specific feedrate and rapid traverse override:
With active G33, G34, G35:
Not effective
With active G63:
Not effective
With active G331, G332:
Not effective
Reference velocity for path feedrate override
The reference velocity for the "Path feedrate override via machine control panel" can be set
differently to the standard feedrate (= programmed feedrate).
MD12082 $MN_OVR_REFERENCE_IS_MIN_FEED
Axis-specific feedrate override
An enable signal and a byte for the feedrate override factor are in the NC/PLC interface for
each positioning axis.
DB31, ... DBX1.7 (override effective)
DB31, ... DBB0 (feedrate override)
The override factor can be specified from the PLC either in the binary or gray-coded format.
The format is communicated to the NC via the following machine data:
MD12000 $MN_OVR_AX_IS_GRAY_CODE (axis feedrate override switch gray-coded)
The following permanent assignment applies to binary code:
Binary code
Decimal
Override factor
00000000
0.00 0%
00000001
0.01 1%
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17.4 Feedrate control
Binary code
Decimal
Override factor
00000010
0.02 2%
00000011
0.03 3%
00000100
0.04 4%
...
...
...
01100100
100
1.00 100%
...
...
...
11001000
200
2.00 200%
With Gray coding, the override factors corresponding to the switch position must be entered
in the following machine data:
MD12010 $MN_OVR_ FACTOR_AX_ SPEED [<n>] (evaluation of the axis feedrate override
switch)
Effectiveness of the axis-specific feedrate override:
With active G33, G34, G35:
Not effective
With active G63:
Not effective
(the override is set in the NC permanently to 100%)
With active G331, G332:
Not effective
(the override is set in the NC permanently to 100%)
Spindle override
One enable signal and one byte for the spindle override factor are available in the NC/PLC
interface for each spindle.
DB31, ... DBX1.7 (override effective)
DB31, ... DBB19 (spindle override)
The override factor can be specified from the PLC either in the binary or gray-coded format.
The format is communicated to the NC via the following machine data:
MD12060 $MN_OVR_SPIND_IS_GRAY_CODE (spindle override switch gray-coded)
The following permanent assignment applies to binary code:
Binary code
decimal
Override factor
00000000
0.00 0%
00000001
0.01 1%
00000010
0.02 2%
00000011
0.03 3%
00000100
0.04 4%
...
...
...
01100100
100
1.00 100%
...
...
...
11001000
200
2.00 200%
With Gray coding, the override factors corresponding to the switch position must be entered
in the following machine data:
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17.4 Feedrate control
MD12070 $MN_OVR_FACTOR_SPIND_SPEED [<n>] (evaluation of the spindle override
switch)
Effectiveness of the "Spindle override":
With active G33, G34, G35:
Effective
With active G63:
Not effective
With active G331, G332:
Effective
Reference to spindle override
The spindle override can refer to the speed or the programmed speed limited by the machine
or setting data. The setting is realized via:
MD12080 $MN_OVR_REFERENCE_IS_PROG_FEED (override reference velocity)
Limiting the override factor
For binary-coded override factors, the maximum possible overrides for path feedrate, axis
feedrate and spindle speed can be limited:
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary coded override switch)
Override active
For overrides that have been enabled, the specified override values entered via the machine
control panel become immediately active in all operating modes and machine functions.
Override inactive
An override factor of 100% is internally effective if an override is not activated. The override
factor at the NC/PLC interface is not evaluated.
An exception is the zero setting for a binary interface and the 1st switch setting for a graycoded interface. In these cases, the override factors entered at the NC/PLC interface are
evaluated. For a binary interface, the override factor is always 0%. For a gray-coded interface,
the value entered in machine data for the 1st switch position value is output as override value.
It should be populated with 0.
17.4.3
Programmable feedrate override
Function
The "Programmable feedrate override" function can be used to change the velocity level of
path and positioning axes via the part program.
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17.4 Feedrate control
Programming
Syntax
Meaning
OVR=<value>
Feedrate change for path feedrate F
OVRA[<axis>=<value>
Feedrate change for positioning feedrate FA
The programmable range is between 0 and 200%.
Default setting: 100%
Effectiveness
The NC/PLC interface signals DB21, ... DBB6 (rapid traverse or feedrate override active) and
DB31, ... DBX1.7 (axis-specific override active) do not refer to the programmable feedrate
override. The programmable feedrate override remains active when these signals are
deactivated.
The effective override is calculated from the product of the "Programmable feedrate override"
and the "Feedrate override on machine control panel (Page 1335)".
The default setting for the "Programmable feedrate override" is 100%.
The default setting is effective:
If no feedrate override is programmed or
After reset if the machine data:
MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET (F function is active even after reset)
is not set.
Note
OVR is not effective with G33, G34, G35.
17.4.4
Dry run feedrate
Function
The dry run feedrate is used when testing part programs without machining the workpiece in
order to allow the program or program sections to execute with an increased path feedrate,
for example.
Activation
The dry run feedrate can be selected in the automatic modes and activated from the PLC or
the operator panel front.
When activated from the operator panel front, the interface signal:
DB21, ... DBX24.6 (dry run feedrate selected)
is set and transferred from the basic PLC program to the interface signal:
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17.4 Feedrate control
DB21, ... DBX0.6 (activate dry run feedrate).
When selected on the PLC, the interface signal DB21, ... DBX0.6 (activate dry run feedrate)
must be set from the PLC user program.
Effectiveness
As long as the "Activate dry run feedrate" interface signal is set, instead of the programmed
feedrate, the feedrate value set via SD42100 DRY_RUN_FEED is effective in the way specified
via SD42101 $SC_DRY_RUN_FEED_MODE (see parameterization):
The dry run feedrate is always interpreted as linear feedrate (G94).
Parameterization
Activation of dry run feedrate
The time of activation depends on the setting in the machine data:
MD10704 $MN_DRYRUN_MASK (activation of dry run feedrate)
Value
Meaning
The dry run feedrate may only be switched on and off at the end of the block (default setting).
The dry run feedrate can also be activated during the program processing (in the part pro
gram block).
Notice:
Activation during processing triggers an internal reorganization operation on the controller
which causes the axes to be stopped for a short time. This can affect the surface finish of
the workpiece being machined.
The dry run feedrate can be activated/deactivated at any time without the axes being stop
ped. The function only takes effect with a block "later" in the program run.
Changing the dry run feedrate
The feedrate for the dry run is entered in the setting data:
SD42100 $SC_DRY_RUN_FEED (dry run feedrate)
The setting data can be changed via the operator panel front in the "Parameters" operating
area.
If the selection has been accepted by the NCK, the following NC/PLC interface signal is set:
DB21, ... DBX318.6 (dry run feedrate active)
"DRY" is displayed in the operator panel front status bar to indicate an active dry run feedrate
if:
Selection took place during the program stop at the end of a block or
The machine data MD10704 $MN_DRYRUN_MASK was set to "1" during the program
execution
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17.4 Feedrate control
Mode of operation of the dry run feedrate
The mode of operation of the dry run feedrate entered in SD42100 can be set via the setting
data:
SD42101 $SC_DRY_RUN_FEED_MODE
17.4.5
Value
Meaning
The programmed feedrate is compared to the dry run feedrate in SD42100 and then tra
versing is performed with the higher of the two feedrates (default setting).
The programmed feedrate is compared to the dry run feedrate in SD42100 and then tra
versing is performed with the lower of the two feedrates.
The dry run feedrate entered in SD42100 takes effect directly, irrespective of the program
med velocity.
3 -9
Reserved
10
As for configuration 0, except for thread cutting (G33, G34, G35) and tapping (G331, G332,
G63). These functions are executed as programmed.
11
As for configuration 1, except for thread cutting (G33, G34, G35) and tapping (G331, G332,
G63). These functions are executed as programmed.
12
As for configuration 2, except for thread cutting (G33, G34, G35) and tapping (G331, G332,
G63). These functions are executed as programmed.
Multiple feedrate values in one block
Function
The function "Multiple feedrate values in one block" can be used to activate six different
feedrate values of an NC block, a dwell time or a retraction motion-synchronously, depending
on the external digital and/or analog inputs.
When the input for the sparking out time or retraction path is activated, the distance-to-go for
the path axes or the particular single axis is deleted and the dwell time or retraction is started.
The retraction is started within an IPO cycle.
Signals
The input signals are combined in one input byte for the function. A fixed functional assignment
applies within the byte.
Table 17-1
Input byte for the "Multiple feedrates in one block" function
Bit
7
Input no.
I7
I6
I5
I4
I3
I2
I1
I0
Feedrate address
F7
F6
F5
F4
F3
F2
ST
SR
I7 to I2: Activation of feedrates F7 to F2
E1: Activation of the dwell time ST/STA (in seconds)
I0: Activation of the retraction motion SR/SRA
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17.4 Feedrate control
Priority of the signals
The signals are scanned in ascending order starting at I0. Therefore, the retraction motion
(SR) has the highest priority and the feedrate F7 the lowest priority.
SR and ST end the feedrate motions that were activated with F2 to F7.
SR also ends ST, i.e. the complete function.
The signal with the highest priority determines the current feedrate.
The response to loss of the respective highest-priority input (F2 - F7) can be defined with the
machine data:
MD21230 $MC_MULTFEED_STORE_MASK (storage behavior for the "Multiple feedrate
values in one block" function)
Bit
Value
Meaning
2 ... 7
With the loss of the respective highest-priority input, the associated feedrate is not
retained (default setting).
Set bit 2 to 7 ensures that the associated feedrate (F2 to F7) that was selected by
the respective highest-priority input signal is also retained when there is a loss of
the input signal and a lower-priority input is active.
The end-of-block criterion is satisfied when:
The programmed end position is reached
The retraction motion ends (SR)
The dwell time elapses (ST)
Hardware assignment
The input byte for the "Multiple feedrate values in one block" function can be assigned a
maximum of two digital input bytes or comparator input bytes of the NCK I/O:
MD21220 $MC_MULTFEED_ASSIGN_FASTIN (assignment of the input bytes of the NCK I/O
for "Multiple feedrate values in one block"), bit 0 ... 15
The input bits can also be inverted:
MD21220 $MC_MULTFEED_ASSIGN_FASTIN, bit 16 ... 31
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17.4 Feedrate control
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The assignment of the digital input bytes and parameterization of the comparators are
described in:
References:
Function Manual, Extended Functions; Digital and Analog NCK I/O (A4)
Programming
Path motion
The path feedrate is programmed under the address F and remains valid until an input signal
is present. This value acts modally.
F2=... to F7=... can be used in addition to the path feedrate to program up to six further
feedrates in the block. The numerical expansion indicates the bit number of the input that
activates the feedrate when changed:
Example:
F7=1000
;7 corresponds to input bit 7
The programmed values act non-modally. The path feedrate programmed under F applies in
the next block.
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17.4 Feedrate control
Dwell (sparking out time) and retraction path are programmed under separate addresses in
the block:
ST=...
SR=...
Dwell time (for grinding sparking out time)
Retraction path
These addresses apply non-modally.
Axial motion
The axial feedrates are programmed under address FA and remain valid until an input signal
is present. They act modally.
FMA[2,<axis>]=... to FMA[7,<axis>]=... can be used to program up to six further
feedrates per axis in the block.
The first expression in square brackets indicates the bit number of the input that activates the
feedrate when changed. The second expression indicates the axis to which the feedrate
applies.
Example:
FMA[3,Y]=1000
; Axial feedrate for Y axis, corresponds to input bit 3
The values programmed under FMA act non-modally. The feedrate programmed under FA
applies to the next block.
Dwell (sparking out time) and retraction path can also be defined for a single axis:
STA[<axis>]=...
SRA[<axis>]=...
Axial dwell time (sparking out time)
Axial retraction path
The expression in square brackets indicates the axis for which the sparking out time and
retraction path apply.
Examples:
STA[X]=2.5
SRA[X]=3.5
; The sparking out time for the X axis is 2.5 seconds.
; The retraction path for the X axis is 3.5 (unit e.g. mm).
These addresses apply non-modally.
Note
Retraction path
The unit for the retraction path refers to the current valid unit of measurement (mm or inch).
The reverse stroke is always made in the opposite direction to the current motion. SR/SRA
always programs the value for the reverse stroke. No sign is programmed.
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17.4 Feedrate control
Note
POS instead of POSA
If feedrates, sparking out time (dwell time) or return path are programmed for an axis on
account of an external input, this axis must not be programmed as POSA axis (positioning axis
over multiple blocks) in this block.
Note
Status query
It is also possible to poll the status of an input for synchronous commands of various axes.
Note
LookAhead
Look Ahead is also active for multiple feedrates in one block. In this way, the current feedrate
can be restricted by the Look Ahead value.
Application
The "Multiple feedrate values in one block" function is used primarily for grinding, but is not
restricted to it.
Typical applications are, for example:
Analog or digital calipers
Depending on whether the external inputs are analog or digital, various feedrate values, a
dwell time and a retraction path can be activated. The limit values are defined via the setting
data.
Switching from infeed to working feedrate via proximity switch
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17.4 Feedrate control
Example
Internal grinding of a conical ring, where the actual diameter is determined using calipers and,
depending on the limits, the feedrate value required for roughing, finishing or fine finishing is
activated. The position of the calipers also provides the end position. Thus, the block end
criterion is determined not only by the programmed axis position of the infeed axis but also by
the calipers.
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17.4.6
Fixed feedrate values
Function
The "Fixed feedrate values" function can be used to activate fixed feedrates (max. four) defined
via the machine data instead of the programmed feedrate or the configured JOG velocities.
The function is available in AUTOMATIC and JOG mode.
Behavior in AUTOMATIC mode
The contour travels at the activated fixed feedrate, instead of using the programmed feedrate.
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17.4 Feedrate control
Behavior in JOG mode
The axis is traversed with the activated fixed feedrate instead of the configured JOG velocity /
JOG rapid traverse velocity. The travel direction is specified via the interface signal.
Parameterization
The setting of the fixed feedrates is performed:
For linear axes with the machine data:
MD12202 $MN_PERMANENT_FEED[<n>]
For rotary axes with the machine data:
MD12204 $MN_PERMANENT_ROT_AX_FEED[<n>]
where <n> = 0, 1, 2, 3 (for fixed feedrate 1, 2, 3, 4)
Note
The fixed feedrates are always linear feedrate values. Switchover to linear feedrate is
conducted internally even in case of revolutional feedrate.
Activation
The fixed feedrates are activated via NC/PLC interface signals:
In AUTOMATIC mode for path/geometry axes using the channel-specific interface signals:
DB21, ... DBX29.0 (activate fixed feedrate 1)
DB21, ... DBX29.1 (activate fixed feedrate 2)
DB21, ... DBX29.2 (activate fixed feedrate 3)
DB21, ... DBX29.3 (activate fixed feedrate 4)
In JOG mode for machine axes using the axis-specific interface signals:
DB31, ... DBX3.2 (activate fixed feedrate 1)
DB31, ... DBX3.3 (activate fixed feedrate 2)
DB31, ... DBX3.4 (activate fixed feedrate 3)
DB31, ... DBX3.5 (activate fixed feedrate 4)
Supplementary conditions
Effectiveness
The function "Fixed feedrate values" is not active:
For spindles
For positioning axes
When tapping
Override = 0
The traversing behavior for override = 0 depends on the setting in machine data:
MD12200 $MN_RUN_OVERRIDE_0
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17.4 Feedrate control
DRF offset
The DRF offset cannot be activated for a selected fixed feedrate.
17.4.7
Programmable feedrate characteristics
Function
To permit flexible definition of the feedrate characteristic, the feedrate programming according
to DIN 66025 has been extended by linear and cubic characteristics.
The cubic profiles can be programmed directly or as an interpolating spline.
Programming
You can program the following feedrate profiles:
FNORM
Behavior in accordance with DIN 66025 (default setting).
An F-value programmed in the block is applied over the entire path of the block, and is
subsequently regarded as a fixed modal value.
FLIN
An F value programmed in the block is traversed linearly over the path from the current
value at the beginning of the block to the end of the block, and is subsequently regarded
as modal value.
FCUB
The non-modal programmed F values (relative to the end of the block) are connected by a
spline. The spline starts and ends tangentially to the previous or following feedrate setting.
If the F address is missing in one block, then the last programmed F value is used.
FPO
The F address [syntax: F=FPO(...,...,...)] designates the characteristic of the
feedrate via a polynomial from the current value to the end of the block in which it was
programmed. The end value is treated as modal from there onwards.
Parameterization
If FLIN and FCUB are used in connection with compression COMPON, a tolerance can be
defined for the path feedrate:
MD20172 $MC_COMPRESS_VELO_TOL (max. permissible deviation of the path feedrate
with compression)
Supplementary conditions
FLIN/FCUB
The path velocity profile programmed with FLIN or FCUB is not active together with revolutional
feedrate for G95 as well as with constant cutting rate with G96/G961 and G97/G971.
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17.4 Feedrate control
References
For further information on the programmable feedrate characteristics, see Programming
Manual, Job Planning.
17.4.8
Feedrate for chamfer/rounding FRC, FRCM
The machining conditions can change significantly during surface transitions to chamfer/
rounding. Hence, the chamfer/rounding contour elements require dedicated, optimized
feedrate values to achieve the desired surface quality.
Function
The feedrate for chamfer/rounding can be programmed via NC addresses.
Programming
Syntax:
... FRC/FRCM=<value>
Meaning:
FRC:
FRCM:
<value>:
Non-modal feedrate for chamfer/rounding
Modal feedrate for chamfer/rounding
The feedrate is interpreted according to the active feedrate type:
G94, G961, G971:
Feedrate in mm/min or inch/min or o/min
G95, G96, G97:
Revolutional feedrate in mm/rev or inch/rev
Note
FRC is only effective if a chamfer/rounding is programmed in the block or if RNDM has been
activated.
FRC overwrites the F or FRCM value in the current block.
The feedrate programmed under FRC must be greater than zero.
FRCM=0 activates the feedrate programmed under F for chamfering/rounding.
Parameterization
Assignment of the chamfer/rounding to the previous or following block
The feedrate type (G94, G95, G96, G961 ... ) and therefore the conversion to the internal
format must be consistent within the block for F and FRC/FRCM. In this context, the following
machine data must be taken into account:
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17.4 Feedrate control
MD20201 $MC_CHFRND_MODE_MASK (chamfer/rounding behavior)
Bit
Value
Meaning
The technology of the chamfer/rounding (feedrate, feedrate type, M commands, etc.)
is determined by the following block (default setting).
The technology of the chamfer/rounding is determined by the previous block (recom
mended setting).
Maximum number of empty blocks
The number of blocks without traversing information in the compensation plane (empty blocks)
permitted between two blocks with traversing information during active chamfer/rounding, is
limited. The maximum number is specified in the machine data:
MD20200 $MC_CHFRND_MAXNUM_DUMMY_BLOCKS (empty blocks for chamfer/radii)
Supplementary conditions
FLIN/FCUB
Feedrate interpolation FLIN and FCUB is not possible for chamfer/rounding.
G0
FRC/FRCM is not active when a chamfer is traversed with G0. The programming is possible
in accordance with the F value without error message.
Change G94 G95
If FRCM is programmed, the FRCM value will need to be reprogrammed like F on change
G94 G95, etc. If only F is reprogrammed and if the feedrate type FRCM > 0 before the
change, an error message will be output.
Example
Example 1: MD20201 bit 0 = 0; take feedrate from following block (default setting!)
Program code
Comment
N10 G0 X0 Y0 G17 F100 G94
N20 G1 X10 CHF=2
; Chamfer N20-N30 with F=100 mm/min
N30 Y10 CHF=4
; Chamfer N30-N40 with FRC=200 mm/min
N40 X20 CHF=3 FRC=200
; Chamfer N40-N60 with FRCM=50 mm/min
N50 RNDM=2 FRCM=50
N60 Y20
; Modal rounding N60-N70 with FRCM=50 mm/min
N70 X30
; Modal rounding N70-N80 with FRCM=50 mm/min
N80 Y30 CHF=3 FRC=100
; Chamfer N80-N90 with FRC=100 mm/min
N90 X40
; Modal rounding N90-N100 with F=100 mm/min (deselection of FRCM)
N100 Y40 FRCM=0
; Modal rounding N100-N120 with G95 FRC=1 mm/rev
N110 S1000 M3
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17.4 Feedrate control
Program code
Comment
N120 X50 G95 F3 FRC=1
...
M02
Example 2: MD20201 bit 0 = 1; take feedrate from previous block (recommended setting!)
Program code
Comment
N10 G0 X0 Y0 G17 F100 G94
N20 G1 X10 CHF=2
; Chamfer N20-N30 with F=100 mm/min
N30 Y10 CHF=4 FRC=120
; Chamfer N30-N40 with FRC=120 mm/min
N40 X20 CHF=3 FRC=200
; Chamfer N40-N60 with FRC=200 mm/min
N50 RNDM=2 FRCM=50
N60 Y20
; Modal rounding N60-N70 with FRCM=50 mm/min
N70 X30
; Modal rounding N70-N80 with FRCM=50 mm/min
N80 Y30 CHF=3 FRC=100
; Chamfer N80-N90 with FRC=100 mm/min
N90 X40
; Modal rounding N90-N100 with FRCM=50 mm/min
N100 Y40 FRCM=0
; Modal rounding N100-N120 with F=100 mm/min
N110 S1000 M3
N120 X50 CHF=4 G95 F3 FRC=1
; Chamfer N120-N130 with G95 FRC=1 mm/rev
N130 Y50
; Modal rounding N130-N140 with F=3 mm/rev
N140 X60
...
M02
17.4.9
Non-modal feedrate FB
Function
The "Non-modal feedrate" function can be used to define a separate feedrate for a single part
program block. After this block, the previous modal path feedrate is active again.
Programming
Syntax:
... FB=<value>
Meaning:
FB:
<value>:
1352
Separate feedrate for the current block
The feedrate is interpreted according to the active feedrate type:
G94, G961, G971:
Feedrate in mm/min or inch/min or o/min
G95, G96, G97:
Revolutional feedrate in mm/rev or inch/rev
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17.4 Feedrate control
Note
The feedrate programmed under FB must be greater than zero.
If no traversing motion is programmed in the block (e.g. computation block), the FB has no
effect.
If no explicit feed for chamfering/rounding is programmed, then the value of FB also applies
for any contour element chamfering/rounding in this block.
Simultaneous programming of FB and FD (handwheel travel with feedrate override) or F
(modal path feedrate) is not possible.
17.4.10
Influencing the single axis dynamic response
Single axes
Single axes can be programmed in the part program, in synchronized actions and via the PLC:
Part program:
Synchronized actions:
PLC:
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POS[<axis>]=...
POSA[<axis>]=...
SPOS[<axis>]=...
SPOSA[<axis>]=...
OS[<axis>]=...
OSCILL[<axis>]=...
EVERY ... DO
POS[<axis>]=...
SPOS[<spindle>]=...
MOV[<axis>]=...
FC18
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17.4 Feedrate control
Dynamic response
The dynamic response of an axis is influenced by:
MD32060 $MA_POS_AX_VELO (positioning axis velocity)
The effective positioning axis velocity can be changed:
Part program / synchronized action: Axial feedrate FA or percentage feedrate override
OVRA
PLC: Specification of FRate or overwriting the axial override
MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
The effective maximum axis acceleration can be changed:
Part program indirectly: Writing the machine data with subsequent NewConfig
Part program directly: Percentage acceleration override ACC
Synchronized actions indirectly: Writing the machine data and initiating an ASUB for the
activation of NewConfig
Synchronized actions directly: Percentage acceleration override ACC (cannot be preset
by the PLC).
Via the PLC, the same options apply as in synchronized actions.
Part program commands: BRISKA, SOFTA, DRIVEA, JERKA
Cannot be programmed in synchronized actions (only indirectly via ASUB).
Cannot be specified by the PLC (only indirectly via ASUB).
Active servo parameter set
The active parameter set can be changed:
Part program / synchronized action: SCPARA
PLC: DB31, DBX9.0-2 (controller parameter set)
For detailed information on the servo parameter sets, see "Parameter sets of the position
controller (Page 361)".
Note
Dynamic response changes
Dynamic response changes made in the part program do not affect command or PLC axis
motion. Dynamic response changes made in synchronized actions have no effect on traversing
motion programmed in the part program.
Feedforward control
The type of feedforward control and the path axes that should be traversed with feedforward
control can be directly programmed in the part program using FFWON/FFWOF. In
synchronized actions and from the PLC, programming is only possible indirectly via an ASUB.
Percentage acceleration override (ACC)
In a part program or synchronized action, the acceleration specified in machine data:
MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
can be changed in a range from 0% 200% using the ACC command.
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Syntax:
ACC[<axis>]=<value>
Meaning:
ACC:
<axis>:
<value>:
Keyword for the programming of the percentage acceleration override
Name of the channel axis or spindle
Acceleration change in percent relative to MD32300
Range of values: 0 ... 200
The actual axial acceleration value can be read via the system variable $AA_ACC. It is
determined by:
$AA_ACC[<axis>] = (MD32300 $MA_MAX_AX_ACCEL[<axis>]) * ACC[<axis>] / 100
MD32320 $MA_DYN_LIMIT_RESET_MASK can be used to specify the initial setting of the
value programmed with ACC for a channel reset or end of part program M30.
Note
The acceleration override programmed with ACC can be read using the system variable
$AA_ACC. However, $AA_ACC is read in the part program at a different time than when
reading in a synchronized action.
The system variables $AA_ACC only contain the value programmed in the part program with
ACC if, in the meantime, the acceleration override was not changed by programming ACC in
a synchronized action. The same applies for the reverse situation.
Percentage acceleration override and main run axes
Depending on whether the system variable $AA_ACC is read in the part program or
synchronized action, the value for the acceleration override programmed with ACC is output
for the NC axes or main run axes (command axes, PLC axes, asynchronous oscillating axes,
etc.).
For correct results, system variable $AA_ACC must therefore always be read at the same
location (part program or synchronized action) from where the acceleration override was
programmed with ACC.
Examples:
Writing ACC in a part program:
N80 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 IPOENDA[X]
Writing ACC in a synchronized action:
N100 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X]
Writing ACC and reading $AA_ACC in a part program:
ACC[X]=50
; writing
RO=$AA_ACC[X]
; reading
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17.4 Feedrate control
Writing ACC and reading $AA_ACC in a part program:
IF (RO <> $MA_MAX_AX_ACCEL[X] * 0.5)
; checking
SETAL(61000)
ENDIF
Writing ACC and reading $AA_ACC in a synchronized action:
WHEN TRUE DO ACC[X]=25 R0=$AA_ACC[X]
; writing and reading
G4 F1
IF (RO <> $MA_ MAX_AX_ACCEL[X] * 0.25)
; checking
SETAL(61001)
ENDIF
end-of-motion criterion for single axes
Similar to the block change criterion for path interpolation (G601, G602, G603) the end-ofmotion criterion for traversing motion of individual axes can be programmed in part programs /
synchronized actions:
Program command
End-of-motion criterion
FINEA[<axis>]
"Exact stop fine"
COARSEA[<axis>]
"Exact stop coarse"
IPOENDA[<axis>]
"Interpolator stop" (IPO stop)
The most recently programmed value is kept after the end of program or NC reset.
The effective end-of-motion criterion can be read using the axis-specific system variable
$AA_MOTEND.
Note
Depending on whether the system variable $AA_MOTEND is read in the part program or
synchronized action, it contains the value for the NC axes or the main run axes.
Example:
Part program:
N80 G01 POS[X]=100 FA[X]=1000 ACC[X]=90 COARSEA[X]
Synchronized action:
N100 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140 IPOENDA[X]
References:
For further information on block changes and end-of-motion criteria for FINEA, COARSEA and
IPOENDA, see:
Function Manual, Extended Functions; Positioning Axes (P2), Section: Block change
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Programmable servo parameter set (SCPARA)
In the part program / synchronized action, the servo parameter set can be specified using
SCPARA.
Syntax
SCPARA[<axis>] = <parameter set number>
Meaning
SCPARA:
<axis>:
<parameter set number>:
Keyword for the activation of the specified servo parameter
set
Name of the channel axis
Number of the servo parameter set to be activated
Note
The activation of the parameter set specified using SCPARA can be suppressed from the PLC
user program:
DB31, DBX9.3 = 1 (parameter set specification disabled by SCPARA)
In this case, no message is displayed.
The number of the active parameter set can be read using the system variable
$AA_SCPAR.
Supplementary conditions
Different end-of-motion criteria
Different end-of-motion criteria will affect how quickly or slowly part program blocks are
completed. This can have side effects for technology cycles and PLC user parts.
Parameter set change
The PLC user program must be expanded if the servo parameter set is to be changed both
inside a part program or synchronized action and the PLC.
Power On
After POWER ON, the following initial settings are made:
Percentage acceleration override for all single-axis interpolations: 100%
End-of-motion criterion for all single-axis interpolations: FINEA
Servo parameter set: 1
Mode change
When the operating mode is changed from AUTOMATIC to JOG, the programmed dynamic
response changes remain valid.
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17.5 Supplementary conditions
Reset
With reset, the last programmed value remains for the part program specifications. The settings
for main-run interpolations do not change.
Block search
The last end-of-motion criterion programmed for an axis is collected and output in an action
block. The last block with a programmed end-of-motion criterion that was processed in the
search run serves as a container for all programmed end-of-motion criteria for all axes.
17.5
Supplementary conditions
Unit of measurement
The valid unit of measurement of the feedrates depends on the set measuring system and the
entered axis type:
MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic system of the control metric/inch)
MD30300 $MA_IS_ROT_AX (rotary or linear axis)
Initial setting for the feedrate type
The initial setting for the feedrate type is specified in the machine data:
MD20150 $MC_GCODE_RESET_VALUES (initial setting of the G groups)
The default setting is G94.
The initial setting of the feedrate type is only displayed when a part program is started.
Effectiveness after reset
Whether the last programmed F, FA, OVR, OVRA values are also active after reset depends
on the setting in the machine data:
MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET (F function is active even after reset)
Spindle positioning
With active G95, G96, G961, G97, G971, G33, G34, G35 spindle positioning should not be
performed, because the derived path feedrate following spindle positioning = 0. If the
programmed axis position has not then been reached, the block cannot be completed.
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17.6 Data lists
17.6
Data lists
17.6.1
Machine data
17.6.1.1
NC-specific machine data
Number
Identifier: $MN_
Description
10651
IPO_PARAM_THREAD_NAME_TAB
Name of the interpolation parameters for convex
threads
10704
DRYRUN_MASK
Activation of dry run feedrate
10710
PROG_SD_RESET_SAVE_TAB
Setting data to be updated
11410
SUPPRESS_ALARM_MASK
Mask for suppressing special alarms
11550
STOP_MODE_MASK
Defines the stop behavior
12000
OVR_AX_IS_GRAY_CODE
Axis feedrate override switch, graycoded
12010
OVR_FACTOR_AX_SPEED
Evaluation of the axis feed override switch
12020
OVR_FEED_IS_GRAY_CODE
Path feed override switch, graycoded
12030
OVR_FACTOR_FEEDRATE
Evaluation of the path feed override switch
12040
OVR_RAPID_IS_GRAY_CODE
Rapid traverse override switch, graycoded
12050
OVR_FACTOR_RAPID_TRA
Evaluation of the rapid traverse override switch
12060
OVR_SPIND_IS_GRAY_CODE
Spindle override switch, graycoded
12070
OVR_FACTOR_SPIND_SPEED
Evaluation of the spindle override switch
12080
OVR_REFERENCE_IS_PROG_FEED
Override reference velocity
12082
OVR_REFERENCE_IS_MIN_FEED
Defining the reference of the path override
12090
OVR_FUNCTION_MASK
Selection of override specifications
12100
OVR_FACTOR_LIMIT_BIN
Limit for binarycoded override switch
12200
RUN_OVERRIDE_0
Traversing with override 0
12202
PERMANENT_FEED
Fixed feedrates for linear axes
12204
PERMANENT_ROT_AX_FEED
Fixed feedrates for rotary axes
17.6.1.2
Channel-specific machine data
Number
Identifier: $MC_
Description
20100
DIAMETER_AX_DEF
Geometry axes with transverse axis functions
20150
GCODE_RESET_VALUES
Initial setting of the G groups
20172
COMPRESS_VELO_TOL
Maximum permissible deviation from path feed for com
pression
20200
CHFRND_MAXNUM_DUMMY_BLOCKS
Empty blocks with phase/radii
20201
CHFRND_MODE_MASK
Behavior for chamfer/rounding
20750
ALLOW_GO_IN_G96
G0 logic for G96, G961
21200
LIFTFAST_DIST
Traversing path for fast retraction from the contour
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17.6 Data lists
Number
Identifier: $MC_
Description
21220
MULTFEED_ASSIGN_FASTIN
Assignment of input bytes of NCK I/O for "Multiple fee
drate values in one block"
21230
MULTFEED_STORE_MASK
Storage behavior for the "Multiple feedrate values in
one block" function
22240
AUXFU_F_SYNC_TYPE
Output timing of F functions
22410
F_VALUES_ACTIVE_AFTER_RESET
F function active after reset
17.6.1.3
Axis/Spindle-specific machine data
Number
Identifier: $MA_
Description
30300
IS_ROT_AX
Rotary axis/spindle
32000
MAX_AX_VELO
Maximum axis velocity
32060
POS_AX_VELO
Initial setting for positioning axis velocity
32300
MAX_AX_ACCEL
Axis acceleration
32320
DYN_LIMIT_RESET_MASK
Reset behavior of dynamic limits
34990
ENC_ACTIVAL_SMOOTH_TIME
Smoothing time constant for actual values
35100
SPIND_VELO_LIMIT
Maximum spindle speed
35130
GEAR_STEP_MAX_VELO_LIMIT
Maximum speed of gear stage
35140
GEAR_STEP_MIN_VELO_LIMIT
Minimum speed of gear stage
35160
SPIND_EXTERN_VELO_LIMIT
Spindle-speed limitation via PLC
17.6.2
Setting data
17.6.2.1
Channel-specific setting data
Number
Identifier: $SC_
Description
42000
THREAD_START_ANGLE
Start angle for thread
42010
THREAD_RAMP_DISP
Acceleration behavior of axis when thread cutting
42100
DRY_RUN_FEED
Dry run feedrate
42101
DRY_RUN_FEED_MODE
Dry run feed mode
42110
DEFAULT_FEED
Default value for path feed
42600
JOG_FEED_PER_REV_SOURCE
Revolutional feedrate control in the JOG mode
43300
ASSIGN_FEED_PER_RES_SOURCE
Revolutional feedrate for positioning axes/spindles
1360
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17.6 Data lists
17.6.2.2
Axis/spindle-specific setting data
Number
Identifier: $SA_
Description
43210
SPIND_MIN_VELO_G25
Programmed spindle speed limiting G25
43220
SPIND_MAX_VELO_G26
Programmed spindle speed limiting G26
43230
SPIND_MAX_VELO_LIMS
Spindle speed limiting with G96
17.6.3
Signals
17.6.3.1
Signals to channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Activate dry run feedrate
DB21, ... .DBX0.6
DB320x.DBX0.6
Feedrate override
DB21, ... .DBB4
DB320x.DBB4
Rapid traverse override
DB21, ... .DBB5
DB320x.DBB5
Feed disable
DB21, ... .DBX6.0
DB320x.DBX6.0
Rapid traverse override active
DB21, ... .DBX6.6
DB320x.DBX6.6
Feedrate override active
DB21, ... .DBX6.7
DB320x.DBX6.7
Feed stop, geometry axis 1
DB21, ... .DBX12.3
DB320x.DBX1000.3
Feed stop, geometry axis 2
DB21, ... .DBX16.3
DB320x.DBX1004.3
Feed stop, geometry axis 3
DB21, ... .DBX20.3
DB320x.DBX1008.3
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Dry run feedrate selected
DB21, ... .DBX24.6
DB170x.DBX0.6
Feedrate override for rapid traverse selected
DB21, ... .DBX25.3
DB170x.DBX1.3
Activate fixed feedrate 1 for path/geometry axes
DB21, ... .DBX29.0
DB320x.DBX13.0
Activate fixed feedrate 2 for path/geometry axes
DB21, ... .DBX29.1
DB320x.DBX13.1
Activate fixed feedrate 3 for path/geometry axes
DB21, ... .DBX29.2
DB320x.DBX13.2
Activate fixed feedrate 4 for path/geometry axes
DB21, ... .DBX29.3
DB320x.DBX13.3
Dry run feedrate active
DB21, ... .DBX318.6
DB330x.DBX4002.6
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Feed/spindle override
DB31, ... .DBB0
DB380x.DBB0
Override active
DB31, ... .DBX1.7
DB380x.DBX1.7
17.6.3.2
17.6.3.3
Signals from channel
Signals to axis/spindle
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17.6 Data lists
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Activate fixed feedrate 1 for machine axis
DB31, ... .DBX3.2
DB380x.DBX3.2
Activate fixed feedrate 2 for machine axis
DB31, ... .DBX3.3
DB380x.DBX3.3
Activate fixed feedrate 3 for machine axis
DB31, ... .DBX3.4
DB380x.DBX3.4
Activate fixed feedrate 4 for machine axis
DB31, ... .DBX3.5
DB380x.DBX3.5
Feed stop/spindle stop
DB31, ... .DBX4.3
DB380x.DBX4.3
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
Revolutional feedrate active
DB31, ... .DBX62.2
DB390x.DBX2.2
F function for positioning axis
DB31, ... .DBB81
Programmed speed too high
DB31, ... .DBX83.1
DB390x.DBX2001.1
17.6.3.4
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Signals from axis/spindle
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18.1
18
Brief description
Calculating tool compensation data
The SINUMERIK 840D sl controller can be used to calculate the following tool compensation
data:
Length compensation
Radius compensation
Storage of tool data in a flexible tool offset memory:
Tool identification with T numbers from 0 to 32000
Definition of a tool with a maximum of 9 cutting edges
Cutting edge described by up to 25 tool parameters
Tool selection selectable: Immediate or via selectable M function
Tool radius compensation:
Selection and deselection strategy configurable: Normal or contour-related
Compensation active for all interpolation types:
Linear
Circle
Helical
Spline
Polynomial
Involute
Compensation at outer corners selectable:
Transition circle/ellipse (G450) or equidistant intersection (G451)
Parameter-driven adaptation of G450/G451 functions to the contour
Free traversing on outer corners with G450 and DISC parameter
Number of dummy blocks without axis motion selectable in the compensation plane
Collision detection selectable:
Possible contour violations are detected predictively, if:
- Path is shorter than tool radius
- Width of an inside corner is shorter than the tool diameter
Keep tool radius compensation constant
Intersection procedure for polynomials
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18.1 Brief description
Toolholder with orientation capability
This function permits the machining of inclined surfaces with allowance for tool length
compensation, provided that the kinematics of the toolholder (without NC axes) permits a static
orientation of the tool. The more complex 5-axis transformation is not required for this case.
Reference:
Function Manual, Special Functions; Multi-Axis Transformations (F2)
Appropriate selection of the tool data and toolholder data describes the kinematics for the
controller such that it can make allowance for the tool length compensation. The controller can
take some of the description data direct from the current frame.
Note
Please refer to the following documentation for further information on tools and tool
compensations and a full technical description of the general and specific programming
features for tool compensation (TLC and TRC):
References:
Programming Manual, Fundamentals
Flat/unique D number structure
Compensations can be selected via unique D numbers with management function.
Special handling of tool compensations
The evaluation of signs can be controlled for tool length and wear by the setting data:
SD42900 $SC_MIRROR_TOOL_LENGTH (sign change tool length when mirroring)
SD42960 $SC_TOOL_TEMP_COMP (temperature compens. regarding tool).
The same applies to the response of the wear components when mirroring geometry axes or
changing the machining plane via setting data.
References:
Programming Manual, Fundamentals, Tool Offsets
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18.2 Tool
G461/G462
In order to enable the solid machining of inside corners in certain situations with the activation
and deactivation of tool radius compensation, commands G461 und G462 have been
introduced and the approach/retraction strategy has thus been extended for tool radius
compensation.
G461
If no intersection is possible between the last TRC block and a previous block, the controller
calculates an intersection by extending the offset curve of this block with a circle whose
center point coincides with the end point of the noncorrected block, and whose radius is
equal to the tool radius.
G462
If no intersection is possible between the last TRC block and a previous block, the controller
calculates an intersection by inserting a straight line at the end point of the last block with
tool radius compensation (the block is extended by its end tangent).
Changing from G40 to G41/42
The change from G40 to G41/G42 and vice versa is no longer treated as a tool change for
tools with relevant tool point direction (turning and grinding tools).
Tool compensation environments
Functions which enable the following actions in relation to the current states of tool data are
available in SW 7.1:
Save
Delete
Read
Modify
Some of the functions were previously implemented in measuring cycles. They are now
universally available.
A further function can be used to determine information about the assignment of the tool lengths
of the active tool to the abscissa, ordinate and applicate.
18.2
Tool
18.2.1
General
Select tool
A tool is selected in the program with the T function.
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18.2 Tool
Whether the new tool will be loaded immediately by means of the T function depends on the
setting in the machine data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function)
Change tool immediately
MD22550 $MC_TOOL_CHANGE_MODE = 0 (new tool compensation with M function).
The new tool is changed immediately with the T function.
This setting is used mainly for turning machines with tool revolver.
Change tool with M06
MD22550 $MC_TOOL_CHANGE_MODE = 1 (new tool compensation with M function).
The new tool is prepared for changing with the T function.
This setting is used mainly on milling machines with a tool magazine, in order to bring the new
tool into the tool change position without interrupting the machining process.
The old tool is removed from the spindle and the new tool is loaded into the spindle with the
entered M function in the machine data:
MD22560 $MC_TOOL_CHANGE_M_CODE (M function for tool change)
This tool change must be programmed with the M function M06, in accordance with DIN 66025.
The next tool is preselected with the machine data:
MD20121 $MC_TOOL_PRESEL_RESET_VALUE (Preselected tool at RESET)
Its tool length compensation values must be considered at RESET and powerup according to
machine data:
MD20110 $MC_RESET_MODE_MASK (Determination of control default settings after
RESET/TP end).
Value range of the T function or the tool number
The T function or the tool number can assume the following integer numbers:
Minimum value: T0 (no tool)
Maximum value: T32000 (tool with number 32000)
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18.2 Tool
Tool cutting edge D
A tool Tx can be assigned various tool cutting edges D1 ... Dn.
7[
'
'
'
'
Figure 18-1
Example of a tool Tx with 9 cutting edges (D1 to D9)
Maximum number of tool cutting edges per tool
The maximum number of tool cutting edges (D numbers) that can be defined for each tool, is
specified using the following machine data:
MD18106 $MN_MM_MAX_CUTTING_EDGE_PERTOOL
D function
The selection of the tool cutting edge 1 ... n required for machining is realized by programming
the appropriate D function, e.g. in the part program with D1 ... Dn. The selected tool cutting
edge always refers to the currently active tool. A tool cutting edge without active tool (actual
T number is T0 no tool selected), is not effective.
All tool offsets of the active tool Tx are deselected using D0.
Selecting the cutting edge when changing tool
When selecting a new tool using a new T number,and loading this tool, the following options
are available to select the cutting edge:
The cutting edge number Dx is programmed.
The cutting edge number is defined by the machine data:
MD20270 $MC_CUTTING_EDGE_DEFAULT =<value> (basic position of the tool cutting
edge without programming)
Value
Meaning
=0
No automatic cutting edge selection in accordance with M06
Number of the cutting edge, which is selected in accordance with M06
= -1
The cutting edge number of the old tool is retained and is also selected for the new tool, in
accordance with M06.
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18.2 Tool
Activating the tool offset
D1 to Dn activate the tool compensation for a cutting edge on the active tool. Tool length
compensation and tool radius compensation can be activated at different times:
Tool length compensation (TLC) is performed on the first traversing motion of the axis, on
which the TLC is to act.
This traversing motion must be a linear interpolation (G0,G1, POS,POSA) or polynomial
interpolation (POLY). If the POS/POSA axis is one of the active geometry axes, the tool
length compensation is applied with the first axis motion in which the WLK is supposed to
act.
Tool radius compensation (TRC) becomes active when G41/G42 is programmed in the
active plane (G17, G18 or G19).
In the NC block in which the tool radius correction is activated with G41/G42, G0 (rapid
traverse) or G1 (linear interpolation) must be active and at least one geometry axis of the
active working plane must be programmed.
If only one geometry axis is specified when switching on, the last position of the second
geometry axis is automatically supplemented and then traversed in both axes.
If the axes are not geometry axes, then they must be transformed into geometry axes using
GEOAX programming.
The selection of tool radius compensation with G41/G42 is only permitted in a program
block with G0 (rapid traverse) or G1 (linear interpolation).
18.2.2
Compensation memory structure
Tool compensation memory size
Each channel can have a dedicated tool compensation memory (TO unit).
Which tool compensation memory exists for the relevant channel is set with the machine data:
MD28085 $MC_MM_LINK_TOA_UNIT (Assignment of TO unit to a channel).
The maximum number of tool cutting edges for all tools managed by the NCK is set with the
machine data:
MD18100 $MN_MM_NUM_CUTTING_EDGES_IN_TOA (number of tool cutting edges in
NCK).
Tools
The TO memory consists of tools numbered T1 to T32000.
Each tool can be set up via TOA files or individually, using the "New tool" soft key.
Compensation values not required must be assigned the value zero. (this is the default setting
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18.2 Tool
when the offset memory is created): The individual values in the offset memory (tool
parameters) can be read and written from the program using system variables.
Note
The tools (T1 to T32000) do not have to be stored in ascending order or contiguously in the
tool compensation memory, and the first tool does not have to be assigned number T1.
Tool cutting edges
Each tool can have up to 9 cutting edges (D1 to D9). The first cutting edge (D1) is set up
automatically when a new tool is loaded in the tool compensation memory. Other cutting edges
(up to 8) are set up consecutively and contiguously using the "New cutting edge" soft key. A
different number of tool cutting edges can assigned to each tool in this way.
HWF
&KDQQHO
7
7
7
7
7
7
Figure 18-2
HWF
&KDQQHO
7
7
'
'
'
'
'
'
'
'
Example of a tool compensation memory structure for 2 channels
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18.2 Tool
18.2.3
Calculating the tool compensation
D No.
The D no. is sufficient for calculating the tool compensations (can be set via MD).
'1R '3 '3 '3
'3
'
'
'Q
2IIVHWYDOXH
Programming
The above compensation block is to be calculated in the NC.
Part program call:
...
Dn
18.2.4
Address extension for NC addresses T and M
MD20096
Whether also with tool management not activated, the address extension of T and M is to be
interpreted as spindle number, can be set through the machine data:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO (spindle number as address extension).
The same rules then apply to the reference between the D number and T number as when the
"Tool management" function is active.
Effect on the D number
A compensation data set is determined by the D number.
The D address cannot be programmed with an address extension.
The evaluation of the D address always refers to the currently active tool.
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18.2 Tool
The programmed D address refers to the active tool in relation to the master spindle (same as
for tool management function), when machine data is set:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = TRUE (spindle number as address
extension).
Effect on the T number
If the "Tool management" function is active, the values programmed with reference to the
master spindle (or master toolholder) are displayed as programmed/active T numbers.
If tool management is not active, all programmed T values are displayed as programmed/
active, regardless of the programmed address extension.
Only the T value programmed in relation to the master spindle is shown as programmed/active,
when:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = TRUE (spindle number as address
extension).
Example
The example below shows the effect of MD20096.
Two spindles are considered. Spindle 1 is the master spindle. M6 was defined as the tool
change signal.
T1 = 5
M1 = 6
T2 = 50
M2 = 6
D4
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18.2 Tool
If tool management is active, D4 refers to tool "5".
T2=50 defines the tool for the secondary spindle, whose tool does not influence the path
compensation. The path is determined exclusively by the tool programmed for the master
spindle.
D4 relates to tool "50" without active tool management and with the machine data:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = FALSE (significance of address
extension on T, M tool change).
The address extensions of neither T nor M are evaluated in the NCK.
Each tool change command defines a new path compensation.
D4 relates to tool "5" (as when tool management is active) without active tool management
and with the machine data:
MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO = TRUE.
Address extension 1 (T1= ..., M1= ...) addresses the master spindle.
Note
Previously, when tool management was not activated, each tool change command
(programmed with T or M) caused the tool compensation to be recalculated in the path.
The address extension is not defined further by this operation. The significance of the
extension is defined by the user (in the PLC user program).
18.2.5
Free assignment of D numbers
"Relative" D numbers
In the NC it is possible to manage the D numbers as "relative" D numbers for the tool
compensation data sets. The corresponding D numbers are assigned to each T number.
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18.2 Tool
Functions
Expansions to functions when assigning D numbers:
The maximum permitted D numbers are defined via the machine data:
MD18105 $MN_MM_MAX_CUTTING_EDGE_NO (max. value of the D numbers (DRAM))
The default value is 9, in order to maintain compatibility with existing applications.
The number of cuts (or the offset data sets) for each tool can be defined via the machine
data:
MD18106 $MN_MM_MAX_CUTTING_EDGE_PERTOOL (max. number of the D numbers
per tool (DRAM))
This allows you to customize the number of cutting edges to be configured for each tool to
the actual number of real cutting edges for monitoring purposes.
It is also possible to rename D numbers in the NCK and thus to allocate any D numbers to
the cutting edges.
Note
In addition to relative D number allocation, the D numbers can also be assigned as "flat"
or "absolute" D numbers (1-32000) without a reference to a T number (within the "Flat D
number structure" function).
Cutting edge number CE
When you rename D numbers, the information in the tool Catalog detailing the numbers defined
for these cutting edges is lost. It is, therefore, impossible to determine, following renaming,
which cutting edge of the Catalog is being referenced.
Since this information is required for retooling procedures, a cutting edge number CE has been
introduced for each cutting edge. This number remains stored when the D number is renamed.
The D number identifies the cutting edge compensation in the part program. This compensation
number D is administered separately from the cutting edge number CE (the number in the tool
Catalog). Any number can be used. The number is used to identify a compensation in the part
program and on the display.
The CE number identifies the actual physical cutting edge during retooling. The cutting edge
number CE is not evaluated by the NCK on compensation selection during a tool change (only
available via the OPI).
The cutting edge number CE is defined with system variable $TC_DPCE[t,d]:
t stands for the internal T number.
d stands for the D number.
Write accesses are monitored for collisions, i.e. all cutting edge numbers of a tool must be
different. The variable $TC_DPCE is a component of the cutting edge parameter data set
$TC_DP1 to $TC_DP25.
It is only practical to parameterize $TC_DPCE if the maximum cutting edge number (MD18105)
is greater than the maximum number of cutting edges per tool (MD18106).
In this case, the default cutting edge number is the same as the classification number of the
cutting edge. Compensations of a tool are created starting at number 1 and are incremented
up to the maximum number of cutting edges per tool (MD18106).
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18.2 Tool
The cutting edge number CE is the same as the D number (in compatibility with the behavior
till now) if:
MD18105 MD18106.
A read operation returns CE=D. A write operation is ignored without an alarm message.
Note
The compensation values $TC_DP1 to $TC_DP25 of the active tool compensation can be read
with system variable $P_AD[n], where n=1 to 25. The CE cutting edge number of the active
compensation is returned with n=26.
Commands
If the maximum cutting edge number is higher than the maximum number of cutting edges for
each tool, then the commands listed in the following table, are available
(MD18105 $MN_MM_MAX_CUTTING_EDGE_NO) > (MD18106
$MN_MM_MAX_CUTTING_EDGE_PERTOOL)
Command
Meaning
CHKDNO
Checks the uniqueness of the available D numbers.
The D numbers of all tools defined within a TO unit may not occur more than once.
No allowance is made for replacement tools.
GETDNO
Determines the D number for the cutting edge of a tool.
If no D number matching the input parameters exists, d=0.
If the D number is invalid, a value greater than 32000 is returned.
SETDNO
Sets or changes the D number of the CE cutting edge of tool T.
If there is no data block for the specified parameter, the value FALSE is returned.
Syntax errors generate an alarm. The D number cannot be set explicitly to 0.
GETACTTD
Determines the associated T number for an absolute D number.
There is not check for uniqueness. If several D numbers within a TO unit are the
same, the T number of the first tool found in the search is returned.
This command is not suitable for use with "flat" D numbers, because the value 1 is
always returned in this case (no T numbers in database).
DZERO
Marks all D numbers of the TO unit as invalid.
This command is used for support during retooling.
Compensation data sets tagged with this command are no longer verified by the
CHKDNO language command. These data sets can be accessed again by setting the
D number once more with SETDNO.
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18.2 Tool
Note
If the maximum cutting edge number is less than the maximum number of cutting edges for
each tool, then the commands listed in the table are ineffective. This default setting is in the
system for reasons of compatibility.
The individual commands are described in detail in:
References:
Programming Manual Fundamentals
Activation
In order to work with unique D numbers and, therefore, with the defined language commands,
it must be possible to name D numbers freely for the tools.
The following conditions must be fulfilled for this purpose:
MD18105 > MD18106
The 'flat D number' function is not activated.
MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE (type of D number programming
(SRAM)).
Examples
MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 1 (max. value of the D numbers)
A maximum of one compensation can be defined per tool (with D number = 1).
Note
When the "Flat D numbers" function is active, only one D compensation can be defined in the
TO unit.
MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 9999
Tools can be assigned unique D numbers.
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18.2 Tool
Example: Assigning D (cutting edges) to T numbers (tools) and listing options for checking
uniqueness:
Assignment:
T No. 1 assignment of D numbers 1, 2, 3
T No. 2 assignment of D numbers 10, 20, 30, 40, 50
T No. 3 assignment of D numbers 100, 200, 30 (error: 30 was entered instead of 300)
Check for uniqueness:
The D numbers of all tools defined within a TO unit must be unique.
The check is made using the CHKDNO command. When no parameters are specified, all D
numbers of all tools are checked with respect to one another. In this particular case, the
return value == FALSE, as D30 is available in tool T2 and T3.
Command
Test
Test result
CHKDNO
All D numbers of all tools are Return value == FALSE, as D=30 is duplica
checked against all other tools ted.
CHKDNO (2, 3,
30)
D number 30 in tools 2 and 3
Return value == FALSE, as D=30 is duplica
ted.
CHKDNO (1, 3)
All D numbers of tools 1 and
3
Return value == TRUE although there is a
collision between the D=30 of the third tool
and D=30 of the second tool.
Note
Cutting edges per tool
If tools with n cutting edges are used, then the value of the machine data should be set to
n. This prevents inadmissible cutting edges to be defined for a tool.
MD18106 $MN_MM_MAX_CUTTING_EDGE_PERTOOL = n
Programming examples
Renaming a D number
The D number of cutting edge CE = 3 is to be renamed from 2 to 17. The following specifications
apply:
$TC_DPx[ <tool Tn>, <cutting edge Dm> ]
Internal T number Tn = 1
D number Dm = 2
Tool with one cutting edge with:
Program code
Comment
$TC_DP2[ 1, 2 ] = 120
Tool length = 120
$TC_DP3[ 1, 2 ] = 5.5
Tool radius = 5.5
$TC_DPCE[ 1, 2 ] = 3
Cutting edge number CE = 3
MD18105 $MN_MM_MAX_CUTTING_EDGE_NO = 20 (max. value of the D numbers)
Within the part program, this compensation is programmed as standard with T1, ....D2.
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18.2 Tool
You assign the current D number of cutting edge 3 to a variable (DNoOld) and define the
variable DNoNew for the new D number:
Program code
def int DNoOld, DNoNew = 17
DNoOld = GETDNO( 1, 3 )
SETDNO( 1, 3, DNoNew )
The new D value 17 is then assigned to cutting edge CE=3.
Now the data for the cutting edge are addressed via D number 17, both via the system variable
and in programming with the NC address D.
This compensation is now programmed in the part program with T1, ....D17 and the data
are addressed as follows:
Program code
Comment
$TC_DP2[ 1, 17 ] = 120
$TC_DP3[ 1, 17 ] = 5.5
$TC_DPCE[ 1, 17 ] = 3
; Cutting edge number CE
Note
If a further cutting edge has been defined for the tool, e.g. $TC_DPCE[ 1, 2 ] = 1 ; = CE, the
D-number 2 of the cutting edge 1 cannot have the same name as the D-number of the cutting
edge 3 i.e.: SETDNO( 1, 1, 17) returns the status = FALSE as return value.
DZERO - Invalidate D numbers
The activation of this command invalidates all D numbers of the tools in the TO unit. It is no
longer possible to activate a compensation until valid D numbers are again available in the
NCK. The D numbers must be reassigned using the SETDNO command.
The following tools must be defined (all with cutting edge number 1):
T1, D1
D no. of cutting edge CE=1
T2, D10
D no. of cutting edge CE=1
T3, D100
D no. of cutting edge CE=1
The following command is then programmed:
Program code
DZERO
If one of the compensations is now activated (e.g. with T3 D100), an alarm is generated,
because D100 is not currently defined.
The D numbers are redefined with:
Program code
Comment
SETDNO( 1, 1, 100 )
; T=1, cutting edge 1 is assigned the (new) D number 100
SETDNO( 2, 1, 10 )
; T=2, cutting edge 1 is assigned the (old) D number 10
SETDNO( 3, 1, 1 )
; T=3, cutting edge 1 is assigned the (new) D number 1
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18.2 Tool
Note
In the event of a power failure, the DZERO command can leave the NCK in an undefined state
with reference to the D numbers. If this happens, repeat the DZERO command when the power
is restored.
Operating principle of a retooling program
Let us assume you want to ensure that the required tools and cutting edges are available. The
status of the tool-holding magazine of the NCK is arbitrary. The D numbers in the part programs
for the new machining operation generally do not match the D numbers of the actual cutting
edges. The retooling program can have the following appearance:
Program code
Comment
DZERO
; All D numbers of the TO unit are tagged as invalid.
....
; One or more loops over the locations of the magazine to check
the tools and their cutting edge numbers.
; If a tool is found, which is still enabled ($TC_TP8) and has
the required cutting edge number CE (GETDNO), the new D number
is allocated to the cutting edge (SETDNO).
....
; Loading and unloading operations are performed.
; It is possible to work with the tool status 'to be unloaded'
and 'to be loaded'.
CHKDNO
; Loading/unloading and the operation for renaming D numbers are
complete.
; Individual tools and/or D numbers can be checked, and collisions can be handled automatically according to the return value.
18.2.6
Compensation block in case of error during tool change
MD22550
If a tool preparation has been programmed in the part program and the NCK detects an error
(e.g., the data set for the programmed T number does not exist in the NCK), the user can
assess the error situation and perform appropriate tasks, in order to subsequently resume
machining.
The tool change may be programmed independently, depending on the machine data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function).
MD22550 $MC_TOOL_CHANGE_MODE = 0
T= "T no."
; Tool preparation + tool change in one NC block,
; i.e., when T is programmed a new D compensation becomes
; active in the NCK (see
; machine data MD20270 $MC_CUTTING_EDGE_DEFAULT)
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18.2 Tool
MD22550 $MC_TOOL_CHANGE_MODE = 1
T= "T no."
; Tool preparation
M06
;Change tool
; (the number of the tool-change M code can be changed),
; i.e., when M06 is programmed a new D compensation becomes
; active in the NCK (see
; machine data MD20270 $MC_CUTTING_EDGE_DEFAULT)
The following problems can occur if tool management is not active:
D compensation data set missing
Error in part program
Note
The "tool not in magazine" problem cannot be detected since the NCK did not have access
to any magazine information during tool compensation.
D compensation data set missing
Program execution is interrupted at the block containing the invalid D value (regardless of the
value of machine data MD22550). The operator must either correct the program or reload the
missing data set.
To do this, he needs the D number for the flat D number function, or otherwise the T number
as well. These parameters are transferred when the alarm is triggered.
Error in part program
The options for intervention in the event of an error depend on how the tool change was
programmed, defined via the machine data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function).
Tool change with T programming (MD22550 = 0)
In this case, the "Compensation block" function available in the NCK is used. The NC program
stops at the NC block in which a programmed T value error was detected. The "Compensation
block" is executed again when the program is resumed.
The operator can intervene as follows:
Correct the part program.
Reload the missing cutting edge compensation data from the HMI.
Include the missing cutting edge compensation data in the NCK using "Overstore".
Following operator intervention, the START key is pressed and the block, which caused the
error, is executed again. If the error was corrected, the program is continued. Otherwise, an
alarm is output again.
Tool change with T and M06 programming (MD22550 = 1)
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18.2 Tool
In this case, an error is detected in the NC block containing the tool preparation (T
programming), however this error is to be ignored initially. Processing continues until the tool
change request (usually M06) is executed. The program is to stop at this point.
The programmed T address can contain any number of program lines ahead of the M06
command, or the two instructions can appear in different (sub)programs. For this reason, it is
not usually possible to modify a block or a compensation block, which has already been
executed.
The operator has the same options for intervention as with = 0.
Reloading of missing data is possible. In this case, however, T must be programmed with
"Overstore".
If a program error has occurred, the line with the error cannot be corrected (Txx); only the line
at which the program stopped and which generated the alarm can be edited. Only when
machine data:
MD22562 $MC_TOOL_CHANGE_ERROR_MODE Bit0 = 1 (response on errors in tool
change).
The sequence is as follows:
Txx
; Error! Data set with xx does not exist.
; Detect state; detect xx;
; continue in program
....
M06
; Detect bit memory "xx missing" output alarm,
; stop program
; Correct block with, e.g., Tyy M06, start,
; block Tyy M06 interpreted and OK.
; Machining continues.
The following occurs when this part of the program is executed again:
Txx
; Error! Data set with xx does not exist,
; Detect state; detect xx;
; continue in program
....
Tyy M06
; Detect bit memory "xx missing" cancel without further response,
; as Tyy M06 is correct program does not stop (correct).
If necessary, the original point of the T call can be corrected after the end of the program. If
the tool change logic on the machine cannot process this, the program must be aborted and
the point of the error corrected.
If only one data set is missing, it is transferred to the NCK, Txx is programmed in "Overstore"
and the program is subsequently resumed.
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18.2 Tool
As in the case of "missing D number", the required parameter (T number) can be accessed
by the user for "missing T number" via the appropriate alarm (17191).
Note
In order to enable program correction, it stops immediately at the faulty Txx block.
The program text operation is also stopped when machine data:
MD22562 $MC_TOOL_CHANGE_ERROR_MODE Bit0=1 (response on errors in tool change).
18.2.7
Definition of the effect of the tool parameters
MD20360
The effect of the tool parameters on the transverse axis in connection with diameter
programming can be controlled selectively with the machine data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool parameters).
Details are described with the mentioned MD
DRF handwheel traversal with half distance
During DRF handwheel traversal, it is possible to move a transverse axis through only half the
distance of the specified increment as follows:
Specify the distance with handwheel via the machine data:
MD11346 $MN_HANDWHEEL_TRUE_DISTANCE = 1 (handwheel path or speed
specification)
Define the DRF offset in the transverse axis as a diameter offset with the machine data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK bit 9 = 1 (definition of tool parameters)
Deselecting an axial DRF compensation (DRFOF) also deletes an existing tool compensation
(handwheel override in tool direction).
Note
For further information about superimposed movements with the handwheel, please refer to:
References:
Function Manual, Extended Functions; Manual and Handwheel Travel (H1)
Programming Manual, Fundamentals
(The Programming Manual describes the complete technical program options in order to
deselect the DRF offset axis-specifically.)
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18.3 Flat D number structure
18.3
Flat D number structure
18.3.1
General
Simple tool management
Simple tool management (no replacement tools, no magazines) using D numbers is possible
for turning machines.
The function is available in the basic level of tool management (without tool management
function activated). Grinding tools cannot be defined using this function.
Activation
Which type of D number management is valid may be set via the machine data:
MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE (type of D number programming).
Value
Significance
As previously = default setting
Flat D number structure with absolute direct D programming
Cutting edges can be deleted individually via PI command or NC programming command.
Cutting edges with a specific number can also be created selectively using HMI.
18.3.2
Creating a new D number (compensation block)
Programming
Tool compensations can be programmed with system variables $TC_DP1 to $TC_DP25. The
contents have the same meaning as before.
The syntax changes: no T number is specified.
"Flat D number" function active:
$TC_DPx[d] = value ;where x=parameter no., d=D number
i.e., data with this syntax can only be loaded to the NCK if the "Flat D number" function is
activated.
"Flat D number" function inactive:
$TC_DPx[t][d] = value ;where t=T number, d=D number
A D number can only be assigned once for each tool, i.e., each D number stands for exactly
one compensation data block.
A new data block is stored in the NCK memory when a D number that does not exist is created
for the first time.
The maximum number of D or offset data blocks (max. 600) is set via the machine data:
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18.3 Flat D number structure
MD18100 $MN_MM_NUM_CUTTING_EDGES_IN_TOA (tool compensations in TO area).
Data backup
Data backup is carried out in the same format, i.e., a backup file created with the "Flat D
number" function cannot be loaded on the NCK of a control that has not activated the function.
This also applies in reverse for transfer.
D range
1 - 99 999 999
18.3.3
D number programming
MD18102 = 1
If MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE = 1, then D compensation is activated
without reference to a certain tool.
D0 still contains the previous significance, "Deselection of active compensation in NCK".
Address extension of D
It is not possible to extend the address of D. Only one active compensation data block is
possible for the tool path at a given time.
Programming
Programming in the part program is carried out as before. Only the value range of the
programmed D number is increased.
Example 1:
MD parameterization
Meaning
MD22550 $MC_TOOL_CHANGE_MODE
=0
Tool change with programming of T.
MD18102 $MN_MM_TYPE_OF_CUTTING_EDGE
=1
D number programming without refer
ence to a certain tool.
MD20270 $MC_CUTTING_EDGE_DEFAULT
= -1
D compensation remains unchanged
if tool is changed.
Program code
Comment
...
D92
X0
; Traverse with compensations from D92.
T17
; Outputs T=17 to the PLC
X1
; Traverse with compensations from D92.
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18.3 Flat D number structure
Program code
Comment
D16
X2
; Traverse with compensations from D16.
D32000
X3
; Traverse with compensations from D32000.
T29000
; Outputs T=29000 to the PLC.
X4
; Traverse with compensations from D32000.
D1
X5
; Traverse with compensations from D1.
...
Example 2:
MD22550 = 0
Program code
Comment
T1
T2
T3
D777
; No waiting, D777 is activated, T3= programmed and active tool in the display, D777= programmed and active
compensation.
Note
The tool change and the assignment of a D compensation to an actual tool are the responsibility
of the NC program and of the PLC program, if applicable.
Delete D no. via part program
With flat D number:
$TC_DP1[d] = 0
Compensation data block with the number D in the TO unit is deleted.
The memory is then free for the definition of another D number.
Without flat D number:
$TC_DP1[t][d] = 0
Cutting edge d of tool t is deleted.
$TC_DP1[0] = 0
All D compensations of the TO unit are deleted.
Active compensation data blocks (D numbers) cannot be deleted. This means, that it may be
necessary to program D0 before deleting.
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18.3 Flat D number structure
Tool MDs
The following machine data affect the way tools and cutting edges (D numbers) work in the
NCK:
18.3.4
Machine data
Meaning
MD20270 $MC_CUTTING_EDGE_DEFAULT
Standard tool cutting edge after tool
change
MD20130 $MC_CUTTING_EDGE_RESET_VALUE
Tool cutting edge - Length compensation
on power-up (RESET / TP end)
MD20120 $MC_TOOL_RESET_VALUE
Tool - Length compensation on power-up
(RESET / TP end)
MD20121 $MC_TOOL_PRESEL_RESET_VALUE
Preselect tool on RESET
MD22550 $MC_TOOL_CHANGE_MODE
Tool change with M function instead of T
function
MD22560 $MC_TOOL_CHANGE_M_CODE
M function for tool change
MD20110 $MC_RESET_MODE_MASK
Definition of basic control settings after
RESET/TP-End)
MD20112 $MC_START_MODE_MASK
Determination of basic control settings
after NC start
Programming the T number
When the "Flat D number structure" function is active, NC address T continues to be evaluated,
i.e., the programmed T number and the active T number are displayed. However, the NC
determines the D number without reference to the programmed T value.
The NC detects 1 master spindle per channel (via the spindle number, which can be set using
MD). Compensations and the M6 command (tool change) are only calculated in reference to
the master spindle.
An address extension T is interpreted as a spindle number (e.g., T2 = 1; tool 1 to be selected
on spindle 2); a tool change is only detected if spindle 2 is the master spindle.
18.3.5
Programming M6
MD22550 and MD22560
The NC detects 1 master spindle per channel (via the spindle number, which can be set using
MD). Compensations and the M6 command (tool change) are only calculated in reference to
the master spindle.
Whether the tool change command is performed with an M function is defined via the machine
data:
MD22550 $MC_TOOL_CHANGE_MODE (new tool compensation with M function).
T is used as the tool preparation command.
The name of the M function for the tool change is defined via the machine data:
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18.3 Flat D number structure
MD22560 $MC_TOOL_CHANGE_M_CODE (M function for tool change).
The default is M6. An address extension of M6 is interpreted as a spindle number.
Example
Two spindles are defined, spindle 1 and spindle 2, and the following applies:
18.3.6
MD20090 = 2
; Spindle no. 2 is the master spindle.
M6
; Tool change desired, command refers implicitly to the master spindle
M1 = 6
; No tool change, since spindle no. 2 is the master spindle
M2 = 6
; Tool is changed, since spindle no. 2 is the master spindle
Program test
MD20110
To have the active tool and the tool compensation included as follows, can be defined via the
machine data:
MD20110 $MC_RESET_MODE_MASK, Bit 3 (Definition of control default settings after
RESET/TP end).
Value
Bit 3
Significance
=1
From the last test program to finish in test mode
=0
From the last program to finish before activation of the program test
Prerequisite
The bits 0 and 6 must be set by the machine data:
MD20110 $MC_RESET_MODE_MASK, Bit 3 (Definition of control default settings after
RESET/TP end).
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18.3 Flat D number structure
18.3.7
Tool management or "Flat D numbers"
Tool management
NCK active tool management works on the basis of the following assumptions:
1. Tools are managed in magazines.
2. Cutting edges are monitored; limits reached cause the tool to be disabled.
3. Idea of the sister tools: Tools are programmed for selection only on the basis of their name.
NCK then selects the concrete tool according to the strategy.
Note
For SINUMERIK 828D, this function is only available as an option!
This means that it only makes sense to employ tool management when specific tools have
been defined and these are to be utilized by the NCK.
Flat D number
Flat D number means that tool management is carried out outside the NCK and there is no
reference made to T numbers.
No mixture of tool management and flat D number
It does not make sense to mix or distribute the tool management functions over the NCK and
PLC, since the main reason for tool management on the NCK is to save time.
This only works if the tasks that are time-critical are carried out on the NCK. This is not the
case for "Flat D number", however.
Note
Activation of both of the functions "Flat D number structure" and "Tool management" is
monitored. If both are activated at the same time, "Tool management" takes priority.
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18.4 Tool cutting edge
18.4
Tool cutting edge
18.4.1
General
Tool cutting edge
The following data are used to describe a tool cutting edge uniquely:
Tool type (end mill, drill, etc.)
Geometrical description
Technological description
Tool parameter
The geometrical description, the technological description and the tool type are mapped to tool
parameters for each tool cutting edge.
The following tool parameters are available for the relevant tool types:
Tool parameter
Significance
Tool type
Cutting edge position
Note
for turning tools or for milling/grinding tools
with 2D TRC contour tool
Geometry - tool lengths
3
Length 1
Length 2
Length 3
Geometry - tool shape
6
Radius 1/Length 1
for 3D face milling
Length 2
for 3D face milling
Radius 1
for 3D face milling
Radius 2
for 3D face milling
10
Angle 1 / minimum threshold angle
for 3D face milling
11
Angle 2 / minimum threshold angle
with 2D TRC contour tool
for 3D face milling
with 2D TRC contour tool
Wear - tool length
12
Length 1
13
Length 2
14
Length 3
Wear - tool shape
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18.4 Tool cutting edge
Tool parameter
Significance
Note
15
Radius 1/Length 1
for 3D face milling
16
Length 2
for 3D face milling
17
Radius 1
for 3D face milling
18
Radius 2
for 3D face milling
19
Angle 1 /
for 3D face milling
minimum limit angle
with 2D TRC contour tool.
Angle 2 /
for 3D face milling
maximum limit angle
with 2D TRC contour tool.
20
Tool base dimension / adapter dimension
21
Basic length 1
22
Basic length 2
23
Basic length 3
Technology
24
Undercut angle
25
Reserved
only for turning tools
"Reserved" means that this tool parameter is not used and is reserved for expansions.
3D-face milling
Milling cutter types 111, 120, 121, 130, 155, 156 and 157 are given special treatment for 3Dface milling by evaluating tool parameters (1 -23).
References
For more information about various tool types, see:
Functions Manual - Basic Functions; Tool Offset (W1), Chapter "Tool type (tool parameters)"
Programming Manual Fundamentals; Chapter: "Tool compensations" > "List of tool types"
Functions Manual - Special Functions; 3D-tool radius compensation (W5)
18.4.2
Tool parameter 1: Tool type
Description
The tool type (3digit number) defines the tool in question. The selection of this tool type
determines further components such as geometry, wear and tool base dimensions in advance.
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18.4 Tool cutting edge
Conditions
The following is applicable to the "Tool type" parameter:
The tool type must be specified for each tool cutting edge.
Only the values specified can be used for the tool type.
Tool type "0" (zero) means that no valid tool has been defined.
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18.4 Tool cutting edge
Tool types and tool parameters
Different tool types and the most important tool parameters are listed in the following table.
The tool parameters available for a certain tool type are designated with "x".
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1391
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18.4 Tool cutting edge
Note
The tool type has no significance in the turning tool groups.
Nonlisted numbers are also permitted, in particular with grinding tools (400-499).
Tool offset data
Tool offset data (TOA data) is stored in the system variables.
Example Slotting saw tool type (Type 700)
Geometry
Wear
Base
Einheit
Length 1
$TC_DP3
$TC_DP12
$TC_DP21
mm
Length 2
$TC_DP4
$TC_DP13
$TC_DP22
mm
Length 3
$TC_DP5
$TC_DP14
$TC_DP23
mm
Diameter d
$TC_DP6
$TC_DP15
mm
Slot width b
$TC_DP7
$TC_DP16
mm
Projection k
$TC_DP8
$TC_DP17
mm
Length compensation
Saw blade compensation
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18.4 Tool cutting edge
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Geometry of slotting saw (analogous to angle head cutter)
The width of the saw blade is accounted for with tool radius compensation (G40 to G42 as
follows:
18.4.3
Com
mand
Significance
G40
No saw blade compensation
G41
Saw blade compensation left
G42
Saw blade compensation right
Tool parameter 2: Cutting edge position
Description
The cutting edge position describes the position of the tool tip P in relation to the cutting edge
center point S. It is entered in tool parameter 2.
The cutting edge position is required together with the cutting edge radius (tool parameter 8)
for the calculation of the tool radius compensation for turning tools (tool type 5xx).
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18.4 Tool cutting edge
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Cutting edge position parameter values
;
3
3
3
3
3
3
3
3
3
3 6
3
6
=
Figure 18-5
Tool parameter 2 (P2): Machining behind the turning center
6
=
3
3
3
3
3
3
3
3
3
3 6
3
;
Figure 18-6
1394
Tool parameter 2 (P2): Machining in front of the turning center
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W1: Tool offset
18.4 Tool cutting edge
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3
3
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Tool parameter 2 (P2): Cutting edge position for vertical boring and turning mills
Special points to be noted
If the cutting edge center point S is used instead of point P as a reference point to calculate
the tool length compensation, the identifier 9 must be entered for the cutting edge position.
The identifier 0 (zero) is not permitted as a cutting edge position.
18.4.4
Tool parameters 3 - 5: Geometry - tool lengths
Description
The lengths of the tools are required for the geometry tool length compensation. They are input
as tool lengths 1 to 3 in the tool parameters 3 to 5. The following length specifications must
be entered as a minimum for each tool type:
Tool type
Required tool lengths
Tool type 12x, 140, 145, 150:
Tool length 1
Tool type 13x:
Tool length 1 to 3 (depending on plane G17-G19)
Tool type 2xx:
Tool length 1
Tool type 5xx:
Tool length 1 to 3
Example Twist drill (tool type 200) with tool length (tool parameter 3)
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18.4 Tool cutting edge
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Note
All three tool parameters 3 to 5 (tool length 1 to 3) are always calculated in the three geometry
axes, irrespective of the tool type.
If more tool lengths are input in the tool parameters 3 to 5 for a tool type than is required as
the minimum, then these extra tool lengths are settled in the geometry axes without any alarm.
Special points to be noted
The active size of the tool is only defined when the geometry tool length compensation (tool
parameters 3 to 5) and the wear tool length compensation (tool parameters 12 to 14) are added
together. The base-dimension/adapter-dimension tool length compensation is also added in
order to calculate the total tool length compensation in the geometry axes.
References
For information about entering tool dimensions (lengths) in tool parameters 3 to 5 (tool lengths
1 to 3) and how these are calculated in the three geometry axes, please refer to Operating
Manual.
18.4.5
Tool parameters 6 - 11: Geometry - tool shape
Meaning
The shape of the tool is defined using the tool parameters 6 to 11. The data is required for the
geometry tool radius compensation.
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18.4 Tool cutting edge
In most cases, only tool parameter 6 (tool radius 1) is used.
Tool parameter
Meaning
Use
Tool length 1
Not used
Tool length 2
Not used
Tool radius 1
The tool radius must be entered for the following tool types
in tool parameter 6 (tool radius 1):
Tool type 1xx
Milling tools
Tool type 5xx
Turning tools
A tool radius does not have to be entered for drilling tools
(tool type 2xx).
The cutting edge position (tool parameter 2) also has to be
entered for turning tools (tool type 5xx).
9
Tool radius 2
Not used
10
Tool angle 1
Not used
11
Tool angle 2
Not used
2D TRC with contour tools
For the definition of contour tools with multiple tool cutting edges, the minimum and maximum
limit angle can be entered. Both limit angles each relate to the vector of the cutting edge center
point to the cutting edge reference point and are counted clockwise.
Tool angle 1
Minimum limit angle per tool cutting edge
Tool angle 2
Maximum limit angle per tool cutting edge
3D face milling
Tool parameters 6 to 11 are required for tool description of 3D face milling.
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18.4 Tool cutting edge
References
Please refer to the following documentation for information about entering tool shapes (radius
for tool radius compensation) in tool parameters 6 to 11 and how these are calculated by
geometry tool radius compensation in the three geometry axes:
Programming Manual, Fundamentals; Section: "Tool compensations" > "2 D tool
compensation"
Functions Manual - Special Functions; 3D tool radius compensation (W5)
For 3D face milling, please refer to:
Programming Manual, Job Planning; Section: "Transformations" > "Three, Four and Five
axis Transformation (TRAORI)"
18.4.6
Tool parameters 12 - 14: Wear - tool lengths
Description
While geometry tool length compensation (tool parameters 3 to 5) is used to define the size
of the tool, wear tool length compensation can be used to correct the change in the active tool
size.
The active tool dimensions can change due to:
Differences between the tool fixture on the tool measurement machine and the tool fixture
on the machine tool
Tool wear caused during service life by machining
Definition of the finishing allowances
Active tool size
The geometry tool compensation (tool parameters 3 to 5) and the wear tool length
compensation (tool parameters 12 to 14) are added together (geometry tool length 1 is added
to wear tool length 1, etc.) to arrive at the size of the active tool.
18.4.7
Tool parameters 15 - 20: Wear - tool shape
Description
While geometry tool radius compensation (tool parameters 6 to 11) is used to define the shape
of the tool, wear tool radius compensation can be used to correct the change in the active tool
shape.
The active tool dimensions can change due to:
Tool wear caused during service life by machining
Definition of the finishing allowances
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18.4 Tool cutting edge
Active tool shape
The geometry tool radius compensation (tool parameters 6 to 11) and the wear tool radius
compensation (tool parameters 15 to 20) are added together (geometry tool radius 1 is added
to wear tool radius 1, etc.) to arrive at the shape of the active tool.
18.4.8
Tool parameters 21 - 23: Tool base dimension/adapter dimension
Description
Tool base dimension/adapter dimension can be used when the reference point of the toolholder
(tool size) differs from the reference point of the toolholder.
This is the case when:
The tool and the tool adapter are measured separately but are installed on the machine in
one unit (the tool size and adapter size are entered separately in a cutting edge).
The tool is used in a second tool fixture located in another position (e.g. vertical and
horizontal spindle).
The tool fixtures of a tool turret are located at different positions.
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Figure 18-8
Application examples for base-dimension/adapter-dimension TLC
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1399
W1: Tool offset
18.4 Tool cutting edge
Tool basic length 1 to 3 (tool parameters 21 to 23)
In order that the discrepancy between the toolholder reference point F and the toolholder
reference point F' can be corrected on the three geometry axes (three dimensional), all 3 basic
lengths are active irrespective of the tool type. In other words, a twist drill (tool type 200) with
a tool length compensation (length 1) can also have a tool base dimension/adapter dimension
in 3 axes.
References
Please refer to the following documentation for more information about base-dimension/
adapter-dimension tool length compensation:
Programming Manual, Fundamentals
18.4.9
Tool parameter 24: Undercut angle
Meaning
Certain turning cycles, in which traversing motions with tool clearance are generated, monitor
the tool clearance angle of the active tool for possible contour violations.
Value range
The angle (0 to 90 with no leading sign) is entered in tool parameter 24 as the tool clearance
angle.
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1400
Tool clearance angle of the turning tool during relief cutting
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
W1: Tool offset
18.4 Tool cutting edge
Machining type, longitudinal or transverse
The tool clearance angle is entered in different ways according to the type of machining
(longitudinal or face). If a tool is to be used for both longitudinal and face machining, two cutting
edges must be entered for different tool clearance angles.
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Figure 18-10 Tool clearance angle for longitudinal and face machining
Note
If a tool clearance angle (tool parameter 24) of zero is entered, relief cutting is not monitored
in the turning cycles.
References
Please refer to the following documentation for a detailed description of the tool clearance
angle:
Programming Manual Cycles
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W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
18.4.10
Tools with a relevant tool point direction
The following must be observed for tools with relevant cutting edge position:
The straight line between the tool edge center points at the block start and block end is
used to calculate intersection points with the approach and retraction block. The difference
between the tool edge reference point and the tool edge center point is superimposed on
this movement.
For approach and/or retraction with KONT, the movement is superimposed in the linear
subblock of the approach or retraction movement. Therefore, the geometric conditions for
tools with or without relevant cutting edge position are identical.
In circle blocks and in motion blocks containing rational polynomials with a denominator
degree > 4, it is not permitted to change a tool with active tool radius compensation in cases
where the distance between the tool edge center point and the tool edge reference point
changes. With other types of interpolation, it is now possible to change when a
transformation is active (e.g. TRANSMIT).
For tool radius compensation with variable tool orientation, the transformation from the tool
edge reference point to the tool edge center point can no longer be performed by means
of a simple zero offset. Tools with a relevant cutting edge position are therefore not
permitted for 3D peripheral milling (an alarm is output).
Note
The subject is irrelevant with respect to face milling as only defined tool types without
relevant cutting edge position are permitted for this operation anyway. (A tool with a type,
which has not been explicitly approved, is treated as a ball end mill with the specified radius.
A cutting edge position parameter is ignored).
18.5
Tool radius compensation 2D (TRC)
18.5.1
General
Note
For tool radius compensation (TRC) see:
References:
Programming Manual Fundamentals
Only the Programming Guide contains a complete technical description of the tool radius
compensation (TRC) and its special aspects.
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18.5 Tool radius compensation 2D (TRC)
Why TRC?
The contour (geometry) of the workpiece programmed in the part program should be
independent of the tools used in production. This makes it necessary to draw the values for
the tool length and tool radius from a current offset memory. Tool radius compensation can
be used to calculate the equidistant path to the programmed contour from the current tool
radius.
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TRC on the plane
TRC is active on the current plane (G17 to G19) for the following types of interpolation:
18.5.2
Linear interpolation
...
G0, G1
Circular interpolation
...
G2, G3, CIP
Helical interpolation
...
G2, G3
Spline interpolation
...
ASPLINE, BSPLINE, CSPLINE
Polynomial interpolation
...
POLY
Selecting the TRC (G41/G42)
Direction of compensation
TRC calculates a path, which is equidistant to the programmed contour. Compensation can
be performed on the left- or righthand side of the programmed contour in the direction of motion.
Command
Significance
G41
TRC on the lefthand side of the contour in the direction of motion
G42
TRC on the righthand side of the contour in the direction of motion
G40
Deselection of TRC
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W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Intermediate blocks
In general, only program blocks with positions on geometry axes in the current plane are
programmed when TRC is active. However, dummy blocks can still also be programmed with
active TRC. Dummy blocks are program blocks, which do not contain any positions on a
geometry axis in the current plane:
Positions on the infeed axis
Auxiliary functions,
etc.
The maximum number of dummy blocks can be defined in the machine data:
MD20250 $MC_CUTCOM_MAXNUM_DUMMY_BLOCKS (Max no. of dummy blocks with no
traversing movements for TRC).
Special points to be noted
TRC can only be selected in a program block with G0 (rapid traverse) or G1 (linear
interpolation).
A tool must be loaded (T function) and the tool cutting edge (tool compensation) (D1 to
D9) activated no later than in the program block with the tool radius compensation selection.
Tool radius compensation is not selected with a tool cutting edge/tool compensation of D0.
If only one geometry axis is programmed on the plane when tool radius compensation is
selected, the second axis is automatically added on the plane (last programmed position).
If no geometry axis is programmed for the current plane in the block with the tool radius
compensation selection, no selection takes place.
If tool radius compensation is deselected (G40) in the block following tool radius
compensation selection, no selection takes place.
If tool radius compensation is selected, the approach behavior is determined by the NORM/
KONT instructions.
18.5.3
Approach and retraction behavior (NORM/KONT/KONTC/KONTT)
NORM and KONT
The NORM and KONT instructions can be used to control approach behavior (selection of tool
radius compensation with G41/42) and retraction behavior (deselection of tool radius
compensation with G40):
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Command
Significance
NORM
Normal setting at start point/end point (initial setting)
KONT
Follow contour at start point/end point
KONTC
Approach/retraction with constant curvature
KONTT
Approach/retraction with constant tangent
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Special points to be noted
KONT only differs from NORM when the tool start position is behind the contour.
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KONT and G450/G451 (corner behavior at outer corners) has a general effect and
determines the approach and retraction behavior with TRC.
When tool radius compensation is deselected, the retraction behavior is determined by the
NORM/KONT instructions.
Supplementary conditions
The approach and retraction blocks are polynomials in the following two variants. Therefore,
they are only available for control variants, which support polynomial interpolation.
KONTT
With KONTT, approach and retraction to/from the contour is with a constant tangent. The
curvature at the block transition is not usually constant.
KONTC
With KONTC, not only the tangent but also the curvature is constant at the transition, with
the result that a jump in acceleration can no longer occur on activation/deactivation.
Although KONTC includes the KONTT property, the constant tangent version KONTT is available
on its own, because the constant curvature required by KONTC can produce undesired
contours.
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1405
W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Axes
The continuity condition is observed in all three axes. It is thus possible to program a
simultaneous path component perpendicular to the compensation plane for approach/
retraction.
Only linear blocks are permitted for the original approach and retraction blocks with KONTT/
KONTC. These programmed linear blocks are replaced in the control by the corresponding
polynomial curves.
Exception
KONTT and KONTC are not available in 3D variants of tool radius compensation (CUT3DC,
CUT3DCC, CUT3DF).
If they are programmed, the control switches internally to NORM without an error message.
Example for KONTC
The two figures below show a typical application for approach and retraction with constant
curvature:
The full circle is approached beginning at the circle center point. The direction and curvature
radius of the approach circle at the block end point are identical to the values of the next circle.
Infeed takes place in the Z direction in both approach/retraction blocks simultaneously.
The associated NC program segment is as follows:
$TC_DP1[1,1]=121
; Milling tool
$TC_DP6 [1,1]=10
; Radius 10 mm
N10 G1 X0 Y0 Z60 G64 T1 D1 F10000
N20 G41 KONTC X70 Y0 Z0
N30 G2 I-70
; Full circle
N40 G40 G1 X0 Y0 Z60
N50 M30
Explanation:
In this example, a full circle with a radius of 70 mm is machined in the X/Y plane. Since the
tool has a radius of 10 mm, the resulting tool center point path describes a circle with a radius
of 60 mm. The start/end points are at X0 Y0 Z60, with the result that a movement takes place
in the Z direction at the same time as the approach/retraction movement in the compensation
plane.
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W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
1
1
1
Figure 18-13 Approach and retraction with constant curvature during inside machining of a full circle:
Projection in the X-Y plane.
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1407
W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Figure 18-14 Approach and retraction with constant curvature during inside machining of a full circle:
3D representation.
KONTT and KONTC compared
The figure below shows the differences in approach/retraction behavior between KONTT and
KONTC. A circle with a radius of 20 mm about the center point at X0 Y-40 is compensated with
a tool with an external radius of 20 mm. The tool center point therefore moves along a circular
path with radius 40 mm. The end point of the approach blocks is at X40 Y30. The transition
between the circular block and the retraction block is at the zero point. Due to the extended
continuity of curvature associated with KONTC, the retraction block first executes a movement
with a negative Y component. This will often be undesired. This response does not occur with
the KONTT retraction block. However, with this block, an acceleration step change occurs at
the block transition.
If the KONTT or KONTC block is the approach block rather than the retraction block, the contour
is exactly the same, but is simply machined in the opposite direction, i.e. the approach and
retraction behavior are symmetrical.
1408
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W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
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Figure 18-15 Differences between KONTT and KONTC
Note
The figure shows that a straight line bordering on the contour quadrant, e.g. to X20 Y-20, would
be violated with KONTC on retraction/approach to X0, Y0.
18.5.4
Smooth approach and retraction
18.5.4.1
Function
Description
The SAR (Smooth Approach and Retraction) function is used to achieve a tangential approach
to the start point of a contour, regardless of the position of the start point.
The approach behavior can be varied and adapted to special needs using a range of additional
parameters.
The two functions, smooth approach and smooth retraction, are largely symmetrical. The
following section is, therefore, restricted to a detailed description of approach; special
reference is made to differences affecting retraction.
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1409
W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Sub-movements
There are maximum 4 sub-movements in case of soft retraction and approach with the
following positions:
Start point of the movement P0
Intermediate points P1, P2 and P3
End point P4
Points P0, P3 and P4 are always defined. Intermediate points P1 and P2 can be omitted, according
to the parameters defined and the geometrical conditions.
On retraction, the points are traversed in the reverse direction, i.e. starting at P4 and ending
at P0.
18.5.4.2
Parameters
The response of the smooth approach and retraction function is determined by up to 9
parameters:
Non-modal G code for defining the approach and retraction contour
This G code cannot be omitted.
G147: Approach with a straight line
G148: Retraction with a straight line
G247: Approach with a quadrant
G248: Retraction with a quadrant
G347: Approach with a semicircle
G348: Retraction with a semicircle
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18.5 Tool radius compensation 2D (TRC)
Modal G code for defining the approach and retraction contour
This G code is only relevant if the approach contour is a quadrant or semicircle. The approach
and retraction direction can be determined as follows:
G140:
Defining the approach and retraction direction using active tool radius compensation.
((G140 is the initial setting.)
With positive tool radius:
G41 active approach from left
G42 active approach from right
If no tool radius compensation is active (G40), the response is identical to G143. In this
case, an alarm is not output. If the radius of the active tool is 0, the approach and
retraction side is determined as if the tool radius were positive.
G141:
Approach contour from left, or retract to the left.
G142:
Approach contour from right, or retract to the right.
G143:
Automatic determination of the approach direction, i.e., the contour is approached from the
side where the start point is located, relative to the tangent at the start point of the following
block (P4).
Note
The tangent at the end point of the preceding block is used accordingly on retraction. If the
end point is not programmed explicitly on retraction, i.e., if it is to be determined implicitly,
G143 is not permitted on retraction, since there is a mutual dependency between the
approach side and the position of the end point. If G143 is programmed in this case, an
alarm is output. The same applies if, when G140 is active, an automatic switchover to
G143 takes place as a result of an inactive tool radius compensation.
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1411
W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Modal G code (G340, G341), which defines the subdivision of the movement into individual blocks from
the start point to the end point
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G340: The approach characteristic from P0 to P4 is shown in the figure.
If G247 or G347 is active (quadrant or semicircle) and start point P3 is outside the
machining plane defined by the end point P4, a helix is inserted instead of a circle.
Point P2 is not defined or coincides with P3.
The circle plane or the helix axis is determined by the plane, which is active in the SAR
block (G17 - G19), i.e., the projection of the start tangent is used by the following block,
instead of the tangent itself, to define the circle.
The movement from point P0 to point P3 takes place along two straight lines at the
velocity valid before the SAR block.
G341: The approach characteristic from P0 to P4 is shown in the figure.
P3 and P4 are located within the machining plane, with the result that a circle is always
inserted instead of a helix with G247 or G347.
Note
Active, rotating frames are included in all cases where the position of the active plane G17 G19 (circle plane, helix axis, infeed movements perpendicular to the active plane) is relevant.
DISR
DISRSpecifies the length of a straight approach line or the radius of an approach arc.
Retraction/approach with straight lines
On approach/retraction along a straight line, DISR specifies the distance from the cutter edge
to the start point of the contour, i.e., the length of the straight line with active TRC is calculated
as the total of the tool radius and the programmed value of DISR.
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18.5 Tool radius compensation 2D (TRC)
An alarm is displayed:
If DISR is negative and the amount is greater than the tool radius (the length of the resulting
approach line is less than or equal to zero).
Retraction/approach with circles
Approach/retraction with circles
DISR indicates always the radius of the tool center point path. If tool radius compensation is
activated, a circle is generated internally, the radius of which is dimensioned such that the tool
center path is derived, in this case also, from the programmed radius.
An alarm is output on approach and retraction with circles:
If the radius of the circle generated internally is zero or negative
If DISR is not programmed
If the radius value 0.
DISCL
DISCLspecifies the distance from point P2 from the machining plane.
If the position of point P2 is to be specified by an absolute reference on the axis perpendicular
to the circle plane, the value must be programmed in the form DISCL = AC( ....).
If DISCL is not programmed, points P1, P2 and P3 are identical with G340 and the approach
contour is mapped from P1 to P4.
The system checks that the point defined by DISCL lies between P1 and P3, i.e., in all
movements, which have a component perpendicular to the machining plane (e.g., infeed
movements, approach movements from P3 to P4), this component must have the same leading
sign. It is not permitted to change direction. An alarm is output if this condition is violated.
On detection of a direction reversal, a tolerance is permitted that is defined by the machine
data:
MD20204 $MC_WAB_CLEARANCE_TOLERANCE (direction reversal on SAR).
However, if P2 is outside the range defined by P1 and P3 and the deviation is less than or equal
to this tolerance, it is assumed that P2 is in the plane defined by P1 and/or P3.
Example:
An approach is made with G17 starting at position Z=20 of point P1. The SAR plane defined
by P3 is at Z=0. The point defined by DISCL must, therefore, lie between these two points.
MD20204=0.010. If P2 is between 20.000 and 20.010 or between 0 and -0.010, it is assumed
that the value 20.0 or 0.0 is programmed. The alarm is output if the Z position of P2 is greater
than 20.010 or less than -0.010.
Depending on the relative position of start point P0 and end point P4 with reference to the
machining plane, the infeed movements are performed in the negative (normal for approach)
or positive (normal for retraction) direction, i.e., with G17 it is possible for the Z component of
end point P4 to be greater than that of start point P0.
Programming the end point P4 (or P0 for retraction) generally with X... Y... Z...
Possible ways of programming the end point P4for approach
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1413
W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
End point P4 can be programmed in the actual SAR block.
P4 can be determined by the end point of the next traversing block.
Further blocks (dummy blocks) can be inserted between the SAR block and the next traversing
block without moving the geometry axes.
The end point is deemed to have been programmed in the actual SAR block for approach if
at least one geometry axis is programmed on the machining plane (X or Y with G17). If only
the position of the axis perpendicular to the machining plane (Z with G17) is programmed in
the SAR block, this component is taken from the SAR block, but the position in the plane is
taken from the following block. In this case, an alarm is output if the axis perpendicular to the
machining plane is also programmed in the following block.
Example:
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N20 X10
N30 G41 G147 DISCL=3 DISR=13 Z=0 F1000
N40 G1 X40 Y-10
N50 G1 X50
...
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N30 G41 G147 DISCL=3 DISR=13 X40 Y-10 Z0 F1000
or:
N30 G41 G147 DISCL=3 DISR=13 F1000
N40 G1 X40 Y-10 Z0
1414
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18.5 Tool radius compensation 2D (TRC)
Possible ways of programming the end point P0for retraction
The end position is always taken from the SAR block, no matter how many axes have been
programmed. We distinguish between the following situations:
1. No geometry axis is programmed in the SAR block.
In this case, the contour ends at point P2 (or at point P1, if P1 and P2 coincide). The position
in the axes, which describe the machining plane, is determined by the retraction contour
(end point of the straight line or arc). The axis component perpendicular to this is defined
by DISCL. If, in this case, DISCL = 0, the movement takes place completely within the
plane.
2. Only the axis perpendicular to the machining plane is programmed in the SAR block.
In this case, the contour ends at point P1. The position of the two other axes is determined
in the same way as in 1.
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Retraction with SAR with simultaneous deactivation of TRC
If the SAR retraction block is also used to deactivate tool radius compensation, in the case
of 1. and 2., an additional path from P1 to P0 is inserted such that no movement is produced
when tool radius compensation is deactivated at the end of the retraction contour, i.e., this
point defines the tool center point and not a position on a contour to be corrected.
3. At least one axis of the machining plane is programmed.
The second axis of the machining plane can be determined modally from its last position
in the preceding block. The position of the axis perpendicular to the machining plane is
generated as described in 1. or 2., depending on whether this axis is programmed or not.
The position generated in this way defines the end point P0.
No special measures are required for deselection of tool radius compensation, because
the programmed point P0 already directly defines the position of the tool center point at the
end of the complete contour.
The start and end points of the SAR contour (P0 and P4) can coincide on approach and
retraction.
Velocity of the preceding block (typically G0).
All movements from point P0 to point P2 are performed at this velocity, i.e., the movement
parallel to the machining plane and the part of the infeed movement up to the safety clearance.
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18.5 Tool radius compensation 2D (TRC)
Programming the feedrate with FAD
FAD programmed with ...
G340
Feedrate from P2 or P3 to P4.
G341
Feedrate of the infeed movement perpendicular to the machining
plane from P2 to P3.
If FAD is not programmed, this part of the contour is traversed at the velocity, which is active
modally from the preceding block, in the event that no F command defining the velocity is
programmed in the SAR block.
Programmed response:
FAD=0 or negative
FAD=...
FAD=PM(...)
FAD=PR(...)
Alarm Output
Programmed value acts in accordance with the active G code of
group 15 (feed type; G93, G94, etc.)
Programmed value is interpreted as linear feed (like G94), irre
spective of the active G code of group 15
Programmed value is interpreted as revolutional feed (like G95),
irrespective of the active G code of group 15
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$TC_DP6[1,1]=7
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N10 G90 G0 X0 Y0 Z20 D1 T1
N20 G41 G341 G247 DISCL=AC(5) DISR=13FAD 500 X40 Y-10 Z=0 F2000
N30 X50
N40 X60
...
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W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
Programming feed F
This feed value is effective from point P3 (or from point P2, if FAD is not programmed). If no F
command is programmed in the SAR block, the speed of the preceding block is valid. The
velocity defined by FAD is not used for following blocks.
18.5.4.3
Velocities
Velocities at approach
In both approach diagrams below, it is assumed that no new velocity is programmed in the
block following the SAR block. If this is not the case, the new velocity comes into effect after
point P4.
3
3
33
3
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Figure 18-18 Velocities in the SAR subblocks on approach with G340
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1417
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18.5 Tool radius compensation 2D (TRC)
3
3
3
3
3
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Figure 18-19 Velocities in the SAR subblocks on approach with G341
Velocities at retraction
During retraction, the rolls of the modally active feedrate from the previous block and the
programmed feedrate value in the SAR block are interchanged, i.e., the actual retraction
contour (straight line, circle, helix) is traversed with the old feedrate value and a new velocity
programmed with the F word applies from point P2 up to P0.
If even retraction is active and FAD is programmed, the path from P3 to P2 is traversed with
FAD, otherwise it is traversed with the old velocity. The last F command programmed in a
preceding block always applies for the path from P4 to P2. G0 has no effect in these blocks.
Traversing from P2 to P0 takes place with the F command programmed in the SAR block or, if
no F command is programmed, with the modal F command from a preceding block. This
applies on the condition that G0 is not active.
If rapid traverse is to be used on retraction in the blocks from P2 to P0, G0 must be activated
before the SAR block or in the SAR block itself. If an additional F command is programmed in
the actual SAR blocks, it is then ineffective. However, it remains modally active for following
blocks.
1418
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18.5 Tool radius compensation 2D (TRC)
3
3
3
3
3
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Figure 18-20 Velocities in the SAR subblocks on retraction
18.5.4.4
System variables
Points P3 and P4 can be read in the WCS as system variables during approach.
$P_APR:
Read P3 (start point) in WCS
$P_AEP:
Read P4 (contour start point) in WCS
$P_APDV
=1
If the content of $P_APR and $P_AEP is valid, i.e., if these contain the position
values belonging to the last SAR approach block programmed.
=0
The positions of an older SAR approach block are read.
Changing the WCS between the SAR block and the read operation has no effect on the position
values.
18.5.4.5
Supplementary conditions
Supplementary conditions
Any further NC commands (e.g. auxiliary function outputs, synchronous axis movements,
positioning axis movements, etc.) can be programmed in an SAR block.
These are executed in the first subblock on approach and in the last subblock on retraction.
If the end point P4 is not taken from the SAR block but from a subsequent traversing block,
the actual SAR contour (straight line, quadrant or semicircle) is traversed in this block.
The last subblock of the original SAR block does not then contain traversing information
for geometry axes. It is always output, however, because further actions (e.g. single axes)
may have to be executed in this block.
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18.5 Tool radius compensation 2D (TRC)
At least two blocks must always be taken into consideration:
The SAR block itself
The block, which defines the approach or retraction direction
Further blocks can be programmed between these two blocks.
The number of possible dummy blocks is limited with the machine data:
MD20202 $MC_WAB_MAXNUM_DUMMY_BLOCKS (maximum number of blocks with no
traversing motions with SAR).
If tool radius compensation is activated simultaneously in an approach block the first linear
block of the SAR contour is the block in which activation takes place.
The complete contour generated by the SAR function is treated by tool radius compensation
as if it has been programmed explicitly (collision detection, calculation of intersection,
approach behavior NORM/KONT).
The direction of the infeed motion and the position of the circle plane or the helix axis are
defined exclusively by the active plane (G17 - G19) - rotated with an active frame where
appropriate.
On approach, a preprocessor stop must not be inserted between the SAR block and the
following block which defines the direction of the tangent.
Whether programmed explicitly or inserted automatically by the control, a preprocessor
stop results, in this case, in an alarm.
Behavior with REPOS
If an SAR cycle is interrupted and repositioned, it resumes at the point of interruption on
RMIBL. With RMEBL, the contact point is the end point of the last SAR block; with RMBBL, it is
the start point of the first SAR block.
If RMIBL is programmed together with DISPR (reapproach at distance DISPR in front of
interruption point), the reapproach point can appear in a subblock of the SAR cycle before the
interruption subblock.
18.5.4.6
Examples
Example 1
The following conditions must be true:
Smooth approach is activated in block N20
X=40 (end point); Y=0; Z=0
Approach movement performed with quadrant (G247)
Approach direction not programmed, G140 is valid, i.e. because TRC is active (G42) and
compensation value is positive (10), the contour is approached from the right
Approach circle generated internally (SAR contour) has radius 20, so that the radius of the
tool center path is equal to the programmed value DISR=10
1420
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18.5 Tool radius compensation 2D (TRC)
Because of G341, the approach movement takes place with a circle in the plane, resulting
in a start point at (20, -20, 0)
Because DISCL=5, point P2 is at position (20, -20, 5) and, because of Z30, point P1 is in
N10 at (20, -20, 30)
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Figure 18-21 Contour example 1
Part program:
Program code
Comment
$TC_DP1[1,1]=120
; Tool definition T1/D1
$TC_DP6[1,1]=10
; Radius
N10 G0 X0 Y0 Z30
N20 G247 G341 G42 NORM D1 T1 Z0 FAD=1000 F=2000 DISCL=5 DISR=10
N30 X40
N40 X100
N50 Y-30
...
Example 2
The following conditions must be true for approach:
Smooth approach is activated in block N20
Approach movement performed with quadrant (G247)
Approach direction not programmed, G140 is valid, i.e. because TRC is active (G41), the
contour is approached from the left
Contour offset OFFN=5 (N10)
Current tool radius=10, and so the effective compensation radius for TRC=15; the radius
of the SAR contour is thus equal to 25, with the result that the radius of the tool center path
is equal to DISR=10
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18.5 Tool radius compensation 2D (TRC)
The end point of the circle is obtained from N30, since only the Z position is programmed
in N20
Infeed motion
From Z20 to Z7 (DISCL=AC(7)) with rapid traverse
Then on to Z0 with FAD=200
Approach circle in X-Y-plane and following blocks with F1500
(In order that this velocity becomes effective in the following blocks, the active G-code
G0 in N30 must be overwritten with G1. Otherwise, the contour would continue to be
machined with G0.)
The following conditions must be true for retraction:
Smooth retraction is activated in block N60
Retraction movement performed with quadrant (G248) and helix (G340)
FAD not programmed, since irrelevant for G340
Z=2 in the start point; Z=8 in the end point, since DISCL=6
When DISR=5, the radius of SAR contour=20; that of the tool center point path=5
After the circle block, the retraction movement leads from Z8 to Z20 and the movement is
parallel to the XY plane up to the end point at X70 Y0
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Figure 18-22 Contour example 2
Part program:
1422
Program code
Comment
$TC_DP1[1,1]=120
; Tool definition T1/D1
$TC_DP6[1,1]=10
; Radius
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18.5 Tool radius compensation 2D (TRC)
Program code
Comment
N10 G0 X0 Y0 Z20 G64 D1 T1 OFFN = 5
; (P0app)
N20 G41 G247 G341 Z0 DISCL = AC(7) DISR = 10 F1500 FAD=200
; (P3app)
N30 G1 X30 Y-10
; (P4app)
N40 X40 Z2
N50 X50
; (P4ret)
N60 G248 G340 X70 Y0 Z20 DISCL = 6 DISR = 5 G40 F10000
; (P3ret)
N70 X80 Y0
; (P0ret)
N80 M 30
Note
The contour generated in this way is modified by tool radius compensation, which is activated
in the SAR approach block and deactivated in the SAR retraction block.
The tool radius compensation allows for an effective radius of 15, which is the sum of the tool
radius (10) and the contour offset (5). The resulting radius of the tool center path in the
approach block is therefore 10, and 5 in the retraction block.
18.5.5
Deselecting the TRC (G40)
G40 instruction
TRC is deselected with the G40 instruction.
Special points to be noted
TRC can only be deselected in a program block with G0 (rapid traverse) or G1 (linear
interpolation).
If D0 is programmed when tool radius compensation is active, compensation is not
deselected and error message 10750 is output.
If a geometry axis is programmed in the block with the tool radius compensation
deselection, then the compensation is deselected even if it is not on the current plane.
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18.5 Tool radius compensation 2D (TRC)
18.5.6
Compensation at outside corners
G450/G451
The G functions G450/G451 can be used to control the response with discontinuous block
transitions at outside corners:
Command
Meaning
G450
Discontinuous block transitions with transition circle
G451
Discontinuous block transitions with intersection of equidistant paths
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Figure 18-23 Example of a 90 degree outside corner with G450 and G451
G450 (transition circle)
With the G function G450 active, on outside corners, the center point of the tool travels a circular
path along the tool radius. The circular path starts with the normal position (perpendicular to
the path tangent) at the end point of the previous path section (program block) and ends in
normal position at the start point of the new path section (program block).
Where outside corners are very flat, the response with G450 (transition circle) and G451
(intersection) becomes increasingly similar (see "Very flat outside corners").
If pointed outside corners are desired, the tool must be retracted from the contour ( see Section
"DISC").
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18.5 Tool radius compensation 2D (TRC)
DISC
The G450 transition circle does not produce sharp outside contour corners because the path
of the tool center point through the transition circle is controlled so that the cutting edge stops
at the outside corner (programmed position). When sharp outside corners are to be machined
with G450, the DISC instruction can be used to program an overshoot. Thus, the transition
circle becomes a conic and the tool cutting edge retracts from the outside corner.
The range of values of the DISC instruction is 0 to 100, in increments of 1.
Value
Meaning
DISC = 0
Overshoot disabled, transition circle active
DISC = 100
Overshoot large enough to theoretically produce a response similar to intersec
tion (G451).
The programmable maximum value for DISC can be set via the machine data:
MD20220 $MC_CUTCOM_MAX_DISC (max. value for DISC).
Values greater than 50 are generally not advisable with DISC.
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Figure 18-24 Example: Overshoot with DISC= 25
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18.5 Tool radius compensation 2D (TRC)
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Figure 18-25 Overshoot with DISC depending on contour angle
G451 (intersection)
If G function G451 is active, the position (intersection) resulting from the path lines (straight
line, circle or helix only) located at a distance of the tool radius to the programmed contour
(center-point path of the tool), is approached. Spines and polynomials are never extended.
Very pointed outside corners
Where outside corners are very pointed, G451 can result in excessive idle paths. Therefore,
the system switches automatically from G451 (intersection) to G450 (transition circle, with
DISC where appropriate) when outside corners are very pointed.
The threshold angle (contour angle) for this automatic switchover (intersection point
transition circle) can be specified in the machine data:
MD20210 $MC_CUTCOM_CORNER_LIMIT (Max. angle for compensation blocks with tool
radius compensation).
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18.5 Tool radius compensation 2D (TRC)
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Figure 18-26 Example of automatic switchover to transition circle
Very flat outside corners
Where outside corners are very flat, the response with G450 (transition circle) and G451
(intersection) becomes increasingly similar. In this case, it is no longer advisable to insert a
transition circle. One reason why it is not permitted to insert a transition circle at these outside
corners with 5-axis machining is that this would impose restrictions on speed in contouring
mode (G64). Therefore, the system switches automatically from G450 (transition circle, with
DISC where appropriate) to G451 (intersection) when outside corners are very flat.
The threshold angle (contour angle) for this automatic switchover (transition circle
intersection point) can be specified in the machine data:
MD20230 $MC_CUTCOM_CURVE_INSERT_LIMIT (Max. angle for intersection calculation
with tool radius compensation).
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W1: Tool offset
18.5 Tool radius compensation 2D (TRC)
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Figure 18-27 Example of automatic switchover to intersection
18.5.7
Compensation and inner corners
Intersection
If two consecutive blocks form an inside corner, an attempt is made to find a point at which
the two equidistant paths intersect. If an intersection is found, the programmed contour is
shortened to the intersection (first block shortened at end, second block shortened at
beginning).
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FRQWRXU
Figure 18-28 Example of a shortened contour
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18.5 Tool radius compensation 2D (TRC)
No intersection
In certain cases, no intersection is found between two consecutive blocks for inside corners
(see figure below).
Predictive contour calculation
If no intersection is found between two consecutive blocks, the control automatically checks
the next block and attempts to find an intersection with the equidistant paths of this block (see
figure below: intersection S). This automatic check of the next block (predictive contour
calculation) is always performed until a number of blocks defined via machine data has been
reached.
MD20240 $MC_CUTCOM_MAXNUM_CHECK_BLOCKS (blocks for predictive contour
calculation for TRC).
If no intersection is found within the number of blocks defined for the check, program execution
is interrupted and an alarm is output.
1
1
1
Figure 18-29 If there is no intersection between N30 and block N40, the intersection between block
N30 and block N50 is calculated.
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18.5 Tool radius compensation 2D (TRC)
Multiple intersections
It can be the case with inside corners that predictive contour calculation finds multiple
intersections of the equidistant paths in several consecutive blocks. In these cases, the last
intersection is always used as the valid intersection:
6
6
6
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6DQG6DUH
QRWDSSURDFKHG
Figure 18-30 Example: Inside corner with TRC without contour violation (predicting 3 blocks)
For further information, see also Section "Collision detection and bottleneck detection
(Page 1430)", "Collision monitoring".
Special features
Where multiple intersections with the next block are found, the intersection nearest the start
of the next block applies.
18.5.8
Collision detection and bottleneck detection
Function
Collision detection (bottleneck detection) examines whether the equidistant paths of nonconsecutive blocks intersect. If an intersection is found, the response is the same as for inside
corners with multiple intersections: The last intersection to be found is valid.
The maximum number of blocks used for the predictive check is set via:
MD20240 $MC_CUTCOM_MAXNUM_CHECK_BLOCKS (blocks for predictive contour
calculation for TRC).
1430
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18.5 Tool radius compensation 2D (TRC)
Syntax
CDON
CDOF
CDOF2
Meaning
CDON:
Collision detection ON
CDOF:
Collision detection OFF
CDOF2:
Collision detection OFF, for 3D circumferential milling.
CDOF2 has the same significance as CDOF for all other types of machining (e.g. 3D face
milling).
Further information
With CDOF, an intersection is sought between two consecutive blocks. If an intersection is
found, no further blocks are examined. With outside corners, an intersection is always found
between two consecutive blocks.
Predictive examination of more than two adjacent blocks is thus possible with CDON and
CDOF.
Omission of block
If an intersection is detected between two blocks which are not consecutive, none of the
motions programmed between these blocks on the compensation plane are executed. All other
motions and executable instructions (M commands, traversal of positioning axes, etc.)
contained in the omitted blocks are executed at the intersection position in the sequence in
which they are programmed in the NC program.
Warning 10763: "The path component of the block in the compensation plane will become
zero."
If a block has been omitted because of collision detection or bottleneck detection, warning
10763 is displayed. The NC program is not interrupted.
The display of the warning can be suppressed by:
MD11410 $MN_SUPPRES_ALARM_MASK, Bit 1 = 1 (mask supporting special alarm
generation)
Bottleneck detection and outside corners
When the intersections of non-consecutive blocks are checked, it is not the programmed
original contours that are examined, but the associated calculated equidistant paths. This can
result in a "bottleneck" being falsely detected at outside corners. The reason for this is that the
calculated tool path does not run equidistant to the programmed original contour when DISC
> 0.
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18.5 Tool radius compensation 2D (TRC)
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Figure 18-31 Bottleneck detection and outside corners
18.5.9
Blocks with variable compensation value
Supplementary conditions
A variable compensation value is permissible for all types of interpolation (including circular
and spine interpolation).
It is also permitted to change the sign (and, therefore, the compensation side).
3URJUDPPHGFRQWRXU
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1
1
1
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Figure 18-32 Tool radius compensation with variable compensation value
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18.5 Tool radius compensation 2D (TRC)
Calculation of intersection
When the intersections in blocks with variable compensation value are calculated, the
intersection of the offset curves (tool paths) is always calculated based on the assumption that
the compensation value is constant.
If the block with the variable compensation value is the first of the two blocks to be examined
in the direction of travel, then the compensation value at the block end is used for the
calculation; the compensation value at the block start is used otherwise.
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Figure 18-33 Intersection calculation with variable compensation value
Restrictions
If during machining on the inside of the circle the compensation radius becomes geater than
the programmed circle radius, then the machining is rejected with the following alarm:
Alarm 10758 "Curvature radius with variable compensation value too small"
Maintain stability of closed contour
If a radius of two circles is increased slightly, a third block may be necessary in order to maintain
the stability of the closed contour. This is the case if two adjacent blocks, which represent two
possible intersection points for a closed contour, are skipped due to the compensation.
A stable closed contour can be achieved by choosing the first intersection point instead of the
second.
SD42496 $SC_CUTCOM_CLSD_CONT 0 (response of TRC for closed contour).
In that case, the second intersection point is always reached, even if the block is skipped. A
third block is then not required.
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18.5 Tool radius compensation 2D (TRC)
18.5.10
Keep tool radius compensation constant
Description
The "Keep tool radius compensation constant" function is used to suppress tool radius
compensation for a number of blocks, whereby a difference between the programmed and the
actual tool center path traveled set up by tool radius compensation in the previous blocks is
retained as the compensation.
It can be an advantage to use this method when several traversing blocks are required during
line milling in the reversal points, but the contours produced by the tool radius compensation
(follow strategies) are not wanted.
Activation
The "Keep tool radius compensation constant" function is activated with the G code
CUTCONON (CUTter compensation CONstant ON) and deactivated with the G code
CUTCONOF (CUTter compensation CONstant OFF).
CUTCONON and CUTCONOF form a modal G-code group.
The initial setting is CUTCONOF.
The function can be used independently of the type of tool radius compensation (21/2D, 3D
face milling, 3D circumferential milling).
Normal case
Tool radius compensation is normally active before the compensation suppression and is still
active when the compensation suppression is deactivated again.
In the last traversing block before CUTCONON, the offset point in the block end point is
approached. All following blocks, in which compensation suppression is active, are traversed
without compensation. However, they are offset by the vector from the end point of the last
offset block to its offset point. These blocks can have any type of interpolation (linear, circular,
polynomial).
The deactivation block of the compensation suppression, i.e. the block that contains
CUTCONOF, is compensated normally. It starts in the offset point of the start point. One linear
block is inserted between the end point of the previous block, i.e. the last programmed
traversing block with active CUTCONON, and this point.
Circular blocks, for which the circle plane is perpendicular to the compensation plane (vertical
circles), are treated as though they had CUTCONON programmed. This implicit activation of
compensation suppression is automatically canceled in the first traversing block that contains
a traversing motion in the compensation plane and is not such a circle. Vertical circle in this
sense can only occur during circumferential milling.
Example:
N10
; Definition of tool d1
N20 $TC_DP1[1,1] = 110
; Type
N30 $TC_DP6[1,1]=
; Radius
N40
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18.5 Tool radius compensation 2D (TRC)
N50 X0 Y0 Z0 G1 G17 T1 D1 F10000
N60
N70 X20 G42 NORM
N80 X30
N90 Y20
N100 X10 CUTCONON
; Activate compensation suppression
N110 Y30 KONT
; On deactivation of contour suppression,
insert bypass circle, if necessary
N120 X-10 CUTCONOF
N130 Y20 NORM
; No bypass circle on deactivation of TRC
N140 X0 Y0 G40
N150 M30
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1
1
1
Figure 18-34 Sample program for contour suppression
Special cases
If tool radius compensation is not active (G40), CUTCONON has no effect. No alarm is
produced. The G code remains active, however.
This is significant if tool radius compensation is to be activated in a later block with G41 or
G42.
It is permissible to change the G code in the 7th G-code group (tool radius compensation;
G40 / G41 / G42) with CUTCONON active. A change to G40 is active immediately.
The offset used for traversing the previous blocks is traveled.
If CUTCONON or CUTCONOF is programmed in a block without traversing in the active
compensation plane, activation is delayed until the next block that has such a traversing
motion.
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18.5 Tool radius compensation 2D (TRC)
If CUTCONON is programmed with active tool radius compensation and not canceled before
the end of the program, the traversing blocks are traversed with the last valid compensation.
The same applies for reprogramming of G41 or G42 in the last traversing block of a program.
If tool radius compensation is activated with G41 or G42 and CUTCONON is also already
active, activation of compensation is delayed until the next traversing block with
CUTCONOF.
When reapproaching the contour with CUTCONOF, the 17th G-code group (approach and
retraction behavior with tool compensation; NORM / KONT) is evaluated, i.e. a bypass circle
is inserted if necessary for KONT. A bypass circle is inserted under the same conditions as
for activation of tool radius compensation with G41 or G42.
The number of blocks with suppressed tool radius compensation is restricted:
MD20252 $MC_CUTCOM_MAXNUM_SUPPR_BLOCKS (Maximum number of blocks with
compensation suppression).
If it is exceeded, machining is aborted and an error message issued.
The restriction is necessary because the internal block processing in the last block before
CUTCONON must be resumed when repositioning.
The response after reprogramming G41 or G42 when tool radius compensation is already
active is similar to compensation suppression.
The following deviations apply:
Only linear blocks are permissible
A single traversing block that contains G41 or G42 is modified so that it ends at the offset
point of the start point in the following block. Thus it is not necessary to insert a dummy
block. The same applies to the last block in a sequence of traversing blocks where each
contains G41 or G42.
The contour is always reapproached with NORM, independent of the G code of the 17th
group (approach and retraction behavior with tool compensation; NORM / KONT).
If G41 / G42 is programmed several times in consecutive traversing blocks, all blocks are
machined as for CUTCONON, except for the last one.
The type of contour suppression is evaluated only in the first traversing block of a sequence
of consecutive traversing blocks.
If both CUTCONON and G41 or G42 are programmed in the first block, the response to
deactivating contour suppression is determined by CUTCONON.
Changing from G41 to G42 or vice versa makes sense in this case as a means of changing
the compensation side (left or right of the contour) when restarting.
A change of compensation side (G41/G42) can also be programmed in a later block, even
if contour suppression is active.
Collision detection and bottleneck detection is deactivated for all blocks with active contour
suppression.
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18.5 Tool radius compensation 2D (TRC)
18.5.11
Alarm behavior
Alarm during preprocessing
If a tool radius compensation alarm is output during preprocessing, main-run machining stops
at the next block end reached, i.e. usually at the end of the block currently being interpolated
(if Look Ahead is active, once the axes have come to a stop).
Alarms for preprocessing stop and active tool radius compensation
Tool radius compensation generally requires at least one of the following traversing blocks
(even more for bottlenecks) to determine the end point of a block. Since the preprocessing
stop of such a block is not available, traversing continues to the offset point in the last block.
Correspondingly, the offset point in the start point is approached in the first block after a
preprocessing stop.
The contour obtained may deviate considerably from the one that would result without
preprocessing stop. Contour violations in particular are possible. Therefore the following
setting data was introduced:
SD42480 $MC_STOP_CUTCOM_STOPRE (alarm response for TRC and preprocessing
stop).
The response of the tool radius compensation remains unchanged compared to the previous
status, and/or an alarm is output for preprocessing stop during active tool radius compensation
and the program is halted, depending on the value.
The user can acknowledge this alarm and continue the NC program with NC start or abort it
with RESET.
18.5.12
Intersection procedure for polynomials
Function
If two curves with active tool radius compensation form an outside corner, depending on the
G code of the 18th group (corner behavior with tool compensation; G450 / G451) and
regardless of the type of curves involved (straight lines, circles, polynomials):
Either a conic is inserted to bypass the corner
Or
The curves involved are extrapolated to form an intersection.
If no intersection is found with G451 activated, or if the angle formed by the two curves is too
steep, switchover to insert mode is automatic.
The intersection procedure for polynomials is released with the machine data:
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18.5 Tool radius compensation 2D (TRC)
MD20256 $MC_CUTCOM_INTERS_POLY_ENABLE (Intersection process possible for
polynomials)
Note
If this machine data is set to inactive, a block (can be very short) is always inserted (even if
transitions are almost tangential). These short blocks always produce unwanted drops in
speed during G64 operation.
18.5.13
G461/G462 Approach/retract strategy expansion
Function
In certain special geometrical situations, extended approach and retraction strategies,
compared with the previous implementation, are required in order to activate or deactivate tool
radius compensation (see figure below).
Note
The following example describes only the situation for deactivation of tool radius
compensation. The response for approach is virtually identical.
Example
G42 D1 T1
; Tool radius 20 mm
...
G1 X110 Y0
N10 X0
N20 Y10
N30 G40 X50 Y50
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18.5 Tool radius compensation 2D (TRC)
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Figure 18-35 Retraction behavior with G460
The last block with active tool radius compensation (N20) is so short that an intersection no
longer exists between the offset curve and the preceding block (or a previous block) for the
current tool radius. An intersection between the offset curves of the following and preceding
blocks is therefore sought, i.e., between N10 and N30 in this example. The curve used for the
retraction block is not a real offset curve, but a straight line from the offset point at the end of
block N20 to the programmed end point of N30. The intersection is approached if one is found.
The colored area in the figure is not machined, although the tool used would be capable of
this.
G460
With G460, the approach/retraction strategy is the same as before.
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18.5 Tool radius compensation 2D (TRC)
G461
If no intersection is possible between the last TRC block and a preceding block, the offset
curve of this block is extended with a circle whose center point lies at the end point of the
uncorrected block and whose radius is equal to the tool radius.
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Figure 18-36 Retraction behavior with G461
The control attempts to cut this circle with one of the preceding blocks. If CDOF is active, the
search is terminated when an intersection is found, i.e., the system does not check for more
intersections with even earlier blocks.
If CDON is active, the search for more intersections continues after the first intersection is found.
An intersection point, which is found in this way, is the new end point of a preceding block and
the start point of the deactivation block. The inserted circle is used exclusively to calculate the
intersection and does not produce a traversing movement.
Note
If no intersection is found, the following alarm is output:
Alarm "10751 Collision danger"
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18.5 Tool radius compensation 2D (TRC)
G462
If no intersection is possible between the last TRC block and a preceding block, a straight line
is inserted, on retraction with G462 (initial setting), at the end point of the last block with tool
radius compensation (the block is extended by its end tangent).
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Figure 18-37 Retraction behavior with G462
The search for the intersection is then identical to the procedure for G461.
With G462, the corner generated by N10 and N20 in the sample program is not machined to
the full extent actually possible with the tool used. However, this behavior may be necessary
if the part contour (as distinct from the programmed contour), to the left of N20 in the example,
is not permitted to be violated even with y values greater than 10 mm.
If KONT is active (travel round contour at start or end point), behavior will differ according to
whether the end point is in front of or behind the contour.
End point in front of contour
If the end point is located in front of the contour, the retraction behavior is the same as for
NORM. This feature does not change, even if the last contour block with G451 is extended with
a straight line or a circle. Additional circumnavigation strategies to avoid a contour violation in
the vicinity of the contour end point are therefore not required.
End point behind contour
If the end point is behind the contour, a circle or straight line is always inserted depending on
G450/G451. In this case, G460-G462 has no effect.
If, in this situation, the last traversing block has no intersection with a preceding block, an
intersection with the inserted contour element or with the linear section from the end point of
the circumnavigation circle to the programmed end point can result.
If the inserted contour element is a circle (G450), and it intersects with the preceding block,
this is the same as the intersection, which would be produced with NORM and G461. In general,
however, a remaining section of the circle still has to be traversed. An intersection calculation
is no longer required for the linear section of the retraction block.
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18.6 Toolholder with orientation capability
In the second case (if no intersection is found between the inserted contour element and the
preceding blocks), the intersection between the retraction straight line and a preceding block
is approached.
Therefore, when G461 or G462 is active, behavior deviating from G460 can only arise if
NORM is active or if behavior with KONT is identical to NORM due to the geometrical conditions.
Note
The approach behavior is symmetrical to the retraction behavior.
The approach/retraction behavior is determined by the state of the G command in the approach/
retraction block. The approach behavior can therefore be set independently of the retraction
behavior.
Example:
Program for using G461 during approach:
N10 $TC_DP1[1,1]=120
; Tool type mill
N20 $TC_DP6[1,1]=10
; Radius
N30 X0 Y0 F10000 T1 D1
N40 Y20
N50 G42 X50 Y5 G461
N60 Y0 F600
N70 X30
N80 X20 Y-5
N90 X0 Y0 G40
N100 M30
18.6
Toolholder with orientation capability
18.6.1
General
Introduction
The orientation of the tool can vary (e.g. due to retooling) for one single class of machine tools.
When the machine is operating, the orientation that has been set is permanent, however, and
cannot be changed during traversing. For this reason, kinematic orientation transformation (3-,
4- or 5axis transformations, TRAORI) is neither necessary nor does it make sense for such
machines. However, it is necessary to take account of the changes in the tool length
components caused by changing the orientation, without having to trouble the user with
mathematics involved. The control performs these calculations.
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18.6 Toolholder with orientation capability
Availability
For SINUMERIK 828D, the "toolholder with orientation capability" function is only available for
the milling versions.
Required data
The following requirements must be met if the control is to take tool compensations into account
for toolholders with orientation capability:
Tool data (geometry, wear, etc.)
Toolholder data (data for the geometry of the toolholder with orientation capability)
Toolholder selection
A toolholder defined in the control must be specified for the "Toolholder with orientation
capability" function. The NC program command below is used for this purpose:
TCARR = m
m: Number of the toolholder
The toolholder has an associated toolholder data block that describes its geometry.
Activating the toolholder and its block has an immediate effect, i.e. from the next traversing
block onwards.
Assignment tool/toolholder
The tool that was active previously is assigned to the new toolholder.
From the point of view of the control, toolholder number m and tool number T can be combined
freely. In the real application, however, certain combinations can be ruled out for machining
or mechanical reasons. The control does not check whether the combinations make sense.
Description of the kinematics of the toolholder
The kinematics of the toolholder with orientation capability is described with a total of 33
parameter sets.
The data of the data block can be edited by the user.
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18.6 Toolholder with orientation capability
Toolholder with orientation capability
Example: Cardan toolholder with two axes for the tool orientation
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Figure 18-38 Cardan toolholder with two axes
Processing toolholder data blocks
Two options are available:
Explicit entry in the toolholder data block from the part program
Automatic acceptance of certain values (angles) from a frame
A requirement for this is that TCOFR (Tool Carrier Orientation FRame) is also specified when
the toolholder is selected.
The tool orientation used to calculate the tool length is determined again from the frame
active at this time when a toolholder is changed.
Orientation in Z direction
The G function TOFRAME defines a frame such that the Z direction in this frame is the same
as the current tool orientation.
If no toolholder or a toolholder without change in orientation is active, then the Z direction is
in the new frame:
The same as the old Z direction with G17.
The same as the old Y direction with G18.
The same as the old X direction with G19.
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18.6 Toolholder with orientation capability
TCOABS for active frame
The absolute toolholder orientation is set using:
TCOABS (Tool Carrier Orientation ABSolute)
The orientation taken into account for the tool length compensation is independent of the
orientation of the active frame.
Only one of the commands TCOABS or TCOFR can be valid.
Frame change
The user can change the frame following selection of the tool. This does not have any effect
on the tool length compensation components.
Angles in the toolholder data:
The programmed angles of rotation stored in the toolholder data is not affected by the angle
of rotation defined by the frames. When changing from TCOFR to TCOABS, the original
(programmed) angles of rotation in the toolholder data is reactivated.
Tool compensation types
TRC takes account of the current tool orientation when CUT2D or CUT3DFS is active.
All other tool compensation types
These are all the compensation types of G-code group 22, with the exception of CUT3DC and
CUT3DF. The response remains the same with respect to the plane used for compensation.
This is determined independent of the tool orientation from the active frame.
For CUT2DF and CUT3DFF, the compensation plane used for TRC is determined from the
frame independently of the current tool orientation. The active plane (G17/G18/G19) is
considered.
CUT3DC and CUT3DF
3D tool compensation for circumferential milling
3D tool compensations for face milling with active 5-axis transformation are not affected by
the "Toolholder with orientation capability" function.
The orientation information is determined by the active kinematic 5-axis transformation.
Limited toolholder orientation
An alarm is output if an orientation that cannot be reached with the defined toolholder kinematic
is specified by the frame.
The following kinematics cannot achieve any orientation:
If the two rotary axes which are necessary to define the kinematics are not perpendicular
to each other and if the tool axis which defines the tool direction is not perpendicular to the
second rotary axis
or
Less than two axes have been defined
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18.6 Toolholder with orientation capability
Non-rotary toolholders
The tool orientation used internally is dependent only on the basic orientation of the tool and
the active plane (G17 - G19).
Ambiguities
With two axes, a particular tool orientation defined by the frame can generally be set with two
different rotary angle pairs. Of these two, the control selects the setting with which the rotary
angle is as close as possible to the programmed rotary angle.
Storing angles in the toolholder data
In virtually any case where ambiguities may arise, it is necessary to store the approximate
angle expected from the frame in the toolholder data.
Parameter sets
A complete parameter set for a toolholder with orientation capability consists of 33 values.
The following system variables are available:
$TC_CARR1 to $TC_CARR33
In addition, $TC_CARR34 to $TC_CARR65 are freely available for the user and for fine
offsets.
The significance of the individual parameters is distinguished as follows:
Machine kinematics:
$TC_CARR1 to $TC_CARR20 and $TC_CARR23
$TC_CARR18 to $TC_CARR20 define a further vector l4, which is needed to describe the
machine with extended kinematics (both tool and workpiece can be rotated).
$TC_CARR21 and $TC_CARR22 contain the channel-axis names of the rotary axes, the
positions of which can be used to determine the orientation of the toolholder with orientation
capability, if necessary.
Kinematic type:
$TC_CARR23 using letter T, P or M
The following three options are available for the kinematic type, for which both upper and lower
case text are permissible:
T:
Only the (Tool) can be rotated (basic value).
P:
Only the workpiece (Part) can be rotated.
M:
Both tool and workpiece can be rotated (Mixed mode).
Any character other than the three mentioned here will result in an alarm if it is tried to activate
the toolholder with orientation capability:
Alarm "14153 Channel %1 block %2 unknown toolholder type: %3"
Rotary axis parameters:
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18.6 Toolholder with orientation capability
$TC_CARR24 to $TC_CARR33
The system variables in $TC_CARR24 to $TC_CARR33 can be used to define offsets, angle
compensations, Hirth tooth system and axis limits.
Note
The system variables are available with and without active tool management.
Components and presetting of the chain/data block
The values $TC_CARR1 to $TC_CARR20 and $TC_CARR24 to $TC_CARR33 in the
toolholder data block are of NC language format type REAL..
The values $TC_CARR21 and $TC_CARR22 for the axis name of the first rotary axis (v1) and
the second rotary axis (v2) are of NC language format type AXIS. They are all preset to zero.
The value $TC_CARR23 is initialized with the uppercase letter "T" (only tool can be rotated).
$TC_CARRn[m]
$TC_CARR[0]= 0 has a special significance
System variables for toolholders with orientation capability
$TC_CARRn[m]
n:
m:
Parameters 1...33
Number of the toolholder 1 that can be oriented...Value of the machine data:
MD18088 $MN_MM_NUM_TOOL_CARRIER (maximum number of definable tool
holders)
Description
NCK variable
Language
format
Default setting
x component of offset vector l1
$TC_CARR1
REAL
y component of offset vector l1
$TC_CARR2
REAL
z component of offset vector l1
$TC_CARR3
REAL
x component of offset vector l2
$TC_CARR4
REAL
y component of offset vector l2
$TC_CARR5
REAL
z component of offset vector l2
$TC_CARR6
REAL
x component of rotary axis v1
$TC_CARR7
REAL
y component of rotary axis v1
$TC_CARR8
REAL
z component of rotary axis v1
$TC_CARR9
REAL
x component of rotary axis v2
$TC_CARR10
REAL
y component of rotary axis v2
$TC_CARR11
REAL
z component of rotary axis v2
$TC_CARR12
REAL
Angle of rotation 1 (in degrees)
$TC_CARR13
REAL
Angle of rotation 2 (in degrees)
$TC_CARR14
REAL
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18.6 Toolholder with orientation capability
Description
NCK variable
Language
format
Default setting
x component of offset vector l3
$TC_CARR15
REAL
y component of offset vector l3
$TC_CARR16
REAL
z component of offset vector l3
$TC_CARR17
REAL
x component of offset vector l4
$TC_CARR18
REAL
y component of offset vector l4
$TC_CARR19
REAL
z component of offset vector l4
$TC_CARR20
REAL
Axis name of the rotary axis v1
$TC_CARR21
AXIS
Axis name of the rotary axis v2
$TC_CARR22
AXIS
Kinematic type
$TC_CARR23
CHAR
Offset of rotary axis v1
$TC_CARR24
REAL
Offset of rotary axis v2
$TC_CARR25
REAL
Angle offset of rotary axis v1 (Hirth tooth)
$TC_CARR26
REAL
Angle offset of rotary axis v2 (Hirth tooth)
$TC_CARR27
REAL
Angle increment of rotary axis v1 (Hirth tooth)
$TC_CARR28
REAL
Angle increment of rotary axis v2 (Hirth tooth)
$TC_CARR29
REAL
Minimum position of rotary axis v1 (SW limit)
$TC_CARR30
REAL
Minimum position of rotary axis v2 (SW limit)
$TC_CARR31
REAL
Maximum position of rotary axis v1 (SW limit)
$TC_CARR32
REAL
Maximum position of rotary axis v2 (SW limit)
$TC_CARR33
REAL
System variables for the user and for fine offsets
$TC_CARR34 to $TC_CARR40
Contain parameters, which are freely available to the user.
$TC_CARR41 to $TC_CARR65
Contain fine offset parameters that can be added to the values in the basic parameters.
The fine offset value assigned to a basic parameter is obtained when the value 40 is added
to the parameter number.
$TC_CARR47 to $TC_CARR54 and $TC_CARR61 to $TC_CARR63
Not defined and produce an alarm if read or write access is attempted.
1448
Description
NCK variable
Language
format
Default setting
Toolholder name
$TC_CARR34
String[32]
""
Axis name 1
$TC_CARR35 *)
String[32]
""
Axis name 2
$TC_CARR36 *
String[32]
""
Identifier
$TC_CARR37 *)
INT
Position component X
$TC_CARR38 *
REAL
Position component Y
$TC_CARR39 *
REAL
Position component Z
$TC_CARR40 *)
REAL
x comp. fine offset of offset vector l1
$TC_CARR41
REAL
y comp. fine offset of offset vector l1
$TC_CARR42
REAL
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18.6 Toolholder with orientation capability
Description
NCK variable
Language
format
Default setting
z comp. fine offset of offset vector l1
$TC_CARR43
REAL
x comp. fine offset of offset vector l2
$TC_CARR44
REAL
y comp. fine offset of offset vector l2
$TC_CARR45
REAL
z comp. fine offset of offset vector l2
$TC_CARR46
REAL
x comp. fine offset of offset vector l3
$TC_CARR55
REAL
y comp. fine offset of offset vector l3
$TC_CARR56
REAL
z comp. fine offset of offset vector l3
$TC_CARR57
REAL
x comp. fine offset of offset vector l4
$TC_CARR58
REAL
y comp. fine offset of offset vector l4
$TC_CARR59
REAL
z comp. fine offset of offset vector l4
$TC_CARR60
REAL
Offset of fine offset of rotary axis v1
$TC_CARR64
REAL
Offset of fine offset of rotary axis v2
$TC_CARR65
REAL
Remarks:
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18.6.2
The system variables $TC_CARR35 to $TC_CARR40 are used in the measuring cycles as well
as ShopMill and ShopTurn.
Kinematic interaction and machine design
Representation of the kinematic chain
The concept of the kinematic chain is used to describe the kinematic interaction between a
reference point and the tool tip.
The chain specifies all the data required for the toolholder data block in a schematic. To
describe the concrete case with a particular kinematic, the relevant components of the chain
must be assigned real vectors, lengths and angles. The chain represents the maximum
constellation. In simpler applications, individual components can be zero (e.g. kinematics with
one or no rotary axis).
The machine does not have to have axes that rotate the tool and/or workpiece table. The
function can be used even if the orientations are set manually by handwheels or reconfiguration.
The machine design is described by the following parameters:
Two rotary axes (v1 and v2), each with one angle of rotation (1 or 2), which counts positively
for clockwise rotation facing the direction of the rotation vector.
Up to four offset vectors (l1 to l4) for relevant machine dimensions (axis distances, distances
to machine or tool reference points).
Zero vectors
Vectors v1 and v2 can be zero. The associated angle of rotation (explicitly programmed or
calculated from the active frame) must then also be zero, since the direction of the rotating
axis is not defined. If this condition is not satisfied, an alarm is produced when the toolholder
is activated.
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18.6 Toolholder with orientation capability
Less than two rotating axes
The option not to define a rotating axis makes sense when the toolholder to be described can
only rotate the tool in one plane. A sensible minimum data block may, therefore, contain only
one single entry not equal to 0 in the toolholder data; namely, a value in one of the components
of v1 or v2 for describing a rotating axis parallel to the axis where the angle of rotation 1 or 2
is determined from one frame.
Further special cases
Vectors v1 and v2 can be colinear. However, the degree of freedom for orientation is lost, i.e.
this type of kinematic is the same as one where only one rotary axis is defined. All possible
orientations lie on one cone sheath. The conical sheath deforms to a straight line if tool
orientation t and v1 or v2 become colinear. Change of orientation is, therefore, not possible in
this special case. The cone sheath deforms to a circular surface (i.e. all orientations are
possible in one plane), if tool orientation t and v1 or v2 are perpendicular to each other.
It is permissible for the two vectors v1 and v2 to be zero. A change in orientation is then no
longer possible. In this special case, any lengths l1 and l2, which are not equal to zero, act as
additional tool length compensations, in which the components in the individual axes are not
affected by changing the plane (G17 - G19).
Kinematics data expansions
Possibility of direct access to existing machine axes in order to define the toolholder setting
via the rotary axis positions.
Extension of the kinematics with rotary workpiece and on kinematics with rotary tool and
rotary workpiece.
Possibility to permit only discrete values in a grid for the rotary axis positions (Hirth tooth
system).
The extensions are compatible with earlier software versions and encompass the kinematic
data blocks from $TC_CARR18 to $TC_CARR23.
Machine with rotary tool
On machines with rotary tool there is no change in the definition of the kinematics compared
to older software versions. The newly introduced vector l4, in particular, has no significance.
Should the contents of l4 not be zero, this is ignored.
The term "Toolholder with orientation capability" is actually no longer really appropriate for the
new kinematic types, with which the table can also be rotated, either alone or additionally to
the tool. However, it has been kept for reasons of compatibility.
The kinematic chains used to describe the machine with rotary tool (general case) are shown
in the figure below:
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18.6 Toolholder with orientation capability
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Figure 18-39 Kinematic chain to describe a tool with orientation
Vectors, which describe offsets in the rotary head, are positive in the direction from the tool tip
to the reference point of the toolholder.
The following kinematic type is defined for machines with a rotary tool:
$TC_CARR23 using letter T
Machine with rotary workpiece
On machines with rotary workpiece, the vector l1 has no significance. If it contains a value other
than zero, this is ignored.
The kinematic chain for machines with rotary workpiece is shown in the figure below.
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18.6 Toolholder with orientation capability
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Figure 18-40 Kinematic chain to describe a rotary table
Vectors, which describe offsets in the rotary table, are positive in the direction from the machine
reference point to the table.
The following kinematic type is defined for machines with a rotary workpiece:
$TC_CARR23 using letter P
Note
On machines with rotary workpiece it is generally useful if the selected machine reference
point and the reference point of the table are identical. Selecting the reference points in this
way has the advantage that the position of the workpiece zero in the initial state (i.e. with rotary
axes not turned) does not change when the rotary table is activated. The (open) kinematic
chain (see figure) is then closed.
In this special case, therefore, the following formula applies: l2 = - (l3 + l4)
Machines with extended kinematics
On machines with extended kinematics (both tool and workpiece are rotary), it is only possible
to turn each of the components with one axis.
The kinematic of the rotary tool is described with the first rotary axis (v1) and the two vectors
l1 and l2, that of the rotary table with the second rotary axis (v2) and the two vectors l3 and l4.
The two kinematic chain components for machines with rotary tool and rotary workpiece are
shown in the figure below.
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18.6 Toolholder with orientation capability
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Figure 18-41 Kinematic sequence with extended kinematics
The following kinematic type is defined for machines with a rotary tool and rotary workpiece:
$TC_CARR23 using letter M (extended kinematics)
Note
On machines with extended kinematics it is generally useful, as with machines where only the
table can be rotated, for the machine reference point and the reference point of the table to
be identical. The (open) chain component to describe the table (see figure) is then closed.
In this special case, the following formula applies: l3 = - l4
Rotary tool types T and M
For machine kinematics with a rotary tool (types T and M), the toolholder component with
orientation capability, which describes the tool or head component (as opposed to the table
component), acts, in conjunction with the active tool, as a new overall tool.
Fine offset
The offset vectors l1 to l4 and the offsets of the rotary axes v1 and v2 can be represented as the
sum of a basic value and a fine offset. The fine offset parameters assigned to the basic values
are achieved by adding a value of 40 to the index of the basic value.
Example:
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18.6 Toolholder with orientation capability
The parameter $TC_CARR5 is assigned to the fine offset $TC_CARR45.
Note
For the significance of the system variables $TC_CARR41 to $TC_CARR65 available for the
fine offset see:
References:
Programming Manual, Job Planning; Tool Offsets:
Activation
The following setting adds the fine offset values to the basic values:
SD42974 $SC_TOCARR_FINE_CORRECTION = 1 (fine offset TCARR on/off)
Supplementary conditions
The amount is limited to the permissible fine offset.
The maximum permissible value is defined:
For:
With machine data:
The components of vectors l1 to l4:
MD20188 $MC_TOCARR_FINE_LIM_LIN
The offsets of the two rotary axes v1 and v2:
MD20190 $MC_TOCARR_FINE_LIM_ROT
An illegal fine offset value is only detected when:
A toolholder with orientation capability, which contains such a value, is activated
and
at the same time the following setting data is set:
SD42974 $SC_TOCARR_FINE_CORRECTION
Description of a rotation
A data block for describing a rotation comprises one vector v1 /v2 to describe the direction of
rotation of the rotary axis in its initial state and an angle 1/2. The angle of rotation is counted
positively for clockwise rotation facing the direction of the rotation vector.
The two toolholder angles 1 and 2 are determined using a frame, independent of the active
plane currently selected (G17 - G19).
The tool orientation in the initial state (both angles 1 and 2 are zero) is (as in the default
case):
G17: Parallel to Z.
G18: Parallel to Y.
G19: Parallel to Z
Assigning data to the toolholder
Example of a machine with rotary toolholder
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18.6 Toolholder with orientation capability
The following settings are obtained at the mill head shown for a machine with toolholder with
orientation capability of kinematic type T:
Component of the offset vector l1 =
(-200, 0, 0)
Component of the offset vector l2 =
(0, 0, 0)
Component of the offset vector l3 =
(-100, 0, 0)
Component of rotary axis v1 =
(1, 0, 0)
Component of rotary axis v2 =
(-1, 0, 1)
Tool base dimension of tool reference
point
(0, 0, 250)
Note
The tool reference point for the tool base dimension is defined by the reference point at the
machine.
For further information about the reference points in the working area, see Section "K2: Axis
Types, Coordinate Systems, Frames (Page 661)".
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Figure 18-42 Assignment of the toolholder data
Suitable assumptions were made for the following values in the data block:
The two rotary axes intersect at one point.
All components of l2 are therefore zero.
The first rotary axis lies in the x/z plane, the second rotary axis is parallel to the x axis.
These conditions define the directions of v1 and v2 (the lengths are irrelevant, provided that
they are not equal to zero).
The reference point of the toolholder lies 200 mm in the negative x direction viewed from
the intersection of the two rotary axes.
This condition defines l1 .
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18.6 Toolholder with orientation capability
Specify associated data block values
The following associated data block values are specified for the toolholder shown on a machine
with rotary toolholder:
Description
NCK variable
Value
x component of offset vector l1
$TC_CARR1
- 200
y component of offset vector l1
$TC_CARR2
z component of offset vector l1
$TC_CARR3
x component of offset vector l2
$TC_CARR4
y component of offset vector l2
$TC_CARR5
z component of offset vector l2
$TC_CARR6
x component of rotary axis v1
$TC_CARR7
y component of rotary axis v1
$TC_CARR8
z component of rotary axis v1
$TC_CARR9
x component of rotary axis v2
$TC_CARR10
-1
y component of rotary axis v2
$TC_CARR11
z component of rotary axis v2
$TC_CARR12
Angle of rotation 1 (in degrees)
$TC_CARR13
Angle of rotation 2 (in degrees)
$TC_CARR14
x component of offset vector l3
$TC_CARR15
-100
y component of offset vector l3
$TC_CARR16
z component of offset vector l3
$TC_CARR17
Explanations
The toolholder kinematic chosen in the example is such that the two rotary axes form an angle
of 45 degrees, which means that the orientation cannot take just any value. In concrete terms,
this example does not permit the display of orientations with negative X components.
x component of the tool base dimension:
y component of the tool base dimension:
z component of the tool base dimension:
0
0
250
Note
The required data cannot be determined unequivocally from the geometry of the toolholder,
i.e. the user is free to a certain extent to decide the data to be stored. Thus, for the example,
it is possible to specify only one z component for the tool base dimension up to the second
axis. In this case, l2 would no longer be zero, but would contain the components of the distance
between this point on the second axis and a further point on the first axis. The point on the first
axis can also be selected freely. Depending on the point selected, l1 must be selected such
that the reference point (which can also be selected freely) is reached.
In general: vector components that are not changed by rotation of an axis can be distributed
over any vectors "before" and "after" rotation.
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18.6.3
Inclined surface machining with 3 + 2 axes
Description of function
Inclined machining with 3 + 2 axes describes an extension of the concept of toolholders with
orientation capability and applies this concept to machines with a rotary table, on which the
orientation of tool and table can be changed simultaneously.
The "Inclined machining with 3 + 2 axes" function is used to machine surfaces with any rotation
with reference to the main planes X/Y (G17), Z/X (G18) and Y/Z (G19).
It is possible to produce any orientation of the tool relative to the workpiece by rotating either
the tool, the workpiece or both the tool and the workpiece.
The software automatically calculates the necessary compensating movements resulting from
the tool lengths, lever arms and the angle of the rotary axis. It is always assumed that the
required orientation is set first and not modified during a machining process such as pocket
milling on an inclined plane.
Furthermore, the following 3 functions are described, which are required for oblique machining:
Position programming in the direction of the tool orientation independent of an active frame
Definition of a frame rotation by specifying the solid angle
Definition of the component of rotation in tool direction in the programmed frame while
maintaining the remaining frame components
Demarcation to 5-axis transformation
If the required functionality specifies that the TCP (Tool Center Point) does not vary in the
event of reorientation with reference to the workpiece, even during interpolation, the 5axis
software is required.
For more explanations on 5-axis transformations, see:
References:
Function Manual, Special Functions; 3- to 5-Axis Transformation (F2)
Specification of the toolholder with orientation capability
The toolholder with orientation capability is represented by a general 5axis kinematic sequence
described by a data block in the tool compensation memory with a total of 33 REAL values.
For toolholders that have two rotary axes for setting the orientation (e.g. a millhead), 31 of
these values are constant.
In the current SW version, a data block in the tool compensation memory is described with a
total of 47 REAL values. For toolholders that have two rotary axes for setting the orientation,
45 of these values are constant.
The remaining two values are variable and are used to specify the orientation. The constant
values describe offsets and directions and setting options for the rotary axes; the variable
values describe the angles of the rotary axes.
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18.6 Toolholder with orientation capability
18.6.4
Machine with rotary work table
System variables
To date, the angles stored in $TC_CARR13 and $TC_CARR14 were used for the calculation
of the active tool length with TCOABS. This still applies if $TC_CARR21 and $TC_CARR22 do
not refer to rotary axes. If $TC_CARR21 or $TC_CARR22 contains a reference to a rotary axis
in the channel, the axis position of the relevant axis at the start of the current block is used as
the angle, rather than the entry in $TC_CARR13 or $TC_CARR14.
A mixed operating mode is permissible, i.e. the angles can be determined from the entry in
the system variables $TC_CARR13 or $TC_CARR14 for one axis, and from the position of a
channel axis for the other.
This makes it possible for machines, on which the axes used to set the toolholder with
orientation capability are known within the NC, to access their position directly, whereas it was
previously necessary, for example, to read system variable $AA_IM[axis] and write the result
of the read operation to $TC_CARR13/14. In particular, this removes the implicit preprocessing
stop when reading the axis positions.
MD20180
The rotary axis position is used with its programmed or calculated value, when the machine
data:
MD20180 $MC_TOCARR_ROT_ANGLE_INCR[i] = 0 (rotary axis increment of the tool carrier
that can be oriented)
If the machine data is not zero however, the position used is the nearest grid point obtained
for a suitable integer value n from the equation:
= $MC_TOCARR_ROT_ANGLE_OFFSET[i] + n * $MC_TOCARR_ROT_ANGLE_INCR[i]
This functionality is required if the rotary axes need to be indexed and cannot, therefore,
assume freely-defined positions (e.g. with Hirth tooth systems). System variable $P_TCANG[i]
delivers the approximated valued and system variable $P_TCDIFF[i] the difference between
the exact and the approximated value.
Frame orientation TCOFR
With TCOFR (determination of the angle from the orientation defined by an active frame), the
increments are scaled after determination of the angle from the active frame rotation. If the
requested orientation is not possible due to the machine kinematic, the machining is aborted
with an alarm. This also applies if the target orientation is very close to an achievable
orientation. In particular the alarm in such situations cannot be prevented through the angle
approximation.
TCARR frame offset
A frame offset as a result of a toolholder change becomes effective immediately on selection
of TCARR=.... A change in the tool length, on the other hand, only becomes effective
immediately if a tool is active.
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TCOFR/TCOABS frame rotation
A frame rotation does not take place on activation and a rotation which is already active is not
changed. As in case T (only the tool can be rotated), the position of the rotary axes used for
the calculation is dependent on the G code TCOFR/TCOABS and determined from the rotation
component of an active frame or from the entries $TC_CARRn.
Activation of a frame changes the position in the workpiece coordinate system accordingly,
without compensating motion by the machine itself. The ratios are shown in the figure below:
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Figure 18-43 Zero offset on activation of a rotary table with TCARR
Example
On the machine in the figure, the rotary axis of the table is pointing in the positive Y direction.
The table is rotated by +45 degrees. PAROT defines a frame, which similarly describes a
rotation of 45 degrees about the Y axis. The coordinate system is not rotated relative to the
actual environment (marked in the figure with "Position of the coordinate system after TCARR"),
but is rotated by -45 degrees relative to the defined coordinate system (position after PAROT).
If this coordinate system is defined with ROT Y-45, for example, and if the toolholder is then
selected with active TCOFR, an angle of +45 degrees will be determined for the rotary axis of
the toolholder.
Rotary table
With rotary tables (kinematic types P and M), activation with TCARR similarly does not lead to
an immediate rotation of the coordinate system (see figure), i.e. even though the zero point of
the coordinate system is offset relative to the machine, while remaining fixed relative to the
zero point of the workpiece, the orientation remains unchanged in space.
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18.6 Toolholder with orientation capability
Activation of kinematic types P and M
With kinematics of type P and M the selection of a toolholder activates an additive frame (table
offset of the toolholder with orientation capability), which takes into account the zero point
offset as a result of the rotation of the table.
The zero offset can be written to a dedicated system frame $P_PARTFR. For this, the bit 2
must be set in the machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK (system frames (SRAM))
The basic frame identified by following machine data is then no longer required for the zero
offset:
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER (number of the basic frames for taking
the table offset)
Activation of kinematic type M
With kinematics of type M (tool and table are each rotary around one axis), the activation of a
toolholder with TCARR simultaneously produces a corresponding change in the effective tool
length (if a tool is active) and the zero offset.
Rotations
Depending on the machining task, it is necessary to take into account not only a zero offset
(whether as frame or as tool length) when using a rotary toolholder or table, but also a rotation.
However, the activation of a toolholder with orientation capability never leads directly to a
rotation of the coordinate system.
TOROT
If only the tool can be rotated, a frame whose Z axis points in the direction of the tool can be
defined with TOFRAME or TOROT.
PAROT
If the coordinate system needs to be fixed relative to the workpiece, i.e. not only offset relative
to the original position but also rotated according to the rotation of the table, then PAROT can
be used to activate such a rotation in a similar manner to the situation with a rotary tool.
With PAROT, the translations, scalings and mirrorings in the active frame are retained, but the
rotation component is rotated by the rotation component of a toolholder with orientation
capability corresponding to the table.
PAROT and TOROT take into account the overall change in orientation in cases where the table
or the tool are oriented with two rotary axes. With mixed kinematics only the corresponding
component caused by a rotary axis is considered. It is thus possible, for example, when using
TOROT, to rotate a workpiece such that an oblique plane lies parallel to the XY plane fixed in
space, whereby rotation of the tool must be taken into account in machining where any holes
to be drilled, for example, are not perpendicular to this plane.
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Language command PAROT is not rejected if no toolholder with orientation capability is active.
This causes no changes in the programmed frame.
Note
For further information about the TCARR and TOROT as well as PAROT functions with regard
to channel-specific system frames, see Section "K2: Axis Types, Coordinate Systems,
Frames (Page 661)".
18.6.5
Procedure when using toolholders with orientation capability
Creating a toolholder
The number of available toolholder data sets in the NCK is defined with machine data:
MD18088 $MN_MM_NUM_TOOL_CARRIER (maximum number of definable tool carriers)
1. The value is calculated as follows:
MD18088 = "Number of TO units" * "Number of toolholder data sets of a TO unit"
MD18088/"number of TO units" is permanently allocated to each TO unit.
Note
For further explanations on the definition and assignment of a TO unit by machine data:
MD28085 $MC_MM_LINK_TOA_UNIT (assignment of a TO unit to a channel (SRAM))
References:
Function Manual, Extended Functions; Memory Configuration (S7)
2. Zero setting of toolholder data:
You can use the command$TC_CARR1[0] = 0 to zero all values of all data sets.
Individual toolholder data sets can be deleted selectively with the NC command DELTC or
the PI service _N_DELTCAR.
3. Accessing the data of a toolholder:
Part program
$TC_CARRn[m] = value
This describes the previous value of the system variables n for toolholder m with the
new value "value".
value = $TC_CARRn[m]
With "def real value" - the parameters of a toolholder m can be read if they have already
been defined (e.g. set MD18088). Otherwise, an alarm is signaled.
OPI interface
The parameters of a toolholder with orientation capability can be read and written with the
NCKHMI (OPI) variable services using system variable $P_TCANG[<n>].
4. Data backup:
The system variables specified above are saved as part of the general NCK data backup.
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18.6 Toolholder with orientation capability
Selecting the toolholder
A toolholder with number m is selected with the TCARR = m NC program command
(TCARRTool Carrier).
TCARR = 0 deselects an active toolholder.
New tool or new toolholder
When a new tool is activated, it is always treated as if it was mounted on the active toolholder.
A new toolholder is activated immediately when it is programmed. It is not necessary to change
tools or reprogram the active tool. The toolholder (number) and tool (number) are independent
and can be used in any combination.
Toolholder from G code of group 42
Absolute tool orientation TCOABS (Tool Carrier Orientation ABSolute):
Tool orientation is determined explicitly if the corresponding values are entered in system
variable $TC_CARR13 or $TC_CARR14 and G code TCOABS is activated in G-code group 42.
Frame tool orientation TCOFR (Tool Carrier Orientation FRame):
Tool orientation can also be determined automatically from the current orientation of an active
frame when selecting a tool, if one of the following G codes is active in G-code group 42 when
the toolholder is selected:
TCOFR or TCOFRZ
The toolholder with orientation capability is set so that the tool points in the Z direction.
TCOFRX
The toolholder with orientation capability is set so that the tool points in the X direction.
TCOFRY
The toolholder with orientation capability is set so that the tool points in the Y direction.
The effect of TCOFR is such that, when machining on an inclined surface, tool compensations
are considered implicitly as if the tool were standing vertically on the surface.
Note
The tool orientation is not bound strictly to the frame orientation. When a frame is active and
G code TCOABS is active, you can select a tool, whereby the orientation of the tool is
independent of the orientation of the active frame.
Following tool selection, you can change the frame, which does not affect the components of
tool length compensation. It is then no longer certain that the tool is positioned perpendicular
to the machining plane. You should therefore first check that the intended tool orientation is
maintained on an inclined surface.
When TCOFR, etc., is active, the tool orientation used in the tool length calculation is always
determined from the active frame each time the toolholder is changed.
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Toolholder from G code of group 53
The G codes of group 53 (TOFRAME, TOROT, etc.) can be used to define a frame such that an
axis direction (Z, Y or X) in this frame is equal to the current tool orientation.
The G code of group 6 (G17 - G19), which is active at the time TOFRAME is called, determines
the tool orientation.
If no toolholder is active, or if a toolholder is active but does not cause the tool orientation to
change, the Z direction in the new frame is:
The same as the old Z direction with G17.
The same as the old Y direction with G18.
The same as the old X direction with G19.
These directions are modified accordingly for rotating toolholders. The same applies to the
new X and Y directions.
Instead of TOFRAME or TOROT, one of the G codes TOFRAMEX, TOFRAMEY, TOROTX, or
TOROTY can be used. The meanings of the axes are interchanged accordingly.
Group change
Changing the G code from group 42 (TCOABS, TCOFR, etc.) causes recalculation of the tool
length components.
The (programmed) angles of rotation stored in the toolholder data are not affected, with the
result that the angles originally stored in the toolholder data are reactivated on a change from
TCOFR to TCOABS.
Read rotary angle (1 or 2):
The angles currently used to calculate the orientation can be read via system variable
$P_TCANG[n] where n = 1 or n = 2.
If two permissible solutions (i.e. a second valid pair of angles) are available for a particular
orientation, the values can be accessed with $P_TCANG[3] or $P_TCANG[4]. The number of
valid solutions 0 to 2 can be read with $P_TCSOL.
Tool radius compensation with CUT2D or CUT3DFS:
The current tool orientation is included in the tool radius compensation if either CUT2D or
CUT3DFS is active in G-code group 22 (tool compensation type).
For nonrotating toolholders, the behavior depends solely on the active plane of G code group
6 (G17 - G19) and is, therefore, identical to the previous behavior.
All other tool compensation types:
The behavior for all other tool compensation types is unchanged.
For CUT2DF and CUT3DFF in particular, the compensation plane used for TRC is determined
from the active frame, independent of the current tool orientation. Allowance is made for the
active plane (G17 - G19) and the behavior is, therefore, the same as before.
The two remaining G codes of group 22, CUT3DC and CUT3DF, are not affected by the
toolholder functionality because the tool orientation information in these cases is made
available by the active kinematic transformation.
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18.6 Toolholder with orientation capability
Two rotary axes
Two general solutions exist for two rotary axes. The control itself chooses these two solution
pairs such that the orientation angles resulting from the frame are as close as possible to the
specified angles.
The two following options are available for specifying the angles:
1. If $TC_CARR21 or $TC_CARR22 contains a reference to a rotary axis, the position of this
axis at the start of the block in which the toolholder is activated is used to specify the angle.
2. If $TC_CARR21 or $TC_CARR22 does not contain a reference to a rotary axis, the values
contained in $TC_CARR13 or $TC_CARR14 are used.
Example
The control first calculates an angle of 10 degrees for one axis. The specified angle is 750
degrees. 720 degrees (= 2 * 360 degrees) are then added to the initial angle, resulting in a
final angle of 730 degrees.
Rotary axis offset
Rotary axis offsets can be specified with system variables $TC_CARR24 and $TC_CARR25.
A value not equal to zero in one of these parameters means that the initial state of the
associated rotary axis is the position specified by the parameter (and not position zero). All
angle specifications then refer to the coordinate system displaced by this value.
When the machining plane is changed (G17 - G19), only the tool length components of the
active tool are interchanged. The components of the toolholder are not interchanged. The
resulting tool length vector is then rotated in accordance with the current toolholder and, if
necessary, modified by the offsets belonging to the toolholder.
The two toolholder angles 1 and 2 are determined using a frame, independent of the active
plane currently selected (G17 - G19).
Limit values
Limit angles (software limits) can be specified for each rotary axis in the system variable set
($TC_CARR30 to $TC_CARR33) used to describe the toolholder with orientation capability.
These limits are not evaluated if both the minimum and maximum value is zero.
If at least one of the two limits is not equal to zero, the system checks whether the previously
calculated solution is within the permissible limits. If this is not the case, an initial attempt is
made to reach a valid setting by adding or subtracting multiples of 360 degrees to or from the
invalid axis position. If this is impossible and two different solutions exist, the first solution is
discarded and the second solution is used. The second solution is treated the same as the
first with reference to the axis limits.
If the first solution is discarded and the second used instead, the contents of $P_TCANG[1/2]
and $P_TCANG[3/4] are swapped, hence the solution actually used is also stored in
$P_TCANG[1/2] in this case.
The axis limits are monitored even if the axis angle is specified instead of being calculated.
This is the case if TCOABS is active when a toolholder with orientation capability is activated.
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18.6 Toolholder with orientation capability
18.6.6
Programming
Selecting the toolholder
A toolholder is selected with the number m of the toolholder with:
TCARR = m
Access to toolholder data blocks
The following access is possible from the part program:
The current value of the parameter n for the tool holder m is written with the new "value" with::
$TC_CARRn[m] = value
The parameters of a tool holder m can, as far as the toolholder data set is already defined,
read with:
value = $TC_CARRn[m] (Value must be a REAL variable)
The toolholder data set number must lie in the range, which is defined by the machine data:
MD18088 $MN_MM_NUM_TOOL_CARRIER (Total number of toolholder data sets that can
be defined)
This number of toolholder data sets, divided by the number of active channels, can be defined
for a channel.
Exception:
If settings, which deviate from the standard, are selected via the machine data:
MD28085 $MC_MM_LINK_TOA_UNIT (Assignment of TO unit to a channel).
Canceling all toolholder data blocks
All values of all toolholder data sets can be deleted from within the part program using one
command.
$TC_CARR1[0] = 0
Values not set by the user are preset to 0.
Activation
A toolholder becomes active when both a toolholder and a tool have been activated. The
selection of the toolholder alone has no effect. The effect of selecting a toolholder depends on
the G code TCOABS / TCOFR (modal G-code group for toolholders).
Changing the G code in the TCOABS / TCOFR group causes recalculation of the tool length
components when the toolholder is active. With TCOABS, the values stored in the toolholder
data for both angles of rotation 1 and 2 are used to determine the tool orientation.
With TCOFR, the two angles are determined from the current frame. The values stored in the
toolholder data are not changed, however. These are also used to resolve the ambiguity that
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18.6 Toolholder with orientation capability
can result when the angle of rotation is calculated from one frame. Here, the angle that deviates
least from the programmed angle is selected from the various possible angles.
Note
For more explanations on the programming of tool compensations with toolholder kinematic
and for the system variables see:
References:
Programming Manual, Job Planning
18.6.7
Supplementary conditions and control system response for orientation
Full orientation
For a given data set that describes a certain kinematic, all the conceivable special orientations
can only be displayed when the following conditions are satisfied:
The two vectors v1 and v2 that describe the rotary axes must also be defined (i.e. both
vectors must not be equal to zero).
The two vectors v1 and v2 must be perpendicular to each other.
The tool orientation must be perpendicular to the second rotary axis.
Non-defined orientation
If these conditions are not satisfied and an orientation that cannot be achieved by an active
frame is requested with TCOFR, an alarm is output.
Vector/angle of rotation dependencies
If vector v1 or v2, which describes the direction of a rotary axis, is set to zero, the associated
angle of rotation 1 or 2 must also be set to zero. Otherwise, an alarm is produced. The alarm
is not output until the toolholder is activated, i.e. when the toolholder is changed.
Tool fine compensation combined with orientation
Tool fine compensations and toolholders cannot be combined. The activation of tool fine
compensation when a toolholder is active, and vice versa the activation of the toolholder when
tool fine compensation is active, produces an alarm.
Automatic toolholder selection, RESET
For RESET or at program start, a toolholder can be selected automatically via the machine
data:
MD20126 $MC_TOOL_CARRIER_RESET_VALUE (Active toolholder at RESET)
It is handled similar to the controlled selection of a tool via the machine data:
MD20120 $MC_TOOL_RESET_VALUE (Tool length compensation Power up (RESET/TPEnd))
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18.6 Toolholder with orientation capability
The behavior at RESET or at program start is controlled as in the case of tool selection via the
same bit 6 in the machine data:
MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET/TPEnd)
Or:
MD20112 $MC_START_MODE_MASK (definition of initial control system settings at NCSTART)
For further information, see Section "K1: Mode group, channel, program operation, reset
response (Page 455)".
SW 6.3 and higher
If TCOABS was active for the last selection before reset, the behavior is unchanged compared
to previous versions. A different active G code causes the toolholder with orientation capability
to be activated with the frame that was active before the last reset. Modified toolholder data
($TC_CARR...) are also considered. If these data are unchanged, the toolholder is activated
in exactly the same state as before reset. If the toolholder data were changed after the
toolholder selection before reset, selection corresponding to the last frame is not always
possible. In this case, the toolholder with orientation capability is selected according to the GCode (group 42) values valid at this time and the active frame.
MD22530 output of auxiliary functions to PLC
That, optionally, a constant or an M code is output when the toolholder is selected, whose
number of the code is derived from the toolholder number. Can be set with the machine data:
MD22530 $MC_TOCARR_CHANGE_M_CODE (M code at toolholder change)
For further information, see Section "K1: Mode group, channel, program operation, reset
response (Page 455)".
Toolholder kinematics
The following supplementary conditions must be met for toolholder kinematics:
Tool orientation in initial state, both angles 1 and 2 zero, as per default setting, even if:
G17 parallel to Z
G18 Parallel to Y
G19 parallel to Z
A permissible position in terms of the axis limits must be achievable.
For any possible orientation to be set, the two rotary axes must be perpendicular to each
other.
For machines, on which the table is rotated by both axes, the tool orientation must also be
perpendicular to the first rotary axis.
For machines with mixed kinematics, the tool orientation must be perpendicular to the axis
which rotates the tool, i.e. also the first rotary axis.
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The following applies to orientations specified in a frame:
The orientation specified in a frame must be achievable with the defined toolholder
kinematics, otherwise an alarm is output.
This situation can occur if the two rotary axes required to define the kinematics are not
perpendicular to each other.
This applies if fewer than two rotary axes are defined and is the case:
With kinematic type T with rotary tool, if the tool axis, which defines the tool direction,
is not perpendicular to the second axis.
With kinematic types M and P with rotary workpiece, if the tool axis, which defines the
tool direction, is not perpendicular to the first axis.
Rotary axes, which require a frame with a defined tool orientation in order to reach a specific
position, are only determined unambiguously in the case of one rotary axis. Two general
solutions exist for two rotary axes.
In all cases where ambiguities may arise, it is particularly important that the approximate
angles expected from the frame are stored in the tool data, and that the rotary axes are in
the vicinity of the expected positions.
Response with ASUP, REPOS
The toolholder can be changed in an asynchronous subprogram (ASUB). When the interrupted
program is resumed with REPOS, the approach motion of the new toolholder is taken into
account and the program continues with this motion. The treatment here is analogous to tool
change in an ASUB.
For further information, see Section "K1: Mode group, channel, program operation, reset
response (Page 455)".
18.7
Cutting edge data modification for tools that can be rotated
18.7.1
Function
Using the function "cutting data modification for rotatable tools", the changed geometrical
relationships, that are obtained relative to the workpiece being machined when rotating tools
(predominantly turning tools, but also drilling and milling tools) can be taken into account.
18.7.2
Determination of angle of rotation
The current rotation of the tool is always determined from a currently active, orientable
toolholder (see Section "Toolholder with orientation capability (Page 1442)").
The angle of rotation of the toolholder with orientation capability is normally (but not
necessarily) defined with theTCOFR command from an active frame. This method can be used
to define the tool orientation independently of the actual kinematics with which the tool is
rotated, identically in each case with the help of two angles.
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18.7 Cutting edge data modification for tools that can be rotated
The two machine-independent orientation angles (Beta) and (Gamma) are used to define
the tool rotation. is the angle of rotation and the applicate (typically a B axis in G18) and a
rotation around the ordinate (Typically a C axis in G18). The rotation is first executed around
Y, finally around , i.e. the y axis is rotated by the axis:
18.7.3
Cutting edge position, cut direction and angle for rotary tools
Turning tools
Turning tools means the following tools whose tool type ($TC_DP1) has values in the range
of 500 to 599. Grinding tools (tool types 400 to 499) are equivalent to turning tools.
Tools are treated independently of tool type such as turning tools if:
SD42950 $SC_TOOL_LENGTH_TYPE = 2
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18.7 Cutting edge data modification for tools that can be rotated
Cutting edge position and cut direction
Turning tools are limited by their main and secondary cutting edges. The tool parameter
"Cutting edge position" is defined via the position of these two cutting edges relative to the
coordinate axes. The ratios are displayed with diagram in the following figure:
&XWGLUHFWLRQ
/HQJWKRIFXWWLQJHGJH
Figure 18-44 Cutting edge position and cut direction for turning tools
The values 1 to 4 characterize the cases in which both cutting edges lie in the same quadrant;
the values 5 to 8 characterize the cases in which both cutting edges lie in neighboring
quadrants or there is a coordinate axis between the two cutting edges. The cutting edge
position is stored in the tool parameter $TC_DP2.
A cut direction can be defined for each turning tool. It is stored in the tool parameter $TC_DP11.
It has values between 1 and 4, and it characterizes a positive or negative direction of the
coordinate axes:
Value:
1
2
3
4
Meaning:
Ordinate Ordinate +
Abscissa Abscissa +
Two different cut directions can be assigned to each cutting edge position:
1470
Cutting edge position:
Cut direction:
2, 4
2, 3
1, 3
1, 4
1, 2
3, 4
1, 2
3, 4
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18.7 Cutting edge data modification for tools that can be rotated
Holder angle and clearance angle
The following figure depicts the two angles (holder angle and clearance angle) of a turning tool
with cutting edge position 3, that are necessary for describing the geometry of the tool cutting
edge. The cut direction in this example is 3, i.e. it denotes the negative Z direction (abscissa
direction for G18).
3ODWHDQJOH rKROGHUDQJOHIUHHDQJOH
+ROGHUDQJOH 7&B'3
)UHHDQJOH 7&B'3
&XWGLUHFWLRQ
Figure 18-45 Angle and cut direction for a turning tool with cutting edge position 3
The cut direction specifies the reference direction of the holder angle. The clearance angle is
the angle measured between the inverse cut direction and the adjacent cutting edge (positive).
Holder angle and clearance angle are stored in the tool parameters $TC_DP10 or $TC_DP24.
Note
Cut direction and tool angle are relevant only in the cutting edge positions 1 to 8.
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18.7 Cutting edge data modification for tools that can be rotated
18.7.4
Modifications during the rotation of turning tools
Tool orientation
Unlike milling tools, turning tools are not rotation-symmetric. This means that normally 3
degrees of freedom or three rotary axes are required to describe the tool orientation. The
concrete kinematics therefore, is independent of the machine only to the extent the desired
orientation can be set. If necessary, the third degree of freedom can be substituted by a rotation
of the tool coordinate system.
Note
The division of the orientation into one component created by the toolholder with orientation
capability and a second componnet achieved via a rotation of the coordinate system is the
responsibility of the application. The control does not provide any further functionality in this
regard.
Shape of cutting edge
If a turning tool turns by an angle against the machining plane (i.e. around an axis in the
machining plane, typically a C axis) that is not a multiple of 180, then the configuration of the
(circular) tool cutting edge in the machining plane becomes an ellipse. It is assumed that the
deviations from the circular form arising on account of such rotations is so insignificant that
they can be ignored (tilt angle < 5), i.e. the control always ignores the tool orientation and
assumes a circular cutting edge.
This also means that with reference to the active plane, the control accepts only a rotation by
180 as a setting deviating from the initial position. This limitation is valid for the shape of cutting
edge only. The tool lengths are always considered correctly in random spatial rotations.
Cutting edge position, cut direction and angle
A rotation by 180 around an axis in the machining plane means that while using the tool at
the same position, the spindle rotation direction with reference to the use of the unturned tool
must be inverted.
Cut direction and cutting edge position are also not modified like the cutting edge reference
point (see below) if the tool is rotated from the plane by +/- 90 (with a tolerance of app. 1)
because then the configuration of the cutting edge is not defined in the current plane.
If the tool rotates in the plane (rotation around an axis vertical to the machining place or around
the Y axis for G18), the cutting edge position is determined from the resulting angle for the
clearance and holder angles. If these two angles are not specified for the tool (i.e. $TC_DP10
and $TC_DP24 are both zero), then the new cutting edge position is determined from the
turning angle alone. The cutting edge position changes only in 90 steps, i.e. the cutting edge
position remains independent of the initial state either in the value range 1 to 4 or 5 to 8. The
new cutting edge position is then determined exclusively from the angle of rotation if the
specified values for holder angle and clearance angle are not allowed (negative values,
resulting plate angle negative or more than 90). Clearance angle and holder angle are not
modified in all these cases.
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18.7 Cutting edge data modification for tools that can be rotated
Depending on the rotation, the cut direction is modified in such a way that the resulting
clearance angle remains less than 90. If the original cut direction and the original cutting edge
position do not match, then the cut direction is not modified during rotation of the tool (see
Section "Cutting edge position, cut direction and angle for rotary tools (Page 1469)").
The angle of rotation in the plane, as it was determined from the toolholder with orientation
capability, is available in the system variable $P_CUTMOD_ANG or $AC_CUTMOD_ANG.
This angle is the original angle without any final rounding to multiples of 45 or 90.
Limit cases
If, for a turning tool, the cutting edge position, cut direction , clearance and holder angles have
valid values so that all cutting edge positions (1 to 8) are possible through suitable rotations
in the plane, then the cutting edge positions 1 to 4 are preferred to cutting edge positions 5 to
8 in the cases in which one of the cutting edges (main or secondary cutting edge) is away from
the coordinate axis by less than half the input increment ((0.0005 for an input specification of
3 decimal digits).
The following is applicable in all other cases (milling tools or turning tools without valid cutting
edge parameters) in which rotation is possible only in 90 steps: If the amount of the rotation
angle is smaller than 45 + 0.5 input increments (corresponds to 45.0005 for an input
specification of three decimal places), the cutting edge position and cut direction are not
changed, i.e. these cases are treated as rotations that are smaller than 45. Rotations, the
amount of which deviates from 180 by less than 45 + 0.5 input increments are treated
identically as rotations in the range of 135 to 225.
Cutting edge reference point
The cutting edge center point and the cutting edge reference point are defined for turning tools.
The position of these two points relative to each other is defined by the cutting edge position.
The distance of the two points for cutting edge positions 1 to 4 is equal to 2 times the cutting
edge radius; for cutting edge positions 5 to 8 it is equal to 1 times the cutting edge radius. In
the first case, the cutting edge reference point relative to the cutting edge center point lies in
the machining plane on a bisecting line, while in the second case it lies on a coordinate axis.
If your rotate the tool by a random angle around an axis vertical to the machining plane, the
the cutting edge reference point would also rotate if it had a fixed position relative to the tool.
The above-mentioned condition (position on an axis or a bisecting axis) is not fulfilled in most
cases. This is not desirable. Instead, the cutting edge reference point should always be
modified in such a way that the distance vector between cutting edge reference point and
cutting edge center point has one of the mentioned 8 directions. The cutting edge position
must be modified for this if necessary.
The ratios are shown with examples in the figure below:
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18.7 Cutting edge data modification for tools that can be rotated
QHZFXWWLQJHGJHUHIHUHQFHSRLQW
6/
FXWWLQJHGJHUHIHUHQFHSRLQW
6/
6/
ROGFXWWLQJUHIHUHQFHSRLQW
Figure 18-46 Cutting edge reference point and cutting edge position (SL) for tool rotation
A tool with the cutting edge position 3, the clearance angle 22.5 and holder angle 112.5 is
rotated. For rotations up to 22.5, the cutting edge position is maintained, the position of the
cutting edge reference point relative to the tool however, is compensated in such a way that
the relative position of both points are maintained in the machining plane. For bigger rotations
(up to 67.5), the cutting edge position changes to value 8.
Note
As the cutting edge reference point is defined by the tool length vector, modifying the cutting
edge reference point changes the effective tool length.
18.7.5
Cutting edge position for milling and tapping tools
Milling and tapping tools
Milling and tapping tools means the following tools whose tool type ($TC_DP1) has values in
the range of 100 to 299.
Tools are treated independently of tool type such as milling and tapping tools if:
SD42950 $SC_TOOL_LENGTH_TYPE = 1
Length of cutting edge
A cutting edge position is also introduced for the so defined milling and tapping tools which is
modified according to the following description, in case of rotations.
Any specified cutting edge position for tools that are not milling and tapping tools or turning
tools according to the mentioned definitions, is not evaluated.
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The cutting edge position of the tapping and milling tools is stored in tool parameter $TC_DP2
as in the case of turning tools. Based on the definition of the cutting edge position for turning
tools, this parameter can assume the values 5 to 8. Here, the cutting edge position specifies
the orientation (the direction of the rotation axis) of the tool:
Length of cutting edge
Direction of rotation axis of tool
Abscissa +
Ordinate +
Abscissa -
Ordinate -
Example
Figure 18-47 Milling tool with cutting edge position 7
18.7.6
Modifications during rotation of milling and tapping tools
The cutting edge position is recalculated appropriately during a rotation of a milling or tapping
tool. Cut direction and tool angle (clearance angle or holder angle) are not defined for milling
and tapping tools so that the change in cutting edge position is derived exclusively from the
rotation. Thus, for milling and tapping tools, the cutting edge position always changes when
the amount of rotation with reference to the zero setting is more than 45.
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18.7 Cutting edge data modification for tools that can be rotated
18.7.7
Parameter assignment
Reaction to errors
Different fault conditions can occur during the activation of the "Cutting edge data modification
for rotary tools" function (via explicit call with CUTMOD or through a tool selection).
For each of these possible fault conditions, one can define whether the error is to trigger an
alarm output, whether such an alarm is only to be displayed (warning), or whether additionally
the interpretation of the part program must be cancelled. The setting is done via the following
machine data:
MD20125 $MC_CUTMOD_ERR
Two bits of the machine data are assigned to each fault condition:
Fault condition
Bit
Description
No valid cut direction is defined for
the active tool.
Alarm output for error "Invalid cut direction"
Program stop for error "Invalid cut direction"
Alarm output for error "Not defined cutting edge angle"
Program stop for error "Not defined cutting edge angle"
The cutting edge angle (clearance
angle and holder angle) of the active
tool are both zero.
The clearance angle of the active
4
tool has an impermissible value (< 0 5
or > 180).
Alarm output for error "Invalid clearance angle"
The holder angle of the active tool
has an impermissible value (< 0 or
> 90).
Alarm output for error "Invalid holder angle"
Program stop for error "Invalid holder angle"
The plate angle of the active tool has
an impermissible value (< 0 or
> 90).
Alarm output for error "Invalid plate angle"
Program stop for error "Invalid plate angle"
Program stop for error "Invalid clearance angle"
The cutting edge position - holder
10
angle combination of the active tool
is not permitted (the holder angle
11
must be 90 for cutting edge posi
tion 1 to 4; for cutting edge positions
5 to 8 it must be 90).
Alarm output for error "Invalid cutting edge position - hold
er angle combination"
Inadmissible rotation of the active
tool (the tool was rotated from the
active machining plane by 90
(with a tolerance of about 1). Hence
the cutting edge position is no longer
defined in the machining plane.
12
Alarm output for error "Invalid rotation"
13
Program stop for error "Invalid rotation"
Program stop for error "Invalid cutting edge position holder angle combination"
Response to POWER ON
The "cutting edge data modification for rotary tools" function (CUTMOD) is initialized
automatically during POWER ON with the value stored in machine data:
MD20127 $MC_CUTMOD_INIT
If the value of this machine data is "-2", CUTMOD is set to the value that is set in machine data:
MD20126 $MC_TOOL_CARRIER_RESET_VALUE (Active toolholder at RESET)
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18.7 Cutting edge data modification for tools that can be rotated
18.7.8
Programming
The "Cutting edge data modification for rotary tools" function is activated with the CUTMOD
command.
Syntax
CUTMOD=<value>
Meaning
CUTMOD
<value>
Command to switch-in the function "cutting data modification for tools that can be
rotated"
The following values can be assigned to the CUTMOD command:
0
The function is deactivated.
The values supplied from system variables $P_AD... are the same as the
corresponding tool parameters.
>0
The function is activated if a toolholder that can be orientated with the
specified number is active, i.e. the activation is linked to a specific tool
holder that can be orientated.
The values supplied from system variables $P_AD... may be modified
with respect to the corresponding tool parameters depending on the ac
tive rotation.
The deactivation of the designated toolholder that can be orientated tem
porarily deactivates the function; the activation of another toolholder that
can be orientated permanently deactivates it. This is the reason that in
the first case, the function is re-activated when again selecting the same
toolholder that can be orientated; in the second case, a new selection is
required - even if at a subsequent time, the toolholder that can be orien
tated is re-activated with the specified number.
The function is not influenced by a reset.
-1
The function is always activated if a toolholder that can be orientated is
active.
When changing the toolholder or when de-selecting it and a subsequent
new selection, CUTMOD does not have to be set again.
-2
The function is always activated if a toolholder that can be orientated is
active whose number is the same as the currently active toolholder that
can be orientated.
If a toolholder that can be orientated is not active, then this has the same
significance as CUTMOD=0.
If a toolholder that can be orientated is active, then this has the same
significance as when directly specifying the actual toolholder number.
< -2
Values less than 2 are ignored, i.e. this case is treated as if CUTMOD was
not programmed.
Note:
This value range should not be used as it is reserved for possible subse
quent expansions.
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18.7 Cutting edge data modification for tools that can be rotated
Note
SD42984 $SC_CUTDIRMOD
The function that can be activated using the CUTMOD command replaces the function that can
be activated using the setting data SD42984 $SC_CUTDIRMOD. However, this function
remains available unchanged, because it doesn't make sense to use both functions in parallel,
it can only be activated if CUTMOD is equal to zero.
Effectiveness of the modified cutting data
The modified tool nose position and the modified tool nose reference point are immediately
effective when programming, even for a tool that is already active. A tool does not have to be
re-selected for this purpose.
Influence of the active machining plane
To determine modified tool nose position, cutting direction and holder or clearance angle, the
evaluation of the cutting edge in the active plane (G17 - G19) is decisive.
However, if setting data SD42940 $SC_TOOL_LENGTH_CONST (change of the tool length
component when selecting the plane), contains a valid value not equal to zero (plus or minus
17, 18 or 19), then its contents define the plane in which the relevant quantities are
evaluated.
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18.7 Cutting edge data modification for tools that can be rotated
System variables
The following system variables are available:
System variables
Meaning
$P_CUTMOD_ANG /
$AC_CUTMOD_ANG
Supplies the (non-rounded) angle in the active machining plane that was
used as basis for the modification of the cutting data (tool nose position,
cut direction, clearance angle and holder angle) for the functions activated
using CUTMOD and/or $SC_CUTDIRMOD.
$P_CUTMOD_ANG refers to the actual state in the preprocessing,
$AC_CUTMOD_ANG to the actual main run block.
$P_CUTMOD /
$AC_CUTMOD
Reads the currently valid value that was last programmed using the com
mand CUTMOD (number of the toolholder that should be activated for the
cutting data modification).
If the last programmed CUTMOD value = -2 (activation with the currently
active toolholder that can be orientated), then the value -2 is not returned
in $P_CUTMOD, but the number of the active toolholder that can be ori
entated at the time of programming.
$P_CUTMOD refers to the actual state in the preprocessing, $AC_CUT
MOD to the actual main run block.
$P_CUT_INV /
$AC_CUT_INV
Supplies the value TRUE if the tool is rotated so that the spindle direction
of rotation must be inverted. To do this, the following four conditions must
be fulfilled in the block to which the read operations refer:
1. If a turning or grinding tool is active
(tool types 400 to 599 and / or
SD42950 $SC_TOOL_LENGTH_TYPE = 2).
2. If the cutting influence was activated using the language command
CUTMOD.
3. If a toolholder that can be orientated is active, which was designated
using the numerical value of CUTMOD.
4. If the toolholder that can be orientated rotates the tool around an axis
in the machining plane (this is typically the C axis) so that the resulting
perpendicular of the tool cutting edge is rotated with respect to the initial
position by more than 90 (typically 180).
The contents of the variable is FALSE if at least one of the specified four
conditions is not fulfilled. For tools whose tool nose position is not defined,
the value of the variable is always FALSE.
$P_CUT_INV refers to the actual state in the preprocessing and
$AC_CUT_INV to the actual main run block.
All main run variables ($AC_CUTMOD_ANG, $AC_CUTMOD and $AC_CUT_INV) can be read
in synchronized actions. A read access operation from the preprocessing generates a
preprocessing stop.
Modified cutting data
If a tool rotation is active, the modified data is made available in the following system variables:
System variable
Meaning
$P_AD[2]
Cutting edge position
$P_AD[10]
Holder angle
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18.7 Cutting edge data modification for tools that can be rotated
System variable
Meaning
$P_AD[11]
Cut direction
$P_AD[24]
Clearance angle
Note
The data is always modified with respect to the corresponding tool parameters
($TC_DP2[..., ...] etc.) if the function "cutting data modification for rotatable tools" was activated
using the command CUTMOD and a toolholder that can be orientated, which causes a rotation,
is activated.
18.7.9
Example
The following example refers to a tool with tool nose position 3 and a toolholder that can be
orientated, which can rotate the tool around the B axis.
The numerical values in the comments specify the end of block positions in the machine
coordinates (MCS) in the sequence X, Y, Z.
Program code
Comment
N10 $TC_DP1[1,1]=500
N20 $TC_DP2[1,1]=3
; Length of cutting edge
N30 $TC_DP3[1,1]=12
N40 $TC_DP4[1,1]=1
N50 $TC_DP6[1,1]=6
N60 $TC_DP10[1,1]=110
; Holder angle
N70 $TC_DP11[1,1]=3
; Cut direction
N80 $TC_DP24[1,1]=25
; Clearance angle
N90 $TC_CARR7[2]=0 $TC_CARR8[2]=1 $TC_CARR9[2]=0
; B axis
N100 $TC_CARR10[2]=0 $TC_CARR11[2]=0 $TC_CARR12[2]=1
; C axis
N110 $TC_CARR13[2]=0
N120 $TC_CARR14[2]=0
N130 $TC_CARR21[2]=X
N140 $TC_CARR22[2]=X
N150 $TC_CARR23[2]="M"
N160 TCOABS CUTMOD=0
N170 G18 T1 D1 TCARR=2
; 12.000
0.000
1.000
N210 X0 Y0 Z0
; 10.892
0.000
-5.134
N220 G42 Z10
; 8.696
0.000
17.330
N180 X0 Y0 Z0 F10000
N190 $TC_CARR13[2]=30
N200 TCARR=2
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Program code
Comment
N230 Z20
; 8.696
0.000
21.330
N240 X10
; 12.696
0.000
21.330
N250 G40 X20 Z0
; 30.892
0.000
5.134
N260 CUTMOD=2 X0 Y0 Z0
; 8.696
0.000
7.330
N270 G42 Z10
; 8.696
0.000
17.330
N280 Z20
; 8.696
0.000
21.330
N290 X10
; 12.696
0.000
21.330
N300 G40 X20 Z0
; 28.696
0.000
7.330
N310 M30
Explanations:
In block N180, initially the tool is selected for CUTMOD=0 and non-rotated toolholders that can
be orientated. As all offset vectors of the toolholder that can be orientated are 0, the position
that corresponds to the tool lengths specified in $TC_DP3[1,1] and $TC_DP4[1,1] is
approached.
The toolholder that can be orientated with a rotation of 30 around the B axis is activated in
block N200. As the tool nose position is not modified due to CUTMOD=0, the old tool nose
reference point is decisive just as before. This is the reason that in block N210 the position is
approached, which keeps the old tool nose reference point at the zero (i.e. the vector (1, 12)
is rotated through 30 in the Z/X plane).
In block N260, contrary to block N200 CUTMOD=2 is effective. As a result of the rotation of the
toolholder that can be orientated, the modified tool nose position becomes 8. The consequence
of this is also the different axis positions.
The tool radius compensation (TRC) is activated in blocks N220 and/or N270. The different
tool nose positions in both program sections has no effect on the end positions of the blocks
in which the TRC is active; the corresponding positions are therefore identical. The different
tool nose positions only become effective again in the deselect blocks N260 and/or N300.
18.8
Incrementally programmed compensation values
18.8.1
G91 extension
Requirements
Incremental programming with G91 is defined such that the compensation value is traversed
additively to the incrementally programmed value when a tool compensation is selected.
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18.8 Incrementally programmed compensation values
Applications
For applications such as scratching, it is necessary only to traverse the path programmed in
the incremental coordinates. The activated tool compensation is not traversed.
Sequence
Selection of a tool compensation with incremental programming
Scratch workpiece with tool tip.
Save the actual position in the basic frame (set actual value) after reducing it by the tool
compensation.
Traverse incrementally from the zero position.
Activation
It is possible to set whether a changed tool length is traversed with FRAME and incremental
programming of an axis, or whether only the programmed path is traversed with the setting
data:
SD42442 $SC_TOOL_OFFSET_INCR_PROG (tool length compensations)
Zero offset / frames G91
It is possible to set whether a zero offset is traversed as standard with value = 1 with FRAME
and incremental programming of an axis, or whether only the programmed path is traversed
with value = 0 with the setting data:
SD42440 $SC_FRAME_OFFSET_INCR_PROG (zero offset in frames)
For further information, see Section "K2: Axis Types, Coordinate Systems, Frames
(Page 661)".
Supplementary condition
If the behavior is set such that the offset remains active even after the end of the program and
RESET
MD20110 $MC_RESET_MODE_MASK, bit6=1 (specification of the controller initial setting
after reset / TP end)
and if an incremental path is programmed in the first part program block, the compensation is
always traversed additively to the programmed path.
Note
With this configuration, part programs must always begin with absolute programming.
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18.8.2
Machining in direction of tool orientation
Typical application
On machines with toolholders with orientation capability, traversing should take place in the
tool direction (typically, when drilling) without activating a frame (e.g., using TOFRAME or
TOROT), on which one of the axes points in the direction of the tool.
This is also true of machines on which a frame defining the oblique plane is active during
oblique machining operations, but the tool cannot be set exactly perpendicular because an
indexed toolholder (Hirth tooth system) is restricting the setting of the tool orientation.
In these cases it is then necessary - contrary to the motion actually requested perpendicular
to the plane - to drill in the tool direction, as the drill would otherwise not be guided in the
direction of its longitudinal axis, which, among other things, would lead to breaking of the drill.
MOVT
The end point of such a motion is programmed with MOVT= .... The programmed value is
effective incrementally in the tool direction as standard. The positive direction is defined from
the tool tip to the toolholder. The content of MOVT is thus generally negative for the infeed
motion (when drilling), and positive for the retraction motion. This corresponds to the situation
with normal paraxial machining, e.g., with G91Z ....
If the motion is programmed in the form MOVT=AC( ...), MOVT functions absolutely. In this
case a plane is defined, which runs through the current zero point, and whose surface normal
vector is parallel to the tool orientation. MOVT then gives the position relative to this plane:
7RRO
=
$X[LOLDU\SODQH
0297 $&
Figure 18-48 Definition of the position for absolute programming of a motion in tool direction
The reference to this auxiliary plane serves only to calculate the end position. Active frames
are not affected by this internal calculation.
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Instead of MOVT= ... it is also possible to write MOVT=IC( ...) if it is to be plainly visible
that MOVT is to function incrementally. There is no functional difference between the two forms.
Supplementary conditions
The following supplementary conditions apply to programming with MOVT:
It is independent of the existence of a toolholder with orientation capability. The direction
of the motion is dependent on the active plane. It runs in the direction of the vertical axes,
i.e., with G17 in Z direction, with G18 in Y direction and with G19 in X direction. This applies
both where no toolholder with orientation capability is active and for the case of a toolholder
with orientation capability without rotary tool or with a rotary tool in its basic setting.
MOVT acts similarly for active orientation transformation (345axis transformation).
If in a block with MOVT the tool orientation is changed simultaneously (e.g., active 5axis
transformation by means of simultaneous interpolation of the rotary axes), the orientation
at the start of the block is decisive for the direction of movement of MOVT. The path of the
tool tip (TCP - Tool Center Point) is not affected by the change in orientation.
Linear or spline interpolation (G0, G1, ASPLINE, BSPLINE, CSPLINE) must be active.
Otherwise, an alarm is produced. If a spline interpolation is active, the resultant path is
generally not a straight line, since the end point determined by MOVT is treated as if it had
been programmed explicitly with X, Y, Z.
A block with MOVT must not contain any programming of geometry axes (alarm 14157).
18.9
Basic tool orientation
Application
Normally, the orientation assigned to the tool itself depends exclusively on the active machining
plane. For example, the tool orientation is parallel to Z with G17, parallel to Y with G18 and
parallel to X with G19.
Different tool orientations can only be programmed by activating a 5axis transformation. The
following system variables have been introduced in order to assign a separate orientation to
each tool cutting edge:
System variable
Description of tool orientation
Format
Preassignment
$TC_DPV[t, d]
Tool cutting edge orientation
INT
$TC_DPV3[t, d]
L1 component of tool orientation
REAL
$TC_DPV4[t, d]
L2 component of tool orientation
REAL
$TC_DPV5[t, d]
L3 component of tool orientation
REAL
Indexing:
t:
d:
1484
Same as tool system variable $TC_DPx[t, d]
T number of cutting edge
D number of cutting edge
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18.9 Basic tool orientation
Identifiers $TC_DPV3 to $TC_DPV5 are analogous to identifiers $TC_DP3 to $TC_DP5 of the
tool length components.
MD18114
The system variables for describing the tool orientation are only available if machine data is
not equal to zero:
MD18114 $MN_MM_ENABLE_TOOL_ORIENT (assign orientation to tool cutting)
MD18114 $MN_MM_ENABLE_TOOL_ORIENT
Value = 1
Only system variable $TC_DPV[t, d] is available.
Value = 2
All four system variables are available.
Define direction vector
If all four system variables contain 0, the orientation is defined only by the active plane (as
before).
If system variable $TC_DPV[t, d] is equal to zero, the other three parameters - if available define a direction vector. The amount of the vector is insignificant.
Example:
$TC_DPV[1, 1] = 0
$TC_DPV3[1, 1] = 1.0
$TC_DPV4[1, 1] = 0.0
$TC_DPV5[1, 1] = 1.0
In this example, the basic orientation points in the direction of the bisector in the L1L3 plane,
i.e., the basic orientation in the bisector for a milling tool and active plane G17 lies in the Z/X
plane.
Basic orientation of tools
Basic orientation of:
With :
Turning and grinding tools
G18
Milling tools
G17
The active tool orientation is unchanged in these cases and is equivalent to the original settings
in $TC_DPVx[t, d].
The basic orientation is always the direction perpendicular to the plane in which tool radius
compensation is performed. With turning tools, in particular, the tool orientation generally
coincides with the longitudinal tool axis.
The setting data specified below are effective only if the basic orientation of the tool is defined
by an entry in at least one of the system variables $TC_DPVx[t, d].
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18.9 Basic tool orientation
They have no effect if the tool orientation is only determined by the plane selection G17 G19 and is compatible with previous behavior.
The plane of the basic orientation for a cutting edge is treated either like a milling tool or like
a turning tool, irrespective of the entry in $TC_DP1, if the following setting data is not equal to
zero:
SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length components independent
of tool type)
Plane change
A change of plane causes a change in orientation.
The following rotations are initiated:
When changing from:
Rotations
G17 G18:
Rotation through -90 degrees about the Z axis fol
lowed by rotation through -90 degrees about the X axis
G18 G19:
G19 G17:
G17 G19:
G18 G17:
Rotation through 90 degrees about the X axis fol
lowed by rotation through 90 degrees about the Z axis
G19 G18:
These rotations are the same as those that have to be performed in order to interchange the
components of the tool length vector on a change of plane.
The basic orientation is also rotated when an adapter transformation is active.
If the following setting data is not equal to zero, the tool orientation is not rotated on a change
of plane:
SD42940 $SC_TOOL_LENGTH_CONST (change of tool length components on change of
planes).
Tool length components
The components of the tool orientation are treated the same as the components of the tool
length, with respect to setting data:
SD42910 $SC_MIRROR_TOOL_LENGTH (Sign change tool wear when mirroring).
SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length components independent
of tool type)
Therefore the components are changed respectively and assigned to the geometry axis.
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18.9 Basic tool orientation
System variable $TC_DPV[t, d]
The purpose of system variable $TC_DPV[t, d] is to allow the simple specification of certain
basic orientations (parallel to coordinate axes) that are required frequently. The permissible
values are shown in the table below. The values in the first and second/third columns are
equivalent.
$TC_DPV[t, d]
Basic orientation
Milling tools *
Turning tools *
0 or > 6
($TC_DPV5[t, d],
$TC_DPV4[t, d],
$TC_DPV3[t, d],) **
($TC_DPV3[t, d],
$TC_DPV5[t, d],
$TC_DPV4[t, d],) **
(0, 0, V)
(0, V, 0)
(0, V, 0)
(0, 0, V)
(V, 0, 0)
(V, 0, 0)
(0, 0, -V)
(0, -V, 0)
(0, -V, 0)
(0, 0, -V)
(-V, 0, 0)
(-V, 0, 0)
Turning tools in this context are any tools whose tool type ($TC_DP1[t, d]) is between 400 and
599. All other tool types refer to milling tools.
**
If all three values $TC_DPV3[t, d], $TC_DPV4[t, d], $TC_DPV5[t, d] are equal to zero in this
case, the tool orientation is determined by the active machining plane (default).
Stands for a positive value in the corresponding system variables.
Example:
For milling tools:
$TC_DPV[t, d] = 2 is equal to:
$TC_DPV3[t, d] = 0, $TC_DPV4[t, d] = 0, $TC_DPV5[t, d] = V.
Supplementary conditions
If the "Scratch" function is used in the RESET state, the following must be noted with respect
to the initial setting:
The wear components are evaluated depending on the initial settings of the G-code groups
TOWSTD, TOWMCS and TOWWCS.
If a value other than the initial setting is needed to ensure correct calculation, scratching
may be performed only in the STOP state.
Note
"Special handling of tool compensations" pays particular attention to tool compensations
with evaluation of sign for tool length with wear and temperature fluctuations.
The following are taken into account:
Tool type
Transformations for tool components
Assignment of tool length components to geometry axes independently of tool type
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18.10 Special handling of tool compensations
18.10
Special handling of tool compensations
18.10.1
Relevant setting data
SD42900- 42960
Setting data SD42900 - SD42940 can be used to make the following settings with reference
to tool compensation:
Sign of the tool length
Sign of the wear
Behavior of the wear components when mirroring geometry axes
Behavior of the wear components when changing the machining plane via setting data
Allocation of the tool length components independent of actual tool type
Transformation of wear components into a suitable coordinate system for controlling the
effective tool length
Note
In the following description, the wear includes the total values of the following components:
Wear values: $TC_DP12 to $TC_DP20
Sum offset, consisting of:
Wear values: $SCPX3 to $SCPX11
Setup values: $ECPX3 to $ECPX11
You will find detailed information about sum and tool offsets in:
References:
Function Manual Tool Management
Programming Manual. Fundamentals; Tool Offsets
Required setting data
SD42900 $SC_MIRROR_TOOL_LENGTH (mirroring of tool length components and
components of the tool base dimension)
SD42910 $SC_MIRROR_TOOL_WEAR (mirroring of wear values of tool length
components)
SD42920 $SC_WEAR_SIGN_CUTPOS (sign evaluation of the wear components)
SD42930 $SC_WEAR_SIGN (inverts the sign of the wear dimensions)
SD42940 $SC_TOOL_LENGTH_CONST (allocation of the tool length components to the
geometry axes)
SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length components
independent of tool type)
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18.10 Special handling of tool compensations
SD42935 $SC_WEAR_TRANSFORM (transformation of wear values)
SD42960 $SC_TOOL_TEMP_COMP (tool length offsets)
18.10.2
Mirror tool lengths (SD42900 $SC_MIRROR_TOOL_LENGTH)
Activation
Tool length mirroring is activated via the setting data:
SD42900 $SC_MIRROR_TOOL_LENGTH <> 0 (TRUE) (Sign change tool length when
mirroring)
Function
The following components are mirrored by inverting the sign:
Tool lengths: $TC_DP3, $TC_DP4, $TC_DP5
Tool base dimensions: $TC_DP21, $TC_DP22, $TC_DP23
Mirroring is performed for all tool base dimensions whose associated axes are mirrored. Wear
values are not mirrored.
Mirror wear values
The following setting data should be set in order to mirror the wear values:
SD42910 $SC_MIRROR_TOOL_WEAR <> 0 (Sign change tool wear when mirroring)
Inverting the sign mirrors the wear values of the tool length components whose associated
axes are mirrored.
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Figure 18-49 Application example: Double-spindle turning machine
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18.10 Special handling of tool compensations
18.10.3
Mirror wear lengths (SD42920 $SC_WEAR_SIGN_CUTPOS)
Activation
Wear length mirroring is activated by:
SD42920 $SC_WEAR_SIGN_CUTPOS <> 0 (TRUE) (Sign of wear for tools with cutting edge
systems)
Function
Length of cutting edge
Length 1
Length 2
---
---
---
Inverted
Inverted
Inverted
Inverted
---
---
---
---
---
---
Inverted
Inverted
---
---
---
In the case of tool types without a relevant cutting edge position, the wear length is not mirrored.
Note
The mirroring (sign inversion) in one or more components can cancel itself through a
simultaneous activation of the functions:
Tool length-mirroring (SD42900 <> 0)
And:
Tool length-mirroring (SD42920 <> 0)
SD42930 $SC_WEAR_SIGN
Setting data not equal to zero:
Inverts the sign of all wear dimensions. This affects both the tool length and other variables
such as tool radius, rounding radius, etc.
Entering a positive wear dimension makes the tool "shorter" and "thinner".
Activation of modified setting data
When the setting data described above are modified, the tool components are not reevaluated
until the next time a tool edge is selected. If a tool is already active and the data of this tool
are to be reevaluated, the tool must be selected again.
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Example:
N10 $SC_WEAR_SIGN = 0
; No sign inversion of the wear values
N20 $TC_DP1[1,1] = 120
; End mill
N30 $TC_DP6[1,1] = 100
; Tool radius 100 mm
N40 $TC_DP15[1,1] = 1
; Wear dimension of tool radius 1 mm, resulting
tool radius 101 mm
N100 T1 D1 G41 X150 Y20
....
N150 G40 X300N10
....
N200 $SC_WEAR_SIGN = 1
; Sign inversion for all wear values; the new radius of 99 mm is activated on a new selection
(D1). Without D1, the radius would continue to
be 101 mm.
N300 D1 G41 X350 Y-20
N310 ....
The same applies in the event that the resulting tool length is modified due to a change in the
mirroring status of an axis. The tool must be selected again after the mirror command, in order
to activate the modified tool-length components.
18.10.4
Tool length and plane change (SD42940 $SC_TOOL_LENGTH_CONST)
Plane change
The assignment of tool length components (length, wear and tool base dimension) to geometry
axes does not change when the machining plane is changed (G17G19).
Assignment of tools
The assignment of tool length components to geometry axes for turning and grinding tools
(tool types 400 to 599) is generated from the value of the following setting data in accordance
with the following table:
SD42940 $SC_TOOL_LENGTH_CONST (change of tool length components on change of
planes).
Layer
Length 1
Length 2
Length 3
17
*)
19
-17
-18
-19
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18.10 Special handling of tool compensations
Layer
Length 1
Length 2
Length 3
*) Each value not equal to 0 and not equal to one of the six listed values is evaluated as value 18.
The following table shows the assignment of tool length components to geometry axes for all
other tools (tool types < 400 or > 599):
Layer
Length 1
Length 2
Length 3
*)
18
19
-17
-18
-19
*) Each value not equal to 0 and not equal to one of the six listed values is evaluated as value 17.
Note
For representation in tables, it is assumed that geometry axes 1 to 3 are named X, Y, Z. The
axis order and not the axis name determines the assignment between a compensation and
an axis.
Three tool length components can be arranged on the six different types above.
18.10.5
Tool type (SD42950 $SC_TOOL_LENGTH_TYPE)
Characteristics
Definition of the assignment between tool length components (length, wear and tool base
dimension) and geometry axes independent of tool type.
Setting data not equal to zero: (the default definition is applied)
A distinction is made between turning and grinding tools (tool types 400 to 599) and other tools
(milling tools).
The value range is from 0 to 2. Any other value is interpreted as 0.
The assignment of tool length components is always independent of the actual tool type.
With value = 1: Always as for milling tools
With value = 2: Always as for turning tools
Toolholder with orientation capability
Setting data SD42900 - SD42950
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Setting data SD42900 - SD42950 have no effect on the components of an active toolholder
with orientation capability. The calculation with a toolholder with orientation capability always
allows for a tool with its total resulting length (tool length + wear + tool base dimension). The
calculation of the resulting total length allows for all modifications caused by the setting data.
Note
When toolholders with orientation capability are used, it is common to define all tools for a nonmirrored basic system, even those, which are only used for mirrored machining. When
machining with mirrored axes, the toolholder is then rotated such that the actual position of
the tool is described correctly. All tool-length components then automatically act in the correct
direction, dispensing with the need for control of individual component evaluation via setting
data, depending on the mirroring status of individual axes.
The use of toolholders with orientation capability is also practical if the physical characteristics
of the machine type prevents tools, which are permanently installed with different orientations,
from being rotated. Tool dimensioning can then be performed uniformly in a basic orientation,
where the dimensions relevant for machining are calculated according to the rotations of a
virtual toolholder.
18.10.6
Tool lengths in the WCS, allowing for the orientation
Change tool or working plane
The values displayed for the tool correspond to the expansion in the WCS. If a toolholder with
an inclined clamping position is to be used, you should make sure that the transformation used
supports the toolholder. If this is not the case, incorrect tool dimensions will be displayed. When
changing the working plane from G17 to G18 or G19, you should ensure that the transformation
can also be used for these working planes. If the transformation is only available for G17
machining, the dimensions continue to be displayed for a tool in the Z direction after the plane
change.
When transformation is deactivated, the basic tool is displayed in the x, y or z direction,
according to the working plane. Allowance is made for a programmed toolholder. These tool
dimensions are not altered when traversing without a transformation.
18.10.7
Tool length offsets in tool direction
Temperature compensation in real time
On 5-axis machines with a moving tool, temperature fluctuations can occur in the machining
heads. These can result directly in expansion fluctuations which are transmitted to the tool
spindle in the form of linear expansion. A typical case on 5-axis heads, for example, is thermal
expansion in the direction of the longitudinal spindle axis.
It is possible to compensate this thermal expansion even when the tool is orientated by
assigning the temperature compensation values to the tool rather than to the machine axes.
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18.10 Special handling of tool compensations
In this way, linear expansion fluctuations can be compensated even when the tool orientation
changes.
Using the orientation transformation whose direction is determined by the current tool
orientation, it is possible to overlay motions in real time and rotate them simultaneously. At the
same time, the compensation values are adjusted continuously in the tool coordinate system.
The temperature compensation only becomes effective if the axis to be compensated is really
referenced.
Activation
The temperature compensation in the tool direction is activated by setting the following
machine data to a value not equal to zero.
MD20390 $MC_TOOL_TEMP_COMP_ON (activation of temperature compensation for tool
length)
In addition, bit 2 must be set for each affected channel axis in the machine data:
MD32750 $MA_TEMP_COMP_TYPE [<axis index>] (temperature compensation type)
This can be more than three axes in cases where more than three channel axes in succession
can be temporarily assigned to geometry axes as a result of geometry axis replacement of
transformation switchover. If this bit is not set for a particular channel axis, the compensation
value cannot be applied in the axis. This does not have any effect on other axes. In this case,
an alarm is not output.
Applicability
The temperature compensation in the tool direction is only effective with generic 5-axis
transformations with:
Transformation type 24
Two axes rotate the tool
Transformation type 56
One axis rotates the tool, the other axis rotates the workpiece without temperature
compensation
In generic 5-axis transformation with:
Transformation type 40
The tool orientation is constant with a rotary workpiece, which means that the motion of the
rotary axes on the machine does not affect the temperature compensation direction.
Temperature compensation in the tool direction also works in conjunction with orientation
transformations (not generic 5-axis transformations) with:
Transformation type 64 to 69
Rotating linear axis
Note
Temperature compensation can be activated with all other types of transformation. It is not
affected by a change in tool orientation. The axes move as if no orientation transformation
with temperature compensation were active.
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Limit values
The compensation values are restricted to the maximum values by the machine data:
MD20392 $MC_TOOL_TEMP_COMP_LIMIT[0...2] (maximum temperature compensation for
tool length)
The limit value default setting is 1 mm. If a temperature compensation value higher than this
limit is specified, it will be limited without an alarm.
SD42960
The three temperature compensation values together form a compensation vector and are
contained in setting data:
SD42960 $SC_TOOL_TEMP_COMP[0...2] (temperature compensation with reference to
tools)
The setting data is user-defined, e.g. using synchronized actions or from the PLC. The
compensation values can, therefore, also be used for other compensation purposes.
In the initial state or when orientation transformation is deactivated, all three compensation
values apply in the direction of the three geometry axes (in the typical order X, Y, Z). The
assignment of components to geometry axes is independent of the tool type (turning, milling
or grinding tools) and the selected machining plane G17 to G19. Changes to the setting data
values take effect immediately.
Toolholder with orientation capability
If a toolholder with orientation capability is active, the temperature compensation vector is
rotated simultaneously to any change in orientation. This applies independently of any active
orientation transformation.
If a toolholder with orientation capability is active in conjunction with a generic 5-axis
transformation or a transformation with rotating linear axis, the temperature compensation
vector is subjected to both rotations.
Note
While transformations with rotating linear axes take changes in the tool vector (length) into
account, they ignore its change in orientation, which can be effected by a toolholder with
orientation capability.
Temperature compensation values immediately follow any applied change in orientation. This
applies in particular when an orientation transformation is activated or deactivated.
The same is true when the assignment between geometry axes and channel axes is changed.
The temperature compensation value for an axis is reduced to zero (interpolatively), for
example, when it ceases to be a geometry axis after a transformation change. Conversely,
any temperature compensation value for an axis which changes over to geometry axis status
is applied immediately.
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18.10 Special handling of tool compensations
Examples
Temperature compensation in tool direction
Example of a 5-axis machine with rotating tool on which the tool can be rotated around the C
and B axes.
In its initial state, the tool is parallel to the Z axis. If the B axis is rotated through 90 degrees,
the tool points in the X direction.
Therefore, a temperature compensation value in the following setting data is also effective in
the direction of the machine X axis if transformation is active:
SD42960 $SC_TOOL_TEMP_COMP[2] (temperature compensation with reference to tools)
If the transformation is deactivated with the tool in this direction, the tool orientation is, by
definition, parallel again to the Z axis and thus different to its actual orientation. The
temperature offset in the X axis direction is therefore reduced to zero and reapplied
simultaneously in the Z direction.
Example of a 5-axis machine with rotating tool (transformation type 24). The relevant machine
data is listed below:
The first rotary axis rotates around Z, C-axis
The second rotary axis rotates around Y, B-axis
The essential machine data is shown in the table below:
Machine data
Value
Remark
MD20390 $MC_TOOL_TEMP_COMP_ON
= TRUE
Temperature compensation active
MD32750 $MA_TEMP_COMP_TYPE[ AX1 ]
=4
Compensation in tool direction
MD32750 $MA_TEMP_COMP_TYPE[ AX2 ]
=4
Compensation in tool direction
MD32750 $MA_TEMP_COMP_TYPE[ AX3 ]
=4
Compensation in tool direction
Assignment of transformation type
24
1496
MD24100 $MC_TRAFO_TYPE_1
= 24
Transformer type 24 in first channel
MD24110 $MC_TRAFO_AXES_IN_1[0]
=1
First axis of the transformation
MD24110 $MC_TRAFO_AXES_IN_1[1]
=2
Second axis of the transformation
MD24110 $MC_TRAFO_AXES_IN_1[2]
=3
Third axis of the transformation
MD24110 $MC_TRAFO_AXES_IN_1[3]
=5
Fifth axis of the transformation
MD24110 $MC_TRAFO_AXES_IN_1[4]
=4
Fourth axis of the transformation
MD24120 $MC_TRAFO_GEOAX_AS
SIGN_TAB_1[0]
=1
Geometry axis for channel axis 1
MD24120 $MC_TRAFO_GEOAX_AS
SIGN_TAB_1[1]
=2
Geometry axis for channel axis 2
MD24120 $MC_TRAFO_GEOAX_AS
SIGN_TAB_1[2]
=3
Geometry axis for channel axis 3
MD24570 $MC_TRAFO5_AXIS1_1[0]
= 0.0
MD24570 $MC_TRAFO5_AXIS1_1[1]
= 0.0
Direction
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Machine data
Value
Remark
MD24570 $MC_TRAFO5_AXIS1_1[2]
= 1.0
First rotary axis is parallel to Z
MD24572 $MC_TRAFO5_AXIS1_2[0]
= 0.0
Direction
MD24572 $MC_TRAFO5_AXIS1_2[1]
= 1.0
Second rotary axis is parallel to Y
MD24572 $MC_TRAFO5_AXIS1_2[2]
= 0.0
MD25574 $MC_TRAFO5_BASE_ORIENT_1[0]
= 0.0
MD25574 $MC_TRAFO5_BASE_ORIENT_1[1]
= 0.0
Basic tool orientation
MD25574 $MC_TRAFO5_BASE_ORIENT_1[2]
= 1.0
In Z direction
Temperature compensation values in the NC program
The compensation values assigned to axes X and Z are not zero and are applied for
temperature compensation with respect to tool length. The machine axis positions reached in
each case are specified as comments in the program lines.
Program code
Comment
$SC_TOOL_TEMP_COMP[0] = -0.3
; Compensation value in X
$SC_TOOL_TEMP_COMP[1] = 0.0
$SC_TOOL_TEMP_COMP[2] = -1.0
; Compensation value in Z
; Position setpoints of the machine
axes
N10 G74 X0 Y0 Z0 A0 B0
; X Y Z
N20 X20 Y20 Z20 F10000
; 20.30 20.00 21.00
N30 TRAORI()
; 20.30 20.00 21.00
N40 X10 Y10 Z10 B90
; 11.00 10.00 9.70
N50 TRAFOOF
; 10.30 10.00 11.00
N60 X0 Y0 Z0 B0 C0
; 0.30 0.00 1.00
N70 M30
With the exception of block N40, temperature compensation always acts in the original
directions, as the tool is pointing in the basic orientation direction. This applies particularly in
block N50. The tool is actually still pointing in the direction of the X axis because the B axis is
still at 90 degrees. However, because the transformation is already deactivated, the applied
orientation is parallel to the Z axis again.
Machine data
Value
Remark
MD20390 $MC_TOOL_TEMP_COMP_ON
= TRUE
Temperature compensation active
MD32750 $MA_TEMP_COMP_TYPE[ AX1 ]
=4
Compensation in tool direction
MD32750 $MA_TEMP_COMP_TYPE[ AX2 ]
=4
Compensation in tool direction
MD32750 $MA_TEMP_COMP_TYPE[ AX3 ]
=4
Compensation in tool direction
Additional references
For more details on "Temperature compensation" see:
References:
Function Manual Extended Functions; Compensations (K3)
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18.11 Sum offsets and setup offsets
For information on "Generic 5-axis transformations" see:
References:
Function Manual, Special Functions; 3- to 5-Axis Transformation (F2)
18.11
Sum offsets and setup offsets
18.11.1
General
Sum offsets
Sum offsets can be treated as programmable process compensations during machining and
are composed of all the error sizes (including the wear), which cause the workpiece to deviate
from the specified dimensions.
Sum offsets are a generalized type of wear. They are part of the cutting edge data. The
parameters of the sum offset refer to the geometrical data of a cutting edge.
The compensation data of a sum offset are addressed by a DL number (DL: locationdependent;
compensations with reference to the location of use).
In contrast, the wear values of a D number describe the physical wear of the cutting edge, i.e.,
in special situations, the sum offset can match the wear of the cutting edge.
Sum offsets are intended for general use, i.e., with active or inactive tool management or with
the flat D number function.
Machine data are used to classify the sum offsets into:
Sum offset fine
Sum offset coarse (setup offset)
Setup offset
The setup offset is the compensation to be entered by the setup engineer before machining.
These values are stored separately in the NCK. The operator subsequently only has access
to the "sum offset fine" via HMI.
The "sum offset fine" and "sum offset coarse" are added internally in the NCK. This value is
referred to below as the sum offset.
Note
The function is enabled via the machine data setting:
MD18080 $MN_MM_TOOL_MANAGEMENT_MASK, Bit 8=1 (Gradual memory reservation for
tool management).
If kinematic transformations (e.g., 5axis transformations) are active, the tool length is
calculated first after allowing for the various wear components. The total tool length is then
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18.11 Sum offsets and setup offsets
used in the transformation. Unlike the case of a toolholder with orientation capability, the wear
values are thus always included in the transformation irrespective of the G code of group 56.
18.11.2
Description of function
Sum offsets
Several sum offsets (DL numbers) can be defined per D number. This allows you to determine,
for example, workpiecelocationdependent compensation values and assign them to a cutting
edge. Sum offsets have the same effect as wear, i.e., they are added to the compensation
values of the D number. The data are permanently assigned to a D number.
Attitudes
You can define the following settings in machine data:
Activate sum offset
Define maximum quantity of DL data sets to be created in NCK memory
Define maximum quantity of DL numbers to be assigned to a D number
Define whether the sum offsets (fine/coarse) are to be saved during data backup
Define the sum offset to be activated, if:
A new cutting edge compensation is activated
An operator panel front RESET is performed
An operator panel front START is performed
The end of the program has been reached
The name is oriented to the logic of the corresponding machine data for tools and cutting edges.
The "setup offset" and "sum offset fine" can be read and written via system variables and
corresponding OPI services.
Note
When tool management is active, a machine data can be used to define whether the sum offset
of a tool activated during a programmed tool change remains unchanged or is set to zero.
Summary of compensation parameters $TC_DPx
The following general system variables were previously defined for describing a cutting edge:
$TC_DP1
Tool type
$TC_DP2
Length of cutting edge
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18.11 Sum offsets and setup offsets
Parameters for geometry and wear
Tool geometry compensations are assigned to system variables $TC_DP3 to $TC_DP11.
System variables $TC_DP12 to $TC_DP20 allow you to name a wear for each of these
parameters.
Geometry
Wear
Length compensations
$TC_DP3
$TC_DP12
Length 1
$TC_DP4
$TC_DP13
Length 2
$TC_DP5
$TC_DP14
Length 3
Geometry
Wear
Radius compensation
$TC_DP6
$TC_DP15
Radius
$TC_DP7
$TC_DP16
Corner radius (tool type 700; slotting saw)
Geometry
Wear
Further compensations
$TC_DP8
$TC_DP17
Length 4 (tool type 700; slotting saw)
$TC_DP9
$TC_DP18
Length 5
$TC_DP10
$TC_DP19
Angle 1 (angle between face of tool and torus surface)
$TC_DP11
$TC_DP20
Angle 2 (angle between tool longitudinal axis and upper
end of torus surface)
Tool base dimension/adapter dimension
$TC_DP21
Adapter length 1
$TC_DP22
Adapter length 2
$TC_DP23
Adapter length 3
Technology
System variable
Clearance angle
$TC_DP24
The clearance angle is stored here for ManualTurn; tool type 5xx. Same
significance as in standard cycles for turning tools.
The tip angle of the drill is stored here for ShopMill; tool type 2xx.
Used in standard cycles for turning tools; tool type 5xx. This is the angle
at the secondary cutting edge for these tools.
$TC_DP25
The value for the cutting rate is stored here for ManualTurn.
A bitcoded value for various states of tool types 1xx and 2xx is stored
here for ShopMill.
Parameters of the sum and setup offsets ($TC_SCPxy, $TC_ECPxy)
The numbering of the parameters is oriented to the numbering of system variables $TC_DP3
to $TC_DP11.
1500
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18.11 Sum offsets and setup offsets
The effect of the parameters is similar to the wear (additive to the tool geometry). Up to six
sum/setup parameters can be defined per cutting edge parameter.
Tool geometry parame Sum/setup parameters, length compensations
ter, to which the compen
sation is added.
Tool wear param
eters
$TC_DP3
$TC_DP12
Length 1
$TC_SCP13, $TC_SCP23,$TC_SCP33,
$TC_SCP43,$TC_SCP53,$TC_SCP63
$TC_ECP13, $TC_ECP23,$TC_ECP33,
$TC_ECP43,$TC_ECP53,$TC_ECP63
The numbers in bold, 1, 2, ... 6, designate the parame
ters of a maximum of six (location-dependent or similar)
compensations that can be programmed with DL =1 to
6 for the parameter specified in column one.
$TC_DP4
Length 2
$TC_DP13
$TC_SCP14, $TC_SCP24,$TC_SCP34,
$TC_SCP44,$TC_SCP54,$TC_SCP64
$TC_ECP14, $TC_ECP24,$TC_ECP34,
$TC_ECP44,$TC_ECP54,$TC_ECP64
$TC_DP5
Length 3
$TC_DP14
etc.
Radius compensation
$TC_DP6
Radius
$TC_DP15
$TC_DP7
Corner radius
$TC_DP16
Further compensations
$TC_DP8
Length 4
$TC_DP17
$TC_DP9
Length 5
$TC_DP18
$TC_DP10
Angle 1,
$TC_DP19
etc.
$TC_DP11
Angle 2
$TC_DP20
$TC_SCP21, $TC_SCP31,$TC_SCP41,
$TC_SCP51,$TC_SCP61,$TC_SCP71
$TC_ECP21, $TC_ECP31,$TC_ECP41,
$TC_ECP51,$TC_ECP61,$TC_ECP71
The numbers in bold, 2, 3, ... 7, designate the parame
ters of a maximum of six (location-dependent or similar)
compensations that can be programmed with DL =1 to
6 for the parameter specified in column one.
Supplementary conditions
The maximum number of DL data sets of a cutting edge and the total number of sum offsets
in the NCK are defined by machine data. The default value is zero, i.e., no sum offsets can be
programmed.
Activate the "monitoring function" to monitor a tool for wear or for "sum offset".
The additional sum/setup data sets use additional buffered memory. 8 bytes are required per
parameter.
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18.11 Sum offsets and setup offsets
A sum-offset data set requires: 8 bytes * 9 parameters = 72 bytes
A setup data set requires an equal amount of memory. A certain number of bytes is also
required for internal administration data.
18.11.3
Activation
Function
The function must be activated via the machine data:
MD18108 $MN_MM_NUM_SUMCORR (sum offsets in TO area).
System variables $TC_ECPx and $TC_SCPx and setup and sum offsets ("fine") defined via
the OPI interface can be activated in the part program.
This is done by programming the language command DL="number".
When a new D number is activated, either a new DL number is programmed, or the DL number
defined via the following machine data becomes active:
MD20272 $MC_SUMCORR_DEFAULT (basic setting of the additive offset without a program)
DL programming
The sum offset is always programmed relative to the active D number with the command:
DL = "n"
The sum offset "n" is added to the wear of the active D number.
Note
If you use "setup offset" and "sum offset fine", both compensations are combined and added
to the tool wear.
The sum offset is deselected with the command:
DL = 0
Note
DL0 is not allowed. If compensation is deselected (D0 and T0), the sum offset also becomes
ineffective.
Programming a sum offset that does not exist triggers an alarm, similar to programming a D
compensation that does not exist.
Thus, only the defined wear remains part of the compensation (defined in system variables
$TC_DP12 to $TC_DP20).
Programming a sum offset when a D compensation is active (also applies to deselection) has
the same effect on the path as programming a D command. An active radius compensation
will, therefore, lose its reference to adjacent blocks.
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18.11 Sum offsets and setup offsets
Configuration
MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4=0: (Properties of sum offset in the TO area)
default setting:
Only one set of sum offsets exists per DL number.
We refer in general to the sum offset.
This describes the data represented by $TC_SCPx.
6XPRIIVHW
7&B6&3>W@
7&B6&3>W@
'RIIVHW
6XPRIIVHW
7&B'3>W@
7&B'3>W@
7&B'3>W@
7&B'3>W@
7&B6&3>W@
7&B6&3>W@
Figure 18-50 MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4 = 0
Tool T = t is active. With the data in the figure, the following is programmed:
D2
; Cutting edge offsets, i.e., $TC_DP3 to $TC_DP11 + wear
($TC_DP12 to $TC_DP20) + adapter dimension
...
DL=1
; Sum offset 1 is added to the previous D2 compensations, i.e.,
$TC_SCP13 to $TC_SCP21.
...
DL=2
; Sum offset 2 is added to the D2 compensation instead of sum
offset 1, i.e., $TC_SCP23 to $TC_SCP31.
...
DL=0
; Deselection of sum offset;
only the data of D2 remain active.
MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4=1: Setup offsets are available
The sum offset is now composed of the "sum offset fine" (represented by $TC_SCPx) and the
setup offset (represented by $TC_ECPx). Two data sets therefore exist for one DL number.
The sum offset is calculated by adding the corresponding components ($TC_ECPx +
$TC_SCPx).
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18.11 Sum offsets and setup offsets
6HWXSRIIVHW
6XPRIIVHW
ILQH
7&B(&3>W@
7&B6&3>W@
7&B(&3>W@
7&B6&3>W@
6HWXSRIIVHW
6XPRIIVHW
ILQH
7&B(&3>W@
7&B6&3>W@
7&B(&3>W@
7&B6&3>W@
'RIIVHW
7&B'3>W@
7&B'3>W@
7&B'3>W@
7&B'3>W@
7&B'3&(>W@
Figure 18-51 MD18112 $MN_MM_KIND_OF_SUMCORR, bit 4 = 1 "setup offsets" + "sum offsets fine"
Tool T = t is active. With the data in the figure, the following is programmed:
D2
; Cutting edge compensations, i.e., $TC_DP3 to $TC_DP11 + wear
($TC_DP12 to $TC_DP20) + adapter dimension
...
DL=1
; Sum offset 1 is added to the previous D2 compensations, i.e.,
$TC_ECP13 + $TC_SCP13 to $TC_ECP21 + $TC_SCP21.
...
DL=2
; Sum offset 2 is added to the D2 compensation instead of sum
offset 1; i.e., $TC_ECP23 + $TC_SCP23,...$TC_ECP31 + $TC_SCP31
...
DL=0
; Deselection of sum offset. Only the data of D2 remain active.
Reading/writing in the part program
The individual sets of sum offset parameters are differentiated according to the number ranges
of system variable $TC_SCP.
The significance of the individual variables is similar to geometry variables $TC_DP3 to
$TC_DP11. Only length 1, length 2 and length 3 are enabled for the basic functionality
(variables $TC_SCP13 to $TC_SCP15 for the first sum offset of the cutting edge).
R5 = $TC_SCP13[ t, d ]
; Sets the value of the R parameter to the value
of the first component of sum offset 1 for cutting edge (d)
on tool (t).
1504
R6 = $TC_SCP21[ t, d ]
; Sets the value of the R parameter to the value
of the last component of sum offset 1 for cutting
edge (d) on tool (t).
R50 = $TC_SCP23[ t, d ]
; Sets the value of the R parameter to the value
of the first component of sum offset 2 for cutting edge (d) on tool (t).
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18.11 Sum offsets and setup offsets
$TC_SCP43[ t, d ] = 1.234
; Sets the value of the first component of sum offset 4 for cutting edge (d) on tool (t) to the
value 1.234.
The above statements also apply to the setup offsets (if the NCK is configured with this option),
i.e.,
R5 = $TC_ECP13[ t, d ]
; Sets the value of the R parameter to the value
of the first component of setup offset 1 for cutting edge (d) on tool (t).
R6 = $TC_ECP21[ t, d ]
; Sets the value of the R parameter to the value
of the last component of setup offset 1 for cutting edge (d) on tool (t).
Etc.
When working with setup offsets, "sum offsets fine" are written with the $TC_SCPx system
variables.
Creating a new sum offset
If the compensation data set (x) does not yet exist, it is created on the first write operation to
one of its parameters (y).
$TC_SCPxy[ t, d ] = r.r
; Parameter y of sum offset x is assigned the value
"r.r.". The other parameters of x have a value
of zero.
When working with setup offsets, "sum offsets fine" are written with the $TC_SCPx system
variables.
Note
When working with setup offsets, the data set for the setup offset is created when a data set
is created for "sum offset fine", if a data set did not already exist for [t, d].
Creating a new setup offset
If the compensation data set (x) does not yet exist, it is created on the first write operation to
one of its parameters (y).
$TC_ECPxy[ t, d ] = r.r
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; The value "r.r" is assigned to the parameter y
of setup offset x. The other parameters of x
have the value zero.
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18.11 Sum offsets and setup offsets
Note
When working with setup offsets, the data set for the "sum offset fine" is created when a data
set is created for setup offsets, if a data set did not already exist for [t, d].
DELDL - Delete sum offset
Sum offsets are generally only relevant when machining with a cutting edge at a certain time
at a certain location of the workpiece. You can use the NC language command DELDLto delete
sum offsets from cutting edges (in order to release memory).
status = DELDL( t, d )
; Deletes all sum offsets for cutting edge d on tool
t.
; t, d are optional parameters.
If d is not specified, all sum offsets of all cutting edges of tool t are deleted.
If d and t are not specified, all sum offsets for the cutting edges on all tools of the TO unit are
deleted (for the channel, in which the command is programmed).
When working with setup offsets, the DELDL command deletes both the setup offset and the
"sum offsets fine" of the specified cutting edge(s).
Note
The memory used for the data sets is released after deletion.
The deleted sum offsets can subsequently no longer be activated or programmed.
Sum offsets and setup offsets on active tools cannot be deleted (similar to the deletion of D
compensations or tool data).
The "status" return value indicates the result of the deletion command:
0:
Deletion was successful
-1:
Deletion was not (one cutting edge) or not completely (several cutting edges) successful
Data backup
The data are saved during a general tool-data backup (as a component of the D number data
sets).
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18.11 Sum offsets and setup offsets
It is advisable to save the sum offsets, in order to allow the current status to be restored in the
event of an acute problem. Machine data settings can be made to exclude sum offsets from
a data backup (settings can be made separately for "setup offsets" and "sum offsets fine").
Note
Sum offsets behave in the same way as D compensations with reference to block search and
REPOS. The behavior on Reset and PowerOn can be defined by machine data.
If the setting of the following machine data indicates that the last active tool compensation
number (D) is to be activated after PowerOn, the last active DL number is then no longer active:
MD20110 $MC_RESET_MODE_MASK (definition of initial control system settings after
RESET/TP-End)
18.11.4
Examples
Example 1
That no compensation and no sum offset will come into effect must be defined during tool
change via the machine data:
MD20270 $MC_CUTTING_EDGE_DEFAULT=0 (Basic setting of tool cutting edge without
programming)
MD20272 $MC_SUMCORR_DEFAULT=0 (default setting sum offset without program).
T5 M06
; Tool number 5 is loaded - no compensation active.
D1 DL=3
; Compensation D1 + sum offset 3 of D1 are activated.
X10
DL=2
; Compensation D1 + sum offset 2 are activated.
X20
DL=0
; Sum offset deselection, only compensation D1 is now active.
D2
; Compensation D2 is activated - the sum offset is not included
in the compensation.
X1
DL=1
; Compensation D2 + sum offset 1 are activated.
X2
D0
; Compensation deselection
X3
DL=2
; No effect - DL2 of D0 is zero (same as programming T0 D2).
Example 2
During tool change it has to be defined that offset D2 and sum offset DL=1 are activated via
the machine data:
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MD20270 $MC_CUTTING_EDGE_DEFAULT=2 (Basic setting of tool cutting edge without
programming)
MD20272 $MC_SUMCORR_DEFAULT=1 (default setting sum offset without program)
T5 M06
Tool number 5 is loaded - D2 + DL=1 are active (= values of
machine data)
D1 DL=3
Compensation D1 + sum offset 3 of D1 are activated.
Compensation D1 + sum offset 2 are activated.
DL=0
Sum offset deselection, only compensation D1 is now active.
D2
Compensation D2 is activated - sum offset DL=1 is activated.
DL=2
Compensation D2 + sum offset 2 are activated.
D1
Compensation D1 + sum offset 1 are activated.
X10
DL=2
X20
X1
18.11.5
Upgrades for Tool Length Determination
18.11.5.1
Taking the compensation values into account location-specifically and workpiecespecifically
Composition of the effective tool length
For a tool compensation without active kinematic transformation, the effective tool length
consists of up to 8 vectors:
Tool length (geometry)
Wear
Tool base dimension (see note)
Adapter dimension (see note)
Total offsets fine
Sum offsets coarse or setup offsets
Offset vector l1 of toolholder with orientation capability
Offset vector l2 of toolholder with orientation capability
Offset vector l3 of toolholder with orientation capability
($TC_DP3 - $TC_DP5)
($TC_DP12 - $TC_DP14)
($TC_DP21 - $TC_DP23)
($TC_ADPT1 - $TC_ADPT3)
($TC_SCPx3 - $TC_SCPx5)
($TC_ECPx3 - $TC_ECPx5)
($TC_CARR1 - $TC_CARR3)
($TC_CARR4 - $TC_CARR6)
($TC_CARR15 - $TC_CARR17)
Note
The tool base dimension and adapter dimension can only be applied as alternatives.
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Type of action of the individual vectors
The type of action of the individual vectors or groups of vectors depends on the following further
quantities:
Influencing quantity
Operating principle
G codes
Active machining plane
Tool type
Milling tool or turning/grinding tools
Machine data
Tool management active/not active, toolholder with orien
tation capability available/not available
Setting data
Behavior of tool length components when mirroring or
when changing the plane
Toolholder with orientation capability
Set values of toolholder with orientation capability
Adapter transformations
Transformed tool compensation values
Distribution over the geometry-axis components
How the three vector components of partial totals of the vectors involved are distributed over
the three geometry-axis components is determined by the following quantities:
Influencing quantity
Dependencies
Active processing level:
Infeed plane:
G17 X/Y direction
G18 Z/X direction
G19 Y/Z direction
Tool type:
See Section "Tool parameter 1: Tool type
(Page 1389)", Table "Minimum number of
required tool parameters"
Milling tools, drilling tools, grinding tools, turning tools
SD42900 $SC_MIRROR_TOOL_LENGTH
SD42910 $SC_MIRROR_TOOL_WEAR
SD42920 $SC_WEAR_SIGN_CUTPOS
See Section "Special handling of tool com
pensations (Page 1488)" and Section "Set
ting data (Page 1549)".
SD42930 $SC_WEAR_SIGN
SD42940 $SC_TOOL_LENGTH_CONST
SD42950 $SC_TOOL_LENGTH_TYPE
Adapter transformations
References:
Function Manual Tool Management
The resulting tool orientation always remains parallel to one of the three axis directions X, Y
or Z and exclusively depends on the active machining plane G17-G19, since it has not yet
been possible to assign the tool an orientation.
Stepless variation of the tool orientation
The toolholder with orientation capability also enables the tool orientation to be varied
steplessly, in addition to providing further offsets or linear expansion fluctuations with the aid
of offset vectors l1 - l3 .
For further explanations, see Section "Toolholder with orientation capability (Page 1442)".
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Minor operator compensations
Minor compensations, however, must also be modified during the normal production mode.
The reasons for this are, for example:
Tool wear
Clamping errors
Temperature sensitivity of the machine:
These compensations are defined as follows:
Definition
Wear components
Wear
$TC_DP12 - $TC_DP14,
Total offsets fine
$TC_SCPx3 - $TC_SCPx5,
Sum offsets coarse or setup offsets
$TC_ECPx3 - $TC_ECPx5
In particular, compensations, which affect the tool length calculation, should be entered in the
coordinates used for measurement.
These workpiece-specific compensations can be achieved more simply using the G-code
group 56 with the three values TOWSTD, TOWMCS and TOWWCS and the setting data:
SD42935 $SC_WEAR_TRANSFORM (transformation of tool components)
SD42935
Which of the wear components:
Wear ($TC_DP12 - $TC_DP14)
Setup offsets or sum offsets coarse ($TC_ECPx3 - $TC_ECPx5)
Sum offsets fine ($TC_SCPx3 - $TC_SCPx5)
are to be transformed in the transformations:
Adapter transformation
Toolholder with orientation capability
are to be or not to be transformed, can be defined via the setting data:
SD42935 $SC_WEAR_TRANSFORM (transformation of wear values)
With the setting data in its initial state, all wear values are transformed.
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18.11 Sum offsets and setup offsets
The setting data is considered in the following functions:
Wear values in the machine coordinate system
Part program instruction: TOWMCS
Wear values in the workpiece coordinate system
Part program instruction: TOWWCS
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Figure 18-52 Transformation of wear data dependent on SD42935
Programming
G-code group 56 can be used to define the following values:
Syntax
Corrections
TOWSTD
Initial setting value for offsets in tool length
TOWMCS
Wear values in the machine coordinate system (MCS)
TOWWCS
Wear values in the workpiece coordinate system (WCS)
TOWBCS
Wear values in the basic coordinate system (BCS)
TOWTCS
Wear values in the TCS (Tool Coordinate System) at the toolholder (tool carrier ref
erence point T)
TOWKCS
Wear values in tool coordinate system for kinematic transformation (KCS) of tool head
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18.11 Sum offsets and setup offsets
Coordinate systems for offsets in tool length
G codes TOWMCS, TOWWCS, TOWBCS, TOWTCS and TOWKCS can be used, e.g. to measure the
wear tool length component in five different coordinate systems.
1.
1.
1.
1.
1.
Machine coordinate system
Basic coordinate system
Workpiece coordinate system
Tool coordinate system of kinematic transformation
Tool coordinate system
MCS
BCS
WCS
KCS
TCS
The calculated tool length or a tool length component can be represented and read out in one
of these coordinate systems using the GETTCOR function (predefined subprogram).
For further explanations, see Section "Read tool lengths, tool length components
(Page 1521)".
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Figure 18-53 Coordinate system for the evaluation of tool lengths
18.11.5.2
Functionality of the individual wear values
TOWSTD
Initial setting (default behavior):
The wear values are added to the other tool length components.
The resulting total tool length is then used in further calculations.
In the case of an active toolholder with orientation capability:
The wear values are subjected to the appropriate rotation.
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18.11 Sum offsets and setup offsets
TOWMCS
Wear data in the MCS (machine coordinate system):
In the case of an active rotation by means of a toolholder with orientation capability:
The toolholder only rotates the vector of the resultant tool length. Wear is ignored.
Then the tool length vector rotated in this way and the wear are added. The wear is not
subjected to the rotation.
If no toolholder with orientation capability is active or this does not result in a rotation,
TOWMCS and TOWSTD are identical.
Linear transformation
The tool length can be uniquely defined in the MCS only if the MCS is generated by linear
transformation from the BCS.
This would be the case when:
No kinematic transformation is active
Or orientation transformations (3-axis, 4-axis and 5-axis transformations) are active
TOWWCS
Wear values in WCS (workpiece coordinate system):
If a toolholder with orientation capability is active, the tool vector is calculated as for
TOWMCS, without taking the wear into account.
The wear data are interpreted in the workpiece coordinate system.
The wear vector in the workpiece coordinate system is converted to the machine coordinate
system and added to the tool vector.
TOWBCS
Wear values in BCS (basic coordinate system):
If a toolholder with orientation capability is active, the tool vector is calculated as for
TOWMCS, without taking the wear into account.
The wear data are interpreted in the workpiece coordinate system.
The wear vector in the basic coordinate system is converted to the workpiece coordinate
system and added to the tool vector.
Non-linear transformation
If a non-linear transformation is active, e.g. with TRANSMIT, and the MCS is specified as the
desired coordinate system, the BCS is automatically used instead of the MCS.
Toolholder with orientation capability
A table component of the toolholder with orientation capability, if available, is not applied
directly to the coordinate systems, unlike a table (or part) component of the kinematic
transformation. A rotation described by such a component is represented in a basic frame or
system frame and is thus included in the transition from WCS to BCS.
Kinematic transformation
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18.11 Sum offsets and setup offsets
The table (or part) component of the kinematic transformation is described by the transition
from BCS to MCS.
TOWTCS
Wear values in TCS (tool coordinate system):
If a toolholder with orientation capability is active, the tool vector is calculated as for
TOWMCS, without taking the wear into account.
The wear data are interpreted in the tool coordinate system.
The wear vector in the TCS (Tool Coordinate System) is converted to the machine coordinate
system by way of the tool coordinate system of the kinematic transformation (KCS) and added
to the tool vector.
TOWKCS
The wear value specifications for the kinematic transformation are interpreted in the associated
TCS (Tool Coordinate System).
The wear vector is converted to the machine coordinate system by way of the tool coordinate
system of the kinematic transformation and added to the tool vector.
G code change when a tool is active
Changing the G code in the group TOWSTD, TOWMCS, TOWWCS, TOWBCS, TOWTCS, and
TOWKCS does not affect an already active tool, and does not become effective until the next
tool is selected.
A new G code of this group will also come into effect if it is programmed in the same block, in
which a tool is selected.
Evaluation of individual wear components
Evaluation of individual wear components (assignment to geometry axes, sign evaluation) is
influenced by:
The active plane
The adapter transformation
The five setting data shown in the table below
1514
Setting data
Wear components
SD42910 $SC_MIRROW_TOOL_WEAR
TOWSTD
TOWMCS
TOWWCS
SD42920 $SC_WEAR_SIGN_CUTPOS
SD42930 $SC_WEAR_SIGN
SD42940 $SC_TOOL_LENGTH_CONST
SD42950 $SC_TOOL_LENGTH_TYPE
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18.11 Sum offsets and setup offsets
Note
Wear components which are subjected to an active rotation by an adapter transformation or
a toolholder with orientation capability are referred to as non-transformed wear components.
Special features
If TOWMCS or TOWWCS is active, the following setting data does not affect the non-transformed
wear components:
SD42920 $SC_WEAR_SIGN_CUTPOS (Sign of wear for tools with cutting edge systems)
The following setting data also does not affect the non-transformed wear components in case
of TOWWCS:
SD42910 $SC_MIRROR_TOOL_WEAR (Sign change tool wear when mirroring)
In this case, a possibly active mirroring is already contained in the frame, which is referred to
for evaluating the wear components.
On a plane change, the assignment between the non-transformed wear components and the
geometry axes is retained, i.e. these are not interchanged as with other length components.
The assignment of components depends on the active plane for tool selection.
Example
Let's assume a milling tool is used where only the wear value $TC_DP12 assigned to length
L1 is not equal to zero.
If G17 is active, this length is effective in the direction of the Z axis.
This measure always acts in the Z-direction also upon a plane change after the tool selection,
when TOWMCS or TOWWCS are active and the bit 1 is set in the setting data:
SD42935 $SC_WEAR_TRANSFORM (transformations for tool components)
If, for example, G18 is active on tool selection, the component is always effective in the Y
direction instead.
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18.12 Working with tool environments
18.12
Working with tool environments
18.12.1
General
Functions
The current states of tool data can be processed using the functions below, which are generally
available:
Save
Deletion
Read
Modify
A further function can be used to determine information about the assignment of the tool lengths
of the active tool to the abscissa, ordinate and applicate.
18.12.2
Saving with TOOLENV
Scope of a tool environment
The TOOLENV memory function is used to save any current states needed for the evaluation
of tool data stored in the memory.
The individual data are as follows:
The active G code of group 6 (G17,G18,G19)
The active G code of group 56 (TOWSTD, TOWMCS, TOWWCS, TOWBCS, TOWTCS, TOWKCS)
The active transverse axis
Machine data:
MD18112 $MN_MM_KIND_OF_SUMCORR (Properties of sum offsets in the TO area)
Machine data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool parameters).
Setting data:
SD42900 $SC_MIRROR_TOOL_LENGTH (Sign change tool length when mirroring)
Setting data:
SD42910 $SC_MIRROR_TOOL_WEAR (Sign change tool wear when mirroring)
Setting data:
SD42920 $SC_WEAR_SIGN_CUTPOS (Sign of wear for tools with cutting edge systems)
Setting data:
SD42930 $SC_WEAR_SIGN (sign of wear)
Setting data:
SD42935 $SC_WEAR_TRANSFORM (transformations for tool components)
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18.12 Working with tool environments
Setting data:
SD42940 $SC_LENGTH_CONST (change of tool components on change of planes)
Setting data:
SD42950 $SC_TOOL_LENGTH_TYPE (allocation of the tool length components
independent of tool type)
The orientation component of the current complete frame (rotation and mirroring, no work
offsets or scales)
The orientation component and the resulting length of the active toolholder with orientation
capability
The orientation component and the resulting length of an active transformation
In addition to the data describing the environment of the tool, the T number, D number and
DL number of the active tool are also stored, so that the tool can be accessed later in the
same environment as the TOOLENV call, without having to name the tool again.
Not in the tool environment
The value of the machine data determines whether the adapter length or the tool base
dimension is included in the tool length calculation:
MD18104 $MN_MM_NUM_TOOL_ADAPTER (tool adapter in TO area).
Since a change to this machine data only takes effect after Power On, it is not saved in the
tool environment.
Note
Resulting length of toolholders with orientation capability and transformations:
Both toolholders with orientation capability and transformations can use system variables or
machine data, which act as additional tool length components, and which can be subjected
partially or completely to the rotations performed. The resulting additional tool length
components must also be stored when TOOLENV is called, because they represent part of the
environment, in which the tool is used.
Adapter transformation:
The adapter transformation is a property of the tool adapter and thus of the complete tool. It
is, therefore, not part of a tool environment, which can be applied to another tool.
By saving the complete data necessary to determine the overall tool length, it is possible to
calculate the effective length of the tool at a later point in time, even if the tool is no longer
active or if the conditions of the environment (e.g., G codes or setting data) have changed.
Similarly, the effective length of different tool can be calculated assuming that it would be used
under the same conditions as the tool, for which the status was saved.
TOOLENV function
Saving a tool environment
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18.12 Working with tool environments
The TOOLENV function is a predefined subprogram. It must, therefore, be programmed in a
separate block.
Syntax:
Status = TOOLENV(_NAME)
Value/parameter:
Status
INT
0:
Function OK
-1:
No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
-2:
No more free memory locations for tool environments available.
-3:
Null string illegal as name of a tool environment.
-4:
No parameter (name) specified.
_NAME
STRING
Name, under which the current data set is stored.
If a data set of the same name already exists, it is overwritten. In this case, the status is 0.
18.12.3
Delete tool environment
DELTOOLENV function
This function can be used to delete sets of data used to describe tool environments. Deletion
means that the set of data stored under a particular name can no longer be accessed (an
access attempt triggers an alarm).
The DELTOOLENV function is a predefined subprogram.
It must, therefore, be programmed in a separate block.
Syntax:
There are two call formats:
Status = DELTOOLENV()
Status = DELTOOLENV(_NAME)
Value/parameter:
Status
INT
0:
Function OK
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-1:
-2:
No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
A tool environment with the specified name does not exist.
_NAME
STRING
Name of data set to be deleted
The first call format deletes all data sets.
The second call format deletes the data set with the specified name.
Data sets can only be deleted using the DELTOOLENV command, by an INITIAL.INI download
or by a cold start (NCK powerup with default machine data). There are no further automatic
deletion operations (e.g., on RESET).
18.12.4
How many environments and which ones are saved?
$P_TOOLENVN
This system variable returns the number of available data sets for describing tool
environments. (Data sets defined by TOOLENV and not yet deleted.)
The value range is from 0 to machine data:
MD18116 $MN_MM_NUM_TOOL_ENV (number of tool environments in TO area).
This system variable can be accessed even if no tool environments are possible (MD18116 =
0). In this case, the return value is 0.
Syntax:
_N = $P_TOOLENVN
Data type:
_N
INT
Number of defined TOOLENV
$P_TOOLENV
This system variable returns the number of the nth data set for describing a tool environment.
The assignment of numbers to data sets is not fixed, but can be changed as a result of deleting
or creating data sets. The data sets are numbered internally. The range is from 1 to
$P_TOOLENVN.
Syntax:
_NAME = $P_TOOLENV[i]
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18.12 Working with tool environments
Data type:
_NAME
STRING
Name of the data set with number i
i
INT
Number of the data set.
If an index is specified, which does not point to a defined data set, the following alarm is
output:
Alarm "17020 (inadmissible array-index1)"
18.12.5
Read T, D, DL from a tool environment
GETTENV function
The GETTENV function is used to read the T, D and DL numbers stored in a tool environment.
The GETTENV function is a predefined subprogram. It must, therefore, be programmed in a
separate block.
Syntax:
Status = GETTENV(_NAME, _TDDL)
Value/parameter:
Status
INT
0:
Function OK
-1: No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO area).
i.e. the "tool environments" functionality is not available.
-2: A tool environment with the name specified in _NAME does not exist.
_NAME
STRING
Name of the tool environment, from which the T, D and DL numbers can be read
_TDDL[3]
INT
This integer array contains:
- in "_TDDL[0]" the T number of the tool,
- in "_TDDL[1]" the D number of the tool,
- in "_TDDL[2]" the DL number of the tool,
whose tool environment in the data set is stored with the name "_NAME".
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18.12 Working with tool environments
It is possible to omit the first parameter in the GETTENV function call (e.g., GETTENV(, _TDDL))
or to pass a null string as the first parameter (e.g., GETTENV("", _TDDL)). In both of these two
special cases, the T, D and DL numbers of the active tool are returned in _TDDL.
18.12.6
Read tool lengths, tool length components
GETTCOR function
The GETTCOR function is used to read out tool lengths or tool length components.
The parameters can be used to specify, which components are considered, and the conditions,
under which the tool is used.
The GETTCOR function is a predefined subprogram. It must, therefore, be programmed in a
separate block.
Syntax:
Status = GETTCOR(_LEN, _COMP, _STAT, _T, _D, _DL)
All parameters can be omitted with the exception of the first parameter (_LEN).
Value/parameter:
Status
INT
0:
Function OK
-1:
No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
-2:
A tool environment with the name specified in _STAT does not exist.
-3:
Invalid string in parameter _COMP.
Causes of this error can be invalid characters or characters programmed twice.
-4:
Invalid T number
-5:
Invalid D number
-6:
Invalid DL number
-7:
Attempt to access non-existent memory module
-8:
Attempt to access a non-existent option (programmable tool orientation, tool man
agement).
-9:
The _COMP string contains a colon (identifier for the specification of a coordinate
system), but it is not followed by a valid character denoting the coordinate system.
_LEN[11]
Result vector
REAL
The vector components are arranged in the following order:
Tool type
(LEN[0])
Length of cutting edge (LEN[1])
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18.12 Working with tool environments
Abscissa
(LEN[2])
Ordinate
(LEN[3])
Applicate
(LEN[4])
Tool radius
(LEN[5])
The coordinate system defined in _COMP and _STAT is used as the reference coordinate
system for the length components. If no coordinate system is defined in _COMP, the tool
lengths are represented in the machine coordinate system.
The assignment of the abscissa, ordinate and applicate to the geometry axes depends on
the active plane in the tool environment, i.e. with G17, the abscissa is parallel to X, with
G18 it is parallel to Z, etc.
Components LEN[6] to LEN[10] contain the additional parameters, which can be used to
specify the geometry description of a tool (e.g. $TC_DP7 to $TC_DP11 for the geometry
and the corresponding components for wear or sum and setup offsets).
These 5 additional elements and the tool radius are only defined for components E, G, S,
and W. Their evaluation does not depend on _STAT. The corresponding values in LEN[5]
to LEN[10] can thus only be not equal to zero if at least one of the four specified components
is involved in the tool length calculation. The remaining components do not influence the
result. The dimensions refer to the control's basic system (inch or metric).
_COMP
STRING
This string consists of two substrings, which are separated from one another by a colon.
The individual characters (letters) of the first substring identify the tool length components
to be taken into account when calculating the tool length.
The second substring identifies the coordinate system, in which the tool length is to be
output. It consists of only one single relevant character.
The order of the characters in the strings, and their notation (upper or lower case), is arbi
trary. Any number of blanks or white spaces can be inserted between the characters.
The letters in the substrings cannot be programmed twice. The meanings in the first sub
string are as follows:
-:
(Minus symbol, only allowed as first character): The complete tool length is calcula
ted, minus the components specified in the next string.
C:
Adapter or tool base dimension (whichever of the two alternative components is
active for the tool in use)
E:
Setup offsets
G:
Geometry
K:
Kinematic transformation (is only evaluated for generic 3, 4 and 5-axis transformation)
S:
Sum offsets
T:
Toolholder with orientation capability
W:
Wear
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18.12 Working with tool environments
If the first substring is empty (except for white spaces), the complete tool length is calculated
allowing for all components. This applies even if the _COMP parameter is not specified.
An optional programmable colon must be followed by a single character specifying the
coordinate system, in which the tool length components are to be evaluated. If no coordinate
system is specified, the evaluation is performed in the MCS (machine coordinate system).
If any rotations are to be taken into account, they are specified in the tool environment
defined in _STAT.
The characters have the following significance:
B:
Basic coordinate system (BCS)
K:
Tool coordinate system of kinematic transformation (KCS)
M:
Machine coordinate system (MCS)
T:
Tool coordinate system (TCS)
W:
Workpiece coordinate system (WCS)
_STAT
STRING
Name of the data set for describing a tool environment.
If the value of this parameter is the null string ("") or is not specified, the current status is
used.
_T
INT
Internal T number of tool
If this parameter is not specified, or if its value is 0, the tool stored in _STAT is used.
If the value of this parameter is -1, the T number of the active tool is used. It is also possible
to specify the number of the active tool explicitly.
Note
If _STAT is not specified, the current status is used as the tool environment. Since _T = 0 refers
to the T number saved in the tool environment, the active tool is used in that environment, i.e.
parameters _T = 0 and _T = -1 have the same meaning in this special case.
_D
INT
Cutting edge of the tool. If this parameter is not specified, or if its value is 0, the D number
used is based on the source of the T number. If the T number from the tool environment is
used, the D number of the tool environment is also read, otherwise the D number of the
currently active tool is read.
_DL
INT
Number of the local compensation. If this parameter is not specified, the DL number used
is based on the source of the T number. If the T number from the tool environment is used,
the D number of the tool environment is also read, otherwise the D number of the currently
active tool is read.
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18.12 Working with tool environments
Any rotations and component exchanges initiated by the adapter transformation, toolholder
with orientation capability and kinematic transformation, are part of the tool environment. They
are thus always performed, even if the corresponding length component is not supposed to
be included. If this is undesirable, tool environments must be defined, in which the
corresponding transformations are not active. In many cases (i.e. any time a transformation
or toolholder with orientation capability is not used on a machine), the data sets stored for the
tool environments automatically fulfill these conditions, with the result that the user does not
need to make special provision.
MD20360 $MC_TOOL_PARAMETER_DEF_MASK
The two least significant bits of this machine data specify how the wear (bit 0) and tool length
(bit 1) are to be evaluated if a diameter axis is used for turning and grinding tools.
If the bits are set, the associated entry is weighted with the factor 0.5. This weighting is reflected
in the tool length returned by GETTCOR.
Example:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK = 3 (definition of tool parameters).
MD20100 $MC_DIAMETER_AX_DEF="X" (Geometry axis with face axis funtion)
X is diameter axis (standard turning machine configuration):
N30
$TC_DP1[1.1] =
500
N40
$TC_DP2[1.1] =
N50
$TC_DP3[1.1] =
3.0
N60
$TC_DP4[1,1]=
4.0
N70
$TC_DP5[1,1]=
5.0
N80
$TC_DP12[1,1]=
12.0
N90
$TC_DP13[1,1]=
13.0
N100
$TC_DP14[1,1]=
14.0
N110
t1 d1 g18
N120
r1 = GETTCOR(_LEN, "GW")
N130
r3 = _LEN[2]
; Geometry L1
; Wear L1
; 17.0 (= 4.0 + 13.0)
N140
r4 = _LEN[3]
; 7.5 (= 0.5 * 3.0 + 0.5 * 12.0)
N150
r5 = _LEN[4]
; 19.0 (= 5.0 + 14.0)
N160
m30
Kinematic transformation, toolholder with orientation capability
If a toolholder with orientation capability is taken account of during the tool length calculation,
the following vectors are included in that calculation:
Type
1524
Vectors
l1 and l2
l1, l2 and l3
Tool length is not influenced by the toolholder with orientation capability.
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18.12 Working with tool environments
In generic 5-axis transformation, the following machine data are included in the tool length
calculation for transformer types 24 and 56:
Transform
er type
Machine data
24
MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
MD24558/24658 $MC_TRAFO5_PART_OFFSET_1/2
56
MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
Transformation type 56 corresponds to type M for a toolholder with orientation capability.
With this 5-axis transformation in the software versions used up to now, the following vector
is equivalent to the sum of the two vectors l1 and l3 for a toolholder with orientation capability
type M.
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2 (vector of kinematic offset of the first/
second 5-axis transformation in the channel)
Only the sum is relevant for the transformation in both cases. The way, in which the two
individual components are composed, is insignificant. When calculating the tool length,
however, it is relevant which component is assigned to the tool and which is assigned to the
tool table.
This explains the introduction of new machine data:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in
table).
It is equivalent to the vector l3.
The following machine data no longer corresponds to the sum of l1 and l3, but only to vector l1.
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2 (vector of kinematic offset of the first 5axis transf. in the channel).
The new response is identical to the current response, if the following machine data equals
zero:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in
table).
GETTCOR examples
GETTCOR(_LEN):
Calculates the tool length of the currently active tool in the machine
coordinate system allowing for all components.
GETTCOR(_LEN; "CGW :
W" ):
Calculates the tool length for the active tool, consisting of the adapter
or tool base dimension, geometry and wear. Further components, such
as toolholder with orientation capability or kinematic transformation, are
not considered. The workpiece coordinate system is used for the output.
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18.12 Working with tool environments
GETTCOR(_LEN, "-K :B" ):
Calculates the complete tool length of the active tool without allowing
for the length components of an active kinematic transformation. Output
in the basic coordinate system.
GETTCOR(_LEN, ":M", "Tes Calculates the complete tool length in the machine coordinate system
tenv1",,3):
for the tool stored in the tool environment named "Testenv1". The cal
culation is performed for cutting edge number D3, regardless of the
cutting edge number stored.
Compatibility
The GETTCOR function is used in conjunction with the TOOLENV and SETTCOR functions to
replace parts of the functionality, which were previously implemented externally in the
measuring cycles.
Only some of the parameters, which actually determine the effective tool length, were
implemented in the measuring cycles. The above functions can be configured to reproduce
the behavior of the measuring cycles in relation to the tool length calculation.
18.12.7
Changing tool components
SETTCOR function
The SETTCOR function is used to change tool components taking into account all general
conditions that can be involved when evaluating the individual components.
The SETTCOR function is a predefined subprogram. It must, therefore, be programmed in a
separate block.
Note
Regarding the terminology: If in the following, in conjunction with the tool length, tool
components are involved, then the components considered from a vectorial perspective are
meant, which make up the complete tool length, e.g. geometry or wear. Such a component
comprises three individual values (L1, L2, L3), which are called coordinate values in the
following.
The tool component "geometry" therefore comprises three coordinate values $TC_DP3 to
$TC_DP5.
Syntax:
Status = SETTCOR(_CORVAL, _COMP, _CORCOMP, _CORMODE, _GEOAX, _STAT,
_T, _D, _DL)
With the exception of the first two parameters (_CORVAL and _COMP) all of the param
eters can also be omitted.
Value/parameter:
Status
1526
INT
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18.12 Working with tool environments
0:
-1:
-2:
-3:
-4:
-5:
-6:
-7:
-8:
-9:
-10:
-11:
-12:
-13:
-14:
Function OK
No memory reserved for tool environments:
MD18116 $MN_MM_NUM_TOOL_ENV = 0 (number of tool environments in TO
area).
i.e. the "tool environments" functionality is not available.
A tool environment with the name specified in _STAT does not exist.
Invalid string in parameter _COMP.
Causes of this error can be invalid characters or characters programmed twice.
Invalid T number.
Invalid D number.
Invalid DL number.
Attempt to access a non-existent memory module.
Attempt to access a non-existent option (programmable tool orientation, tool man
agement).
Illegal numerical value for the _CORCOMP parameter.
Illegal numerical value for the _CORMODE parameter.
The contents of the _COMP and _CORRCOMP parameters are contradictory.
The contents of the _COMP and _CORRMODE parameters are contradictory.
The content of the _GEOAX parameter does not designate a geometry axis.
Write attempt to a non-existent setup offset.
_CORVAL[3]
REAL
array
Designates the offset vector.
In this case, in the workpiece coordinate system (WCS) defined using _STAT the following
are assigned:
_CORVAL[0] of the abscissa
_CORVAL[1] of the ordinate
_CORVAL[2] of the applicate
If only one tool component is to be corrected (i.e. no vectorial correction, see parameter
_CORMODE), the correction value is always in _CORVAL[0], independent of the axis on
which it acts. The contents of the other two components are then not evaluated.
If _CORVAL or a component of _CORVAL refers to the transverse axis, then the data is
evaluated as radius dimension. This means that a tool is e.g. "longer" by the specified
dimension; this correspondingly results in a change to the workpiece diameter that is twice
as large.
The dimensions refer to the basic system (inch or metric) of the control system.
_COMP
STRING
String that comprises either one or two characters. The first or only character for the 1st
component (Val1) and the second character for the 2nd component (Val2), which are pro
cessed according to the subsequent parameters _CORCOMP and _CORMODE.
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18.12 Working with tool environments
The notation of the characters in the string (upper or lower case) is arbitrary. Any number
of spaces or tabs (white spaces) can be inserted.
The individual meanings are as follows:
C:
Adapter or tool base dimension (whichever of the two alternative components is
active for the tool in use)
E:
Setup offsets
G:
Geometry
S:
Sum offsets
W:
Wear
_CORCOMP
INT
This parameter specifies the component(s) of the two data sets that are to be described. If
this parameter is not specified then its value is 0.
Meaning of the numerical values:
0:
The offset value _CORVAL[0] refers to the geometry axis transferred in param
eter _GEOAX in the workpiece coordinate system, i.e. the offset value must be
calculated in the designated tool components so that, taking account all the pa
rameters that can influence the tool length calculation, as a result, a change of
the total tool length by the specified value in the specified axis direction is ob
tained.
This change should be achieved by the correction of the component specified in
_COMP and the symbolic algorithm specified in _CORMODE (see the following
parameters). The resulting correction can therefore have an effect on all three
axis components.
1:
Like 0, however, vectorial. The content of vector _CORVAL refers to abscissa,
ordinate, applicate in the workpiece coordinate system (WCS).
The subsequent parameter _GEOAX is not evaluated.
2:
Vectorial offset, i.e. L1, L2 and L3 can change simultaneously.
In contrast to the versions from 0 and 1, the offset values contained in _CORV
AL refer to the coordinates of Val1 components (see following parameter _COR
MODE) of the tool.
Any possible inclination of an existing tool compared with the workpiece coordi
nate system has no influence on the offset.
3 - 5:
Correction of tool lengths L1 to L3 ($TC_DP3 to $TC_DP5) or the corresponding
values for wear, setting up or additive offsets.
The offset value is contained in _CORVAL[0]. It is measured in the coordinates
of the Val1 component (see following parameter _CORMODE) of the tool. Any
possible inclination of an existing tool compared with the workpiece coordinate
system has no influence on the offset.
6:
Correction of the tool radius ($TC_DP6) or the corresponding values for wear,
setting up or additive offsets.
7 11:
Correction of $TC_DP7 to $TC_DP11 or the corresponding values for wear,
setting up or additive offsets. These parameters are treated just like the tool
radius.
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18.12 Working with tool environments
_CORMODE
INT
This parameter specifies the type of write operation to be executed.
If this parameter is not specified then its value is 0.
Meaning of the ones location:
0:Val1new = _CORVAL
1:Val1new = Val1old + _CORVAL
2:Val1new = _CORVAL
Val2new = 0
3:Val1new = Val1old + Val2old + _CORVAL
Val2new = 0
The notation Val1old + Val2old is symbolic. If the two components (due to the status of
_STAT) are evaluated in different ways, i.e. if a rotation is effective between the two com
ponents, then Val2old is transformed prior to addition so that the resulting tool length after
deleting Val2new and prior to the addition of _CORVAL remains unchanged.
_CORVAL always refers to Val1._CORVAL is a value that is always measured in the work
piece coordinate system (WCS). It is therefore already transformed with respect to the tool
components, in which it should be calculated. Therefore, it cannot be directly calculated
together with the saved value, but must be transformed back prior to adding to Val1 or
Val2.
This can mean that the offset acts on an axis different than the one defined by _COR
COMP or that it acts on several axes.
For the case CORRCOMP = 0, i.e. if _CORVAL does not contain a vector, but only an
individual value, then the described operations are executed in the coordinates in which
_CORVAL was measured (WCS). In particular, this also applies to setting Val2new to zero
in versions 2 and 3. This result is then transformed back into the coordinates of the tool.
This can mean that none of the coordinate values to be set to zero (L1, L2, L3) become
zero, or coordinate values, that were previously zero, are now not equal to zero. However,
if the corresponding operations are successively executed for all three geometry axes, then
all three coordinate values of the components to be deleted are always zero. If the tool is
not rotated with respect to the workpiece coordinate system or is rotated so that all tool
components remain parallel to the coordinate axes (axis exchange operations), then this
also ensures that only one tool coordinate changes.
The successive execution of the same operation (_CORRMODE) with _CORCOMP = 0 for
all three coordinate axes in any sequence is identical with the single execution of the same
operation with _CORCOMP = 1.
_T
INT
Internal T number of the tool. If this parameter is not specified or if its value is 0, then the
tool stored in _STAT is used. If the value of this parameter is -1, the T number of the active
tool is used. It is also possible to explicitly specify the number of the active tool.
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18.12 Working with tool environments
Note
If _STAT is not specified, the actual status is used as the tool environment. Since _T = 0 refers
to the T number saved in the tool environment, the active tool is used in this environment, i.e.
parameters _T = 0 and _T = -1 have the same meaning in this special case.
_D
INT
Cutting edge of the tool. If this parameter is not specified, or if its value is 0, the D number
used is based on the source of the T number. If the T number from the tool environment is
used, the D number of the tool environment is also read, otherwise the D number of the
currently active tool is read.
_DL
INT
Number of the offset dependent on the location. If this parameter is not specified, the DL
number used is based on the source of the T number. If the T number from the tool envi
ronment is used, the D number of the tool environment is also read, otherwise the D number
of the currently active tool is read. If T, D and DL specify a tool without location-dependent
offsets, no additive or setting-up offsets may be specified in parameter _COMP (error code
in "Status").
Not all possible combinations of the three parameters _COMP, _CORCOMP and
_CORMODE are sensible. For example, algorithm 3 in _CORCOMP requires that two
characters are specified in _COMP. If an invalid parameter combination is specified, then a
corresponding error code is returned in the status.
Note
Calculating the tool length depending on machine data MD20360
The two least significant bits of this machine data specify how the wear (bit 0) and tool length
(bit 1) are to be evaluated if a diameter axis is used for turning and grinding tools. If the
appropriate bits are set, then for the tool length calculation, a factor of 0.5 is applied to the
associated entry. The correction using SETTCOR is executed so that the total effective tool
length change is equal to the value transferred in _CORVAL.
The correction of the components, whose length is evaluated with a factor of 0.5 due to the
following machine data for the length calculation, must be realized using twice the transferred
value:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool parameters)
Example 1
1530
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] =
120
; Milling tool
N30
$TC_DP3[1.1] =
10.0
; Geometry L1
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18.13 Tool lengths L1, L2, L3 assignment: LENTOAX
N40
$TC_DP12[1,1]=
1.0
N50
_CORVAL[0] =
0.333
N60
t1 d1 g17 g0
N70
r1 = settcor(_CORVAL, "G", 0, 0, 2)
N80
t1 d1 x0 y0 z0
N90
M30
; Wear L1
; ==>
MCS position X0.000 Y0.000
Z1.333
_CORCOMP is 0, therefore, the coordinate value of the geometry component acting in the Z
direction must be replaced by the offset value 0.333. The resulting total tool length is thus L1
= 0.333 + 1.000 = 1.333
Example 2
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] =
120
; Milling tool
N30
$TC_DP3[1.1] =
10.0
; Geometry L1
N40
$TC_DP12[1,1]=
1.0
; Wear L1
N50
_CORVAL[0] =
0.333
N60
t1 d1 g17 g0
N70
r1 = settcor(_CORVAL, "W", 0, 1, 2)
N80
t1 d1 x0 y0 z0
N90
M30
; ==>
MCS position X0.000 Y0.000
Z11.333
_CORCOMP is 1, therefore, an offset value of 0.333 acting in the Z direction is added to the
wear value of 1.0.
Therefore, the resulting total tool length is L1 = 10.0 + 1.333 = 11.333.
18.13
Tool lengths L1, L2, L3 assignment: LENTOAX
LENTOAX function
The "LENTOAX" function provides information about the assignment of tool lengths L1, L2
and L3 of the active tool to the abscissa, ordinate and applicate. The assignment of abscissa,
ordinate and applicate to the geometry axes is affected by frames and the active plane (G17
- G19).
Only the geometry component of a tool ($TC_DP3[x,y] to $TC_DP5[x,y]) is considered, i.e. a
different axis assignment for other components (e.g. wear) has no effect on the result.
The "LENTOAX" function is a predefined subprogram. It must, therefore, be programmed in a
separate block.
Syntax:
Status = LENTOAX(_AXIND, _MATRIX, _COORD)
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18.13 Tool lengths L1, L2, L3 assignment: LENTOAX
The first two parameters must always be programmed; the last parameter can be omitted.
Value/parameter:
Status
INT
0:
Function OK, information in _AXIND sufficient for description (all tool length compo
nents are parallel to the geometry axes).
1:
Function is OK, however, the content of _MATRIX must be evaluated for a correct
description (the tool length components are not parallel to the geometry axes).
-1:
Invalid string in parameter _COORD.
-2:
No tool active.
_AXIND[3]
INT
array
Indices 0 to 2 are assigned to the abscissa (0), ordinate (1) and applicate (2) (e.g. _AX
IND[0] contains the number of the tool length components, which are effective in the direc
tion of the abscissa).
The content has the following significance:
0:
Assignment exists (axis does not exist)
1 to 3:
Number of the length effective in the corresponding coordinate axis. The sign
or
is negative if the tool length component is pointing in the negative coordinate
-1 to -3:
direction.
_MATRIX[3][3]
REAL
array
Matrix which represents the vector of the tool lengths (L1=1, L2=1, L3=1) to the vector
of the coordinate axes (abscissa, ordinate, applicate), i.e. the tool length components are
assigned to the columns in the order L1, L2, L3 and the axes are assigned to the lines
in the order abscissa, ordinate, applicate.
All elements are always valid in the matrix, even if the geometry axis belonging to the
coordinate axis is not available, i.e. if the corresponding entry in _AXIND is 0.
_COORD
STRING
Specifies the coordinate system used for the assignment.
MCS or M:
The tool length is represented in the machine coordinate system.
BCS or B:
The tool length is represented in the basic coordinate system.
WCS or W:
The tool length is represented in the workpiece coordinate system
(default).
KCS or K:
The tool length is represented in the tool coordinate system of the
kinematic transformation.
TCS or T:
The tool length is represented in the tool coordinate system.
The notation of the characters in the string (upper or lower case) is arbitrary.
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18.13 Tool lengths L1, L2, L3 assignment: LENTOAX
Further explanations
If the tool length components are parallel to the geometry axes, the axis indices assigned to
length components L1 to L3 are returned in the _AXIND array.
If a tool length component points in the negative axis direction, the associated axis index
contains a minus sign. In this case, the return value (status) is 0. If an axis does not exist, the
associated return value is 0. The assignment can also be read from the _MATRIX parameter.
Six of the nine matrix elements are then zero, and three elements contain the value +1 or -1.
Note
In the TCS, all tool length components are always parallel or antiparallel to the axes.
The components can only be antiparallel when mirroring is active and the following setting
data is activated:
SD42900 $SC_MIRROR_TOOL_LENGTH (sign change tool length when mirroring)
If not all length components are parallel or antiparallel to the geometry axes, the index of the
axis, which contains the largest part of a tool length component, is returned in _AXIND. In this
case (if the function does not return an error for a different reason), the return value is 1. The
mapping of tool length components L1 to L3 onto geometry axes 1 to 3 is then described
completely by the contents of the 3rd parameter _MATRIX.
The _COORD parameter can be used to specify, which coordinate system is to be used for
the geometry axes. If the _COORD parameter is not specified (notation LENTOAX(_AXIND,
_MATRIX)), the WCS is used (default).
Example:
Standard situation: milling tool with G17
L1 applies in Z (applicate), L2 applies in Y (ordinate), L3 applies in X (abscissa).
Function call in the form:
Status = LENTOAX(_AXIND, _MATRIX, "WCS")
The result parameter _AXIND contains the values:
_AXIND[0] = 3
_AXIND[1] = 2
_AXIND[2] = 1
Or, in short: ( 3, 2, 1)
In this case, the associated matrix _MATRIX is:
B0$75,;
A change from G17 to G18 or G19 does not alter the result, because the assignment of the
length components to the geometry axes changes in the same way as the assignment of the
abscissa, ordinate and applicate.
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18.14 Supplementary conditions
A frame rotation of Z through 60 degrees is now programmed with G17 active, e.g. rot Z60.
The direction of the applicate (Z direction) remains unchanged; the main component of L2 now
lies in the direction of the new X axis; the main component of L1 now lies in the direction of
the negative Y axis. The return axis is thus 1, and _AXIND contains the values (2, -3, 1).
In this case, the associated matrix _MATRIX is:
B0$75,;
VQ V
V VQ
Note
For further information to the above mentioned coordinate systems, please refer to:
References:
Programming Manual, Job Planning; Tool Offsets:
18.14
Supplementary conditions
18.14.1
Flat D number structure
Grinding tools
Grinding tools (tool types 400-499) cannot be defined using the simple tool management
structure (flat D numbers).
Block search
T number output to PLC triggers a synchronization process in the NCK: with absolute, indirect
D programming, the PLC returns the D values via NC/PLC interfaces. The NCK waits until the
output of a T number is followed by a response from the PLC: "I have written the D number".
With block search without calculation, this process of synchronization must be deactivated
until the first valid T number has been output again. That means that the NCK must not wait
on D programming.
Note
At what point the auxiliary functions can be output to PLC after block search is complete, can
be controlled with the machine data:
$MC_AUXFU_AT_BLOCK_SEARCH_END (auxiliary function output after block search)
Automatic on end or on NC start.
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18.15 Examples
REORG
The (only) writable variable $A_MONIFACT, which is defined here, is stored by main-run data.
Since the write process takes place synchronously to the main run, no special measures are
required for Reorg.
18.14.2
SD42935 expansions
SD42935
Which of the wear components are to be transformed and which are not to be transformed in
conjunction with the functions TOWMCS and TOWWCS can be defined via the setting data:
SD42935 $SC_WEAR_TRANSFORM (transformation of wear values)
18.15
Examples
18.15.1
Toolholder with orientation capability
18.15.1.1
Example: Toolholder with orientation capability
Requirement
The following example uses a toolholder, which is described fully by a rotation about the Y
axis. It is therefore sufficient to enter only one value to define the rotary axis (block N20).
Blocks N50 to N70 describe an end mill with radius 5 mm and length 20 mm.
Block N90 defines a rotation of 37 degrees about the Y axis.
Block N120 activates the tool radius compensation and all settings are made to describe the
compensation in the following blocks with a rotation of 37 degrees about the Y axis.
N10
; Definition of toolholder 1
N20 $TC_CARR8[1] = 1
; Component of the first rotary axis in
the Y direction
N30
N40
; Definition of tool-compensation memory
T1/D1
N50 $TC_DP1[1,1] = 120
; End mill
N60 $TC_DP3[1,1] = 20
; Length 1
N70 $TC_DP6[1,1] = 5
; Radius
N80
N90 ROT Y37
; 37-degree rotation about y axis
N100
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18.15 Examples
N110 X0 Y0 Z0 F10000
N120 G42 CUT2DF TCOFR TCARR = 1 T1 D1 X10
N130 X40
N140 Y40
N150 X0
N160 Y0
N170 M30
18.15.1.2
Example of toolholder with orientation capability with rotary table
Use of the MOV command
For use of the MOVT command it is assumed that the program is running on a 5axis machine,
on which the tool rotates about the Y axis in case of a rotation of the B axis:
N10 TRAORI()
N20 X0 X0 Z0 B45 F2000
; Setting the tool orientation
N30 MOVT=-10
; Infeed movement 10 mm in tool direction
; (under 45 degrees in the Y-Z plane)
N40 MOVT=AC(20)
; Retraction in tool direction at distance of
; 20 mm from the zero point
Machine with rotary table
Complete definition for the use of a toolholder with orientation capability with rotary table:
N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]= 13
; Tool length 13 mm
; Definition of toolholder 1:
1536
N30 $TC_CARR1[1] = 0
; X component of 1st offset vector
N40 $TC_CARR2[1] = 0
; Y component of 1st offset vector
N50 $TC_CARR3[1] = 0
; Z component of 1st offset vector
N60 $TC_CARR4[1] = 0
; X component of 2nd offset vector
N70 $TC_CARR5[1] = 0
; Y component of 2nd offset vector
N80 $TC_CARR6[1] = -15
; Z component of 2nd offset vector
N90 $TC_CARR7[1] = 1
; X component of 1st axis
N100 $TC_CARR8[1] = 0
; Y component of 1st axis
N110 $TC_CARR9[1] = 0
; Z component of 1st axis
N120 $TC_CARR10[1] = 0
; X component of 2nd axis
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18.15 Examples
N130 $TC_CARR11[1] = 1
; Y component of 2nd axis
N140 $TC_CARR12[1] = 0
; Z component of 2nd axis
N150 $TC_CARR13[1] = 30
; Angle of rotation of 1st axis
N160 $TC_CARR14[1] =-30
; Angle of rotation of 2nd axis
N170 $TC_CARR15[1] = 0
; X components of 3rd offset vector
N180 $TC_CARR16[1] = 0
; Y component of 3rd offset vector
N190 $TC_CARR17[1] = 0
; Z component of 3rd offset vector
N200 $TC_CARR18[1] = 0
; X component of 4th offset vector
N210 $TC_CARR19[1] = 0
; Y component of 4th offset vector
N220 $TC_CARR20[1] = 15
; Z component of 4th offset vector
N230 $TC_CARR21[1] = A
; Reference for 1st axis
N240 $TC_CARR22[1] = B
; Reference for 2nd axis
N250 $TC_CARR23[1] = "P"
; Toolholder type
N260 X0 Y0 Z0 A0 B45 F2000
N270 TCARR=1 X0 Y10 Z0 T1 TCOABS
N280 PAROT
N290 X0 Y0 Z0
N300 G18 MOVT=AC(20)
N310 G17 X10 Y0 Z0
N320 MOVT=-10
N330 PAROTOF
N340 TCOFR
N350 X10 Y10 Z-13 A0 B0
N360 ROTS X-45 Y45
N370 X20 Y0 Z0 D0
N380 Y20
N390 X0 Y0 Z20
N400 M30
The definition of the toolholder with orientation capability is given in full. The components which
contain the value 0 need not actually be given, as they are preset to zero in any case.
The toolholder is activated in N270.
As $TC_CARR21 and $TC_CARR22 refer to the machine axes A and B and TCOABS is active,
the values in $TC_CARR13 and $TC_CARR14 are ignored, i.e. the axis position A0 B45 is
used for the rotation.
The rotation of the 4th offset vector (length 15 mm in Z direction) around the B axis causes an
offsetting of the zero point by X10.607 [= 15 * sin(45)] and Z-4.393 [= -15 * (1. - cos(45))]. This
zero offset is taken into account by an automatically written basic or system frame so that the
position X10.607 Y10.000 Z8.607 is approached. In the Z direction the tool selection leads to
an additional offset of 13 mm; the Y component is not affected by the table rotation.
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18.15 Examples
N280 defines a rotation in accordance with the rotation of the table of the toolholder with
orientation capability. The new X direction thus points in the direction of the bisecting line in
the 4th quadrant, the new Z axis in the direction of the bisecting line in the 1st quadrant.
The zero point is approached in N290, i.e. the machine position X10.607 Y0 Z-4.393, since
the position of the zero point is not changed by the rotation.
N300 traverses in Y to the position Y33.000, since G18 is active and the Y component is not
affected by the active frame. The X and Z positions remain unchanged.
The position X17.678 Y0 Z1.536 is approached in N310.
N320 changes only the Z position to the value -8.464 as a result of the MOVT command. As
only the table can be rotated, the tool orientation remains unchanged parallel to the machine
Z direction, even if the Z direction of the active frame is rotated by 45 degrees.
N330 deletes the basic or system frame; thus the frame definition from N280 is undone.
In N340, TCOFR specifies that the toolholder with orientation capability is to be aligned
according to the active frame. Since a rotation is no longer active in N330 due to the
PAROTOF command, the initial state is applied. The frame offset becomes zero.
N350 thus approaches the position X10 X10 Z0 (= Z-13 + tool length). Note: Through the
simultaneous programming of both rotary axes A and B the actual position of the toolholder
with orientation capability is made to match that used in N340. The position approached by
the three linear axes is dependent on this position, however.
In N360, solid angles are used to define a plane whose intersecting lines in the XZ and in the
YZ plane each form an angle of +45 degrees or -45 degrees with the X or Y axis. The plane
defined in such a way therefore has the following position: the surface normal points towards
the solid diagonals.
N370 traverses to the position X20 Y0 Z0 in the new coordinate system. Since the tool is
deselected with D0 at the same time, there is no longer an additional offset in Z. Since the new
X axis lies in the old XZ plane, this block reaches the machine position X14.142 Y0 Z-14.142.
N380 only traverses on the Y axis in the rotated coordinate system. This leads to a motion of
all three machine axes. The machine position is X5.977 Y16.330 Z-22.307.
N390 approaches a point on the new Z axis. Relative to the machine axes this is thus on the
solid diagonal. All three axes thus reach the position 11.547.
18.15.1.3
Basic tool orientation example
Basic orientation in the bisector
A milling tool is defined with length L1=10 whose basic orientation is in the bisector of the XZ
plane.
1538
N10
$TC_DP1[1,1]=120
N20
$TC_DP3[1,1]=10
N30
$TC_DPV [1,1] = 0
N40
$TC_DPV3[1,1] = 1
N50
$TC_DPV4[1,1] = 0
N60
$TC_DPV5[1,1] = 1
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W1: Tool offset
18.15 Examples
N70
g17 f1000 x0 y0 z0 t1 d1
N80
movt=10
N80
m30
Description of example:
In N10 to N60, a milling tool is defined with length L1=10 (N20). The basic orientation is in the
bisector of the XZ plane N40 to N60.
In N70, the tool is activated and the zero position is approached. As a result of the tool length
the machine positions X0 Y0 Z10 are thus obtained in this block.
In N80 an incremental traversing motion is performed from 10 into tool direction. The resulting
axis positions are thus X7.071 Y0 Z17.071.
18.15.1.4
Calculation of compensation values on a location-specific and workpiece-specific basis
Tool with adapter
A tool with adapter and toolholder with orientation capability is defined in the following program
example. In order to simplify the overview, only length L1 is different to zero for the additive
and insert offsets and for the adapter in case of the tool itself. The offset vectors of the
toolholder with orientation capability are all zero.
N10
$TC_TP2[1] = "MillingTool"
; Name of identifier
N20
$TC_TP7[1]=9
; Location types
N30
$TC_TP8[1]=2
; Status: Enabled and not blocked
; D corr. D=1
N40
$TC_DP1[1,1]=120
N50
$TC_DP3[1,1]=; tool length compensation vector
; Tool type - milling
N60
$TC_DP12[1,1]= ; wear
N70
$TC_SCP13[1,1]=0.1
; Sum offset DL=1
N80
$TC_ECP13[1,1]=0.01
; Insert offset DL=1
N90
$TC_ADPTT[1]=5
; Adapter transformation
N100
$TC_ADPT1[1]=0.001
; Adapter dimension
; Magazine data
N110
$TC_MAP1[1]=3
; Magazine type: Revolver
N120
$TC_MAP2[1]="Revolver"
; Magazine name
N130
$TC_MAP3[1]=17
; Status of magazine
N140
$TC_MAP6[1]=1
; Dimension - line
N150
$TC_MAP7[1]=2
; Dimension - column -> 2 positions
N160
$TC_MPP1[1,1]=1
; Location type
N170
$TC_MPP2[1,1]=9
; Location types
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W1: Tool offset
18.15 Examples
N180
$TC_MPP4[1,1]=2
; Location state
N190
$TC_MPP7[1,1]=1
; Bring adapter into position
N200
$TC_MPP6[1,1]=1
; T number "MillingTool"
N210
$TC_MAP1[9999]=7
; Magazine type: buffer
N220
$TC_MAP2[9999]="buffer"
; Magazine name
N230
$TC_MAP3[9999]=17
; Status of magazine
N240
$TC_MAP6[9999]=1
; Dimension - line
N250
$TC_MAP7[9999]=1
; Dimension - column -> 1 position
N260
$TC_MPP1[9999.1]=2
; Location type
N270
$TC_MPP2[9999.1]=9
; Location types
N280
$TC_MPP4[9999.1]=2
; Location state
N290
$TC_MPP5[9999,1]=1
; Spindle no. 1
N300
$TC_MDP2[1,1]=0
; Distance from spindle to mag. 1
N310
$TC_CARR10[1] = 1
; Component of 2nd rotary axis in X direc
tion
N320
$TC_CARR14[1] = 45
; Angle of rotation of 2nd axis
N330
$TC_CARR23[1] = "T"
; Tool mode
N340
Stopre
N350
$SC_WEAR_TRANSFORM = 'B101'
N360
T0 D0 DL=0
N370
ROT X30
N380
G90 G1 G17 F10000 X0 Y0 Z0
N390
T="MillingTool" X0 Y0 Z0 TOWSTD
; X 0.000 Y11.110 Z 0.001
N400
T="MillingTool" X0 Y0 Z0 TOWMCS
; X 0.000 Y10.100 Z 1.011
N410
T="MillingTool" X0 Y0 Z0 TOWWCS
; X 0.000 Y 9.595 Z 0.876
N420
TCARR=1 X0 Y0 Z0
; X 0.000 Y 6.636 Z 8.017
N430
G18 X0 Y0 Z0
; X10.100 Y-0.504 Z 0.876
N440
m30
; Definition of toolholder 1
Explanations regarding the example above
Starting at block N390, various methods are used to approach position X0 Y0 Z0. The
machine positions reached are specified in the blocks in comments. After the program a
description is given of how the positions were reached.
N390: The adapter transformation 5 (block N90) transforms length L1 into length L2. Only the
actual adapter dimension is not subject to this transformation. The Y value (L2 with G17) results
from the sum of the tool length (10), tool wear (1), sum offset (0.1), and insert offset (0.01).
The adapter dimension (0.001) is in Z (L1).
N400: In block N350, bits 0 and 2 are enabled in setting data:
SD42935 $SC_WEAR_TRANSFORM (transformations for tool components)
This means that the tool wear and the insert offset are not subject to the adapter transformation
because of TOWMCS in block N400. The sum of these two compensations is 1.01. The Z position
1540
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W1: Tool offset
18.15 Examples
is, therefore, increased by this amount and the Y position is reduced by this amount compared
with block N390.
TOWWCS is active in N410. The sum of the tool wear and the insert offset is thus effective in
the active workpiece coordinate system. In block N370, a rotation through 30 degrees is
activated around the X axis. The original compensation value of 1.01 in the Z direction thus
yields a new Z component of 0.875 ( = 1.01 * cos(30)) and a new Y component of -0.505 ( =
1.01 * sin(30)). This yields the dimension specified in the program comment when added to
the sum of the tool length, sum offset and adapter dimension produced in block N390.
In addition, a toolholder with orientation capability is activated in block N420. This executes a
rotation through 45 degrees about the X axis (see N310 - N330). Since all offset vectors of the
toolholder are zero, there is no additional zero offset. The toolholder with orientation capability
acts on the sum of the tool length, sum offset and adapter dimension. The resulting vector
component is X0 Y7.141 Z7.142. To this, as in block N410, the sum of tool wear and insert
offset evaluated in WCS is added.
G18 is activated in N430. The components of the tool length sum, sum offset and adapter
dimension are interchanged accordingly. The toolholder with orientation capability continues
to act on this new vector (rotation through 45 degrees about X axis). The resulting vector
component thereby is X10.100 Y0.0071 Z0.0071. The vector formed from tool wear and
insert offset (X0 Y-0.505 Z0.875) is not affected by the change of plane. The sum of the
two vectors yields the dimension specified in the comment in N430.
18.15.2
Examples 3-6: SETTCOR function for tool environments
Example 3
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] = 120
; Milling tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP12[1,1] = 1.0
; Wear L1
N50
_CORVAL[0] = 0.333
N60
t1 d1 g17 g0
N70
r1 = settcor(_CORVAL, "GW", 0, 2, 2)
N80
t1 d1 x0 y0 z0
N90
M30
; ==> MCS position X0.000 Y0.000
Z0.333
_CORCOMP is 2, therefore, the compensation effective in the Z direction is entered in the
geometry component (the old value is overwritten) and the wear value is deleted. The resulting
total tool length is thus:
L1 = 0.333 + 0.0 = 0.333.
Example 4
N10
def real _CORVAL[3]
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1541
W1: Tool offset
18.15 Examples
N20
$TC_DP1[1,1] = 120
; Milling tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP12[1,1] = 1.0
; Wear L1
N50
_CORVAL[0] = 0.333
N60
t1 d1 g17 g0
N70
r1 = settcor(_CORVAL, "GW", 0, 3, 2)
N80
t1 d1 x0 y0 z0
N90
M30
;==> MCS position X0.000 Y0.000
Z11.333
_CORCOMP is 3, therefore, the wear value and compensation value are added to the geometry
component and the wear component is deleted. The resulting total tool length is thus L1 =
11.333 + 0.0 = 11.333.
Example 5
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] = 120
; Milling tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP12[1,1] = 1.0
; Wear L1
N50
_CORVAL[0] = 0.333
N60
t1 d1 g17 g0
N70
r1 = settcor(_CORVAL, "GW", 0, 3, 0)
N80
t1 d1 x0 y0 z0
N90
M30
;==> MCS position X0.333 Y0.000
Z11.000
_CORCOMP is 3, as in the previous example, but the compensation is now effective on the
geometry axis with index 0 (X axis). The tool components L3 are assigned to this geometry
axis due to G17 with a milling tool. Calling SETTCOR thus does not affect tool parameters
$TC_DP3 and $TC_DP12. Instead, the compensation value is entered in $TC_DP5.
Example 6
1542
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] = 500
; Turning tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP4[1,1] = 15.0
; Geometry L2
N50
$TC_DP12[1,1]= 10.0
; Wear L1
N60
$TC_DP13[1,1] =0.0
; Wear L2
N70
_CORVAL[0] = 5.0
N80
rot y 30
N90
t1 d1 g18 g0
N100
r1 = settcor(_CORVAL, "GW", 0, 3, 1)
Basic Functions
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W1: Tool offset
18.15 Examples
N110
t1 d1 x0 y0 z0
N120
M30
; ==> MCS position X24.330
Y0.000 Z17.500
The tool is a turning tool. A frame rotation is activated in N80, causing the basic coordinate
system (BCS) to be rotated in relation to the workpiece coordinate system (WCS). In the WCS,
the compensation value (N70) acts on the geometry axis with index 1, i.e., on the X axis
because G18 is active. Since "_CORRMODE = 3", the tool wear in the direction of the X axis
of the WCS must become zero once N100 has been executed. The contents of the relevant
tool parameters at the end of the program are thus:
$TC_DP3[1,1]
: 21.830
; Geometry L1
$TC_DP4[1,1]
: 21.830
; Geometry L2
$TC_DP12[1,1]
: 2.500
; Wear L1
$TC_DP13[1,1]
: -4.330
; Wear L2
The total wear including _CORVAL is mapped onto the X' direction in the WCS. This produces
point P2. The coordinates of this point (measured in X/Y coordinates) are entered in the
geometry component of the tool. The difference vector P2 - P1 remains in the wear. The wear
thus no longer has a component in the direction of _CORVAL.
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Figure 18-54 Tool length compensation, example 6
If the sample program is continued after N110 with the following instructions:
N120
_CORVAL[0] = 0.0
N130
r1 = settcor(_CORVAL, "GW", 0, 3, 0)
N140
t1 d1 x0 y0 z0
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
; ==> MCS position X24.330 Y0.000
Z17.500
1543
W1: Tool offset
18.15 Examples
The remaining wear is included completely in the geometry because the compensation is now
effective in the Z' axis (parameter _GEOAX is 0). Since the new compensation value is 0, the
total tool length and thus the position approached in N140 may not change. If _CORVAL were
not equal to 0 in N120, a new total tool length and thus a new position in N140 would result,
however, the wear component of the tool length would always be zero, i.e., the total tool length
is subsequently always contained in the geometry component of the tool.
The same result as that achieved by calling the SETTCOR function with the _CORCOMP = 0
parameter twice can also be reached by calling _CORRCOMP = 1 (vectorial compensation)
just once:
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] = 500
; Turning tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP4[1,1] = 15.0
; Geometry L2
N50
$TC_DP12[1,1]= 10.0
; Wear L1
N60
$TC_DP13[1,1] =0.0
; Wear L2
N70
_CORVAL[0] = 0.0
N71
_CORVAL[1] = 5.0
N72
_CORVAL[2] = 0.0
N80
rot y 30
N90
t1 d1 g18 g0
N100
r1 = settcor(_CORVAL, "GW", 1, 3, 1)
N110
t1 d1 x0 y0 z0
N120
M30
; ==> MCS position X24.330 Y0.000
Z17.500
In this case, all wear components of the tool are set to zero immediately after the first call of
SETTCOR in N100.
Example 7
1544
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] = 500
; Turning tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP4[1,1] = 15.0
; Geometry L2
N50
$TC_DP12[1,1]= 10.0
; Wear L1
N60
$TC_DP13[1,1] =0.0
; Wear L2
N70
_CORVAL[0] = 5.0
N80
rot y 30
N90
t1 d1 g18 g0
N100
r1 = settcor(_CORVAL, "GW", 3, 3)
N110
t1 d1 x0 y0 z0
; ==> MCS position X25.000 Y0.000
Z15.000
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
W1: Tool offset
18.15 Examples
As opposed to example 6, parameter _CORCOMP = 3, and so the _GEOAX parameter can
be omitted. The value contained in _CORVAL[0] now acts immediately on the tool length
component L1, the rotation in N80 has no effect on the result, the wear components in
$TC_DP12 are included in the geometry component together with _CORVAL[0], with the result
that the total tool length is stored in the geometry component of the tool, due to $TC_DP13,
after the first SETTCOR call in N100.
Example 8
N10
def real _CORVAL[3]
N20
$TC_DP1[1,1] = 500
; Turning tool
N30
$TC_DP3[1,1] = 10.0
; Geometry L1
N40
$TC_DP4[1,1] = 15.0
; Geometry L2
N50
$TC_DP5[1,1] = 20.0
; Geometry L3
N60
$TC_DP12[1,1]= 10.0
; Wear L1
N70
$TC_DP13[1,1] =0.0
; Wear L2
N80
$TC_DP14[1.1] =0.0
; Wear L3
N90
$SC_WEAR_SIGN = TRUE
N100
_CORVAL[0] = 10.0
N110
_CORVAL[1] = 15.0
N120
_CORVAL[2] = 5.0
N130
rot y 30
N140
t1 d1 g18 g0
N150
r1 = settcor(_CORVAL, "W", 1, 1)
N160
t1 d1 x0 y0 z0
; ==> MCS position X7.990 Y25.000
Z31.160
In N90 the setting data is enabled:
SD42930 $SC_WEAR_SIGN (sign of wear)
i.e. the wear must be valued with a negative sign.
The compensation is vectorial (_CORCOMP = 1), and the compensation vector must be added
to the wear (_CORMODE = 1). The geometric conditions in the Z/X plane are shown in the
figure below:
Basic Functions
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1545
W1: Tool offset
18.15 Examples
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5HVXOWLQJZHDUFRPSRQHQW
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Figure 18-55 Tool length compensation, example 8
The geometry component of the tool remains unchanged due to _CORMODE = 1. The
compensation vector defined in the WCS (rotation about y axis) must be included in the wear
component such that the total tool length in the figure refers to point P2. Therefore, the resulting
wear component of the tool is given in relation to the distance between points P1 and P2.
However, since the wear is evaluated negatively, due to setting data SD42930, the
compensation determined in this way has to be entered in the compensation memory with a
negative sign. The contents of the relevant tool parameters at the end of the program are thus:
$TC_DP3[1,1]
10.000
; Geometry L1 (unchanged)
$TC_DP4[1,1]
15.000
; Geometry L2 (unchanged)
$TC_DP5[1,1]
10.000
; Geometry L3 (unchanged)
$TC_DP12[1,1]
2.010
; Wear L1
;(= 10 -15*cos(30) + 10*sin(30))
$TC_DP13[1,1]
: -16.160
; Wear L2
;(= -15*sin(30) - 10*cos(30))
$TC_DP14[1,1]
-5.000
; Wear L3
The effect of setting data SD42930 on the L3 component in the Y direction can be recognized
without the additional complication caused by the frame rotation.
Example 9:
2 (tool length must be valued in the diameter axis with the factor 0.5) is the value of machine
data:
MD20360 $MC_TOOL_PARAMETER_DEF_MASK (definition of tool parameters).
1546
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W1: Tool offset
18.16 Data lists
X is diameter axis:
N10
def real _LEN[11]
N20
def real _CORVAL[3]
N30
$TC_DP1[1,1]= 500
N40
$TC_DP2[1,1]= 2
N50
$TC_DP3[1,1]= 3.
N60
$TC_DP4[1,1]= 4.
N70
$TC_DP5[1,1]= 5.
N80
_CORVAL[0] = 1.
N90
_CORVAL[1] = 1.
N100
_CORVAL[2] = 1.
N110
t1 d1 g18 g0 x0 y0 z0
N120
r1 = settcor(_CORVAL, "g", 1, 1)
N130
t1 d1 x0 y0 z0
; ==> MCS position X2.5 Y6 Z5
N140
r3 = $TC_DP3[1,1]
; = 5. = (3.000 + 2. * 1.000)
N150
r4 = $TC_DP4[1,1]
; = 5. = (4.000 + 1.000)
N160
r5 = $TC_DP5[1.1]
; = 6. = (5.000 + 1.000)
N170
m30
; ==> MCS position X1.5 Y5 Z4
The compensation of the tool length is to be 1 mm in each axis (N80 to N100).
1 mm is thus added to the original length in lengths L2 and L3.
Twice the compensation value (2 mm) is added to the original tool length in L1, in order to
change the total length by 1 mm as required. If the positions approached in blocks N110 and
N130 are compared, it can be seen that each axis position has changed by 1 mm.
18.16
Data lists
18.16.1
Machine data
18.16.1.1
NC-specific machine data
Number
Identifier: $MN_
Description
18082
MM_NUM_TOOL
Number of tools that the NCK can manage (SRAM)
18088
MM_NUM_TOOL_CARRIER
Maximum number of the defined toolholders
18094
MM_NUM_CC_TDA_PARAM
Number of tool data (SRAM)
18096
MM_NUM_CC_TOA_PARAM
Number of data, per tool cutting edge for compile cycles
(SRAM)
18100
MM_NUM_CUTTING_EDGES_IN_TOA
Tool offsets in the TOA area (SRAM)
18102
MM_TYPE_OF_CUTTING_EDGE
Type of D number programming (SRAM)
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18.16 Data lists
Number
Identifier: $MN_
Description
18105
MM_MAX_CUTTING_EDGE_NO
Maximum value of D number
18106
MM_MAX_CUTTING_EDGE_PERTOOL
Maximum number of D numbers per tool
18108
MM_NUM_SUMCORR
Number of all sum offsets in NCK
18110
MM_MAX_SUMCORR_PER_CUTTEDGE
Number of additive offsets per cutting edge
18112
MM_KIND_OF_SUMCORR
Properties of additive offsets in the TO area (SRAM)
18114
MM_ENABLE_TOOL_ORIENT
Assign orientation to cutting edges
18116
MM_NUM_TOOL_ENV
Tool environments in the TOA area (SRAM)
18.16.1.2
Channelspecific machine data
Number
Identifier: $MC_
Description
20096
T_M_ADDRESS_EXT_IS_SPINO
Meaning of the address extension with T, M tool change
20110
RESET_MODE_MASK
Definition of initial control setting after RESET/part pro
gram end
20120
TOOL_RESET_VALUE
Tool length compensation at power-up (Reset/TP end)
20121
TOOL_PRESEL_RESET_VALUE
Preselected tool on RESET
20125
CUTMOD_ERR
Troubleshooting for the CUTMOD function
20126
TOOL_CARRIER_RESET_VALUE
Active toolholder on RESET
20127
CUTMOD_INIT
Initialize CUTMOD for POWER ON
20130
CUTTING_EDGE_RESET_VALUE
Tool cutting edge length compensation at power-up
(Reset/TP end)
20132
SUMCORR_RESET_VALUE
Additive offset effective at RESET
20140
TRAFO_RESET_VALUE
Transformation data record at power up (Reset/TP end)
20180
TOCARR_ROT_ANGLE_INCR[i]
Rotary axis increment of the toolholder with orientation
capability
20182
TOCARR_ROT_ANGLE_OFFSET[i]
Rotary axis offset of toolholder with orientation capabil
ity
20184
TOCARR_BASE_FRAME_NUMBER
Number of the basic frames to accept the table offset
20188
TOCARR_FINE_LIM_LIN
Limit linear fine offset TCARR
20190
TOCARR_FINE_LIM_ROT
Limit of the rotary fine offset TCARR
20202
WAB_MAXNUM_DUMMY_BLOCKS
Maximum number of blocks with no traversing motions
with SAR
20204
WAB_CLEARANCE_TOLERANCE
Direction reversal for WAB
20210
CUTCOM_CORNER_LIMIT
Max. angle for intersection calculation with tool radius
compensation
20220
CUTCOM_MAX_DISC
Maximum value for DISC
20230
CUTCOM_CURVE_INSERT_LIMIT
Maximum value for intersection calculation with TRC
20240
CUTCOM_MAXNUM_CHECK_BLOCKS
Blocks for predictive contour calculation with tool radius
compensation
20250
CUTCOM_MAXNUM_DUMMY_BLOCKS
Maximum number of blocks without traversing motion
for TRC
20252
CUTCOM_MAXNUM_SUPPR_BLOCKS
Maximum number of blocks with compensation sup
pression
1548
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18.16 Data lists
Number
Identifier: $MC_
Description
20256
CUTCOM_INTERS_POLY_ENABLE
Intersection process possible for polynomials
20270
CUTTING_EDGE_DEFAULT
Basic setting of tool cutting edge without programming
20272
SUMCORR_DEFAULT
Initial setting of additive offset without program
20360
TOOL_PARAMETER_DEF_MASK
Definition of tool parameters
20390
TOOL_TEMP_COMP_ON
Activation of temperature compensation for tool length
20392
TOOL_TEMP_COMP_LIMIT
Maximum temperature compensation for tool length
20610
ADD_MOVE_ACCEL_RESERVE
Acceleration reserve for overlaid movements
21080
CUTCOM_PARALLEL_ORI_LIMIT
Minimum angle (path tangent and tool orientation) for
3D tool radius compensation
22530
TOCARR_CHANGE_M_CODE
M code for change of toolholder
22550
TOOL_CHANGE_MODE
New tool compensations with M function
22560
TOOL_CHANGE_M_CODE
M function for tool change
22562
TOOL_CHANGE_ERROR_MODE
Response when errors occur at tool change
24558
TRAFO5_JOINT_OFFSET_PART_1
Vector of kinematic offset in table, transformation 1
24658
TRAFO5_JOINT_OFFSET_PART_2
Vector of kinematic offset in table, transformation 2
28085
MM_LINK_TOA_UNIT
Assigning the TO unit to a channel (SRAM)
18.16.1.3
Axis/spindlespecific machine data
Number
Identifier: $MA_
Description
32750
TEMP_COMP_TYPE
Temperature compensation type
18.16.2
Setting data
18.16.2.1
Channelspecific setting data
Number
Identifier: $SC_
Description
42442
TOOL_OFFSET_INCR_PROG
Tool length compensation
42470
CRIT_SPLINE_ANGLE
Core limit angle, for compressor
42480
STOP_CUTCOM_STOPRE
Alarm response for tool radius compensation and pre
processing stop
42494
CUTCOM_ACT_DEACT_CTRL
Approach and retraction behavior for tool radius com
pensation
42496
CUTCOM_CLSDT_CONT
Behavior of the tool radius compensation for closed
contour
42900
MIRROR_TOOL_LENGTH
Sign change, tool lengths when mirroring
42910
MIRROR_TOOL_WEAR
Sign change, tool wear when mirroring
42920
WEAR_SIGN_CUTPOS
Sign of wear for tools with cutting edge position
42930
WEAR_SIGN
Sign of the wear
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W1: Tool offset
18.16 Data lists
Number
Identifier: $SC_
Description
42935
WEAR_TRANSFORM
Transformations for tool components
42940
TOOL_LENGTH_CONST
Change of tool length components for change of plane
42950
TOOL_LENGTH_TYPE
Assignment of the tool length offset independent of tool
type
42960
TOOL_TEMP_COMP
Temperature compensation value in relation to tool
42974
TCARR_FINE_CORRECTION
Fine offset TCARR on/off
42984
CUTDIRMOD
Modification of $P_AD[2] or $P_AD[11]
18.16.3
Signals
18.16.3.1
Signals from channel
Signal name
SINUMERIK 840D sl
SINUMERIK 828D
T function 1 change
DB21, ... .DBX61.0
D function 1 change
DB21, ... .DBX62.0
T function 1
DB21, ... .DBB116-119
DB250x.DBD2000
D function 1
DB21, ... .DBB128-129
DB250x.DBD5000
Active G function of group 7
DB21, ... .DBB214
DB350x.DBB6
Active G function of group 16
DB21, ... .DBB223
DB350x.DBB15
Active G function of group 17
DB21, ... .DBB224
DB350x.DBB16
Active G function of group 18
DB21, ... .DBB225
DB350x.DBB17
Active G function of group 23
DB21, ... .DBB230
DB350x.DBB22
1550
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19
Z1: NC/PLC interface signals
19.1
Various interface signals and functions (A2)
19.1.1
Signals from PLC to NC (DB10)
DB10
DBX56.4 - DBX56.7
Edge evaluation: No
Key-operated switch positions 0 to 3
Signal(s) updated: Cyclic
Significance of signal Depending on the key-operated switch position, access to certain elements in the NCK can be ena
bled or disabled.
Key-operated switch position 0 represents the lowest access rights
Key-operated switch position 3 represents the highest access rights
The NC/PLC interface signals of key-operated switch positions 1 to 3 can either be directly specified
from the key-operated switch on the machine control panel or from the PLC user program.
It is only permissible to set one bit. If several bits are set simultaneously, the control internally activates
switch position 3.
Key-operated switch position
Corresponding to ...
DBX56.7
DBX56.6
DBX56.5
DBX56.4
Machine data for protection levels: MD11612, MD51044 - MD51064, MD51070 - MD51073,
MD51199 - MD51211, MD51215 - MD51225, MD51235
Disabling using a password
19.1.2
Selection/Status signals from HMI to PLC (DB10)
DB10
DBX103.0
Edge evaluation: No
Remote diagnosis active
Signal(s) updated: Cyclically
Signal state 1 or edge Remote diagnosis (optional) is active, i.e. the control is operated via an external PC.
change 0 1
Signal state 0 or edge
change 1 0
Remote diagnosis is not active.
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB10
DBX103.5
AT box ready
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
The AT box for expansion modules is ready.
Signal state 0 or edge The AT box is not ready. An expansion module conforming to the AT specification has either no
change 1 0
functionality or restricted functionality.
DB10
DBX103.6
HMI temperature limit
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
The environment conditions of the limit value are in the permitted tolerance range of 5 to 55 C.
Signal state 0 or edge The temperature range was either exceeded, or the temperature fell below the limit.
change 1 0
The temperature monitor has responded and the PCU is disabled.
DB10
DBX103.7
HMI battery alarm
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or edge The battery monitor has responded. Power failure can cause the loss of recently changed data and
change 0 1
a correct device configuration. An appropriate alarm is issued. The buffer battery should be checked.
An insufficient battery voltage also affects the current time on the user interface.
Signal state 0 or edge
change 1 0
No HMI battery alarm is present.
Additional references Operator Components Manual (PCU)
19.1.3
Signals from the NC to the PLC (DB10)
DB10
DBX104.7
Edge evaluation: No
Signal state 1
NCK CPU ready
Signal(s) updated: Cyclically
The NCK CPU is ready and registers itself cyclically with the PLC.
After a correct initial start and the first complete OB1 cycle (initial setting cycle) the PLC and NCK
continuously exchange sign-of-life signals.
The PLC basic program sets the interface signal "NCK CPU Ready" to 1.
1552
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB10
DBX104.7
NCK CPU ready
Signal state 0
The NCK CPU is not ready.
If a sign-of-life is not received from the NCK, the PLC/NCK interface is neutralized by the PLC basic
program and the interface signal "NCK CPU Ready" is set to 0.
The following measures are introduced by the PLC basic program:
Status signals from NCK to PLC (user interface) are deleted (cleared)
Change signals for help functions are deleted
Cyclic processing of the user interface PLC to NCK is terminated.
Additional references Diagnostics Manual
Function Manual Basic Functions; Basic PLC Program
DB10
DBX108.3
SINUMERIK Operate at OPI ready
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
SINUMERIK Operate is ready and cyclically logs on with the NCK.
Signal state 0
SINUMERIK Operate is not ready.
Additional references Diagnostics Manual
DB10
DBX108.5
Drives in cyclic operation
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
For all machine axes of the NC, the corresponding drives are in the cyclic operation, i.e. they cyclically
exchange PROFIdrive telegrams with the NC.
Signal state 0
For at least one machine axis of the NC, the corresponding drive is not in cyclic operation, i.e. it is
not cyclically exchanging PROFIdrive telegrams with the NC.
DB10
DBX108.6
Edge evaluation: No
Signal state 1
Drive ready
Signal(s) updated: Cyclically
For all machine axes of the NC, the corresponding drives are ready:
DB31, ... DBX93.5 == 1 (DRIVE ready)
Signal state 0
For at least one machine axis of the NC, the corresponding drive is not ready:
DB31, ... DBX93.5 == 0 (DRIVE ready)
Corresponding to ...
DB31, ... DBX93.5 (DRIVE ready)
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB10
DBX108.7
NC ready
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The control system is ready.
This interface signal is an image of the relay contact "NC Ready".
This signal is set if:
Relay contact "NC Ready" is closed
All the voltages in the controller have been established
The controller is in the cyclic mode
Signal state 0
The controller is not ready. The relay contact "NC Ready" is open.
The following faults will cause NC Ready to be canceled:
Undervoltage and overvoltage monitoring function has responded
Individual components are not ready (NCK CPU Ready)
NCK CPU watchdog
If the signal "NC Ready" goes to 0 the following measures are introduced by the controller if they are
still possible:
The controller enable signals are withdrawn (this stops the drives)
The following measures are introduced by the PLC basic program:
Status signals from NCK to PLC (user interface) are deleted (cleared)
Change signals for help functions are deleted
Cyclic processing of the PLC to NCK user interface is terminated
For further information see References!
The controller is not ready again until after POWER ON.
Corresponding to ...
Relay contact "NC Ready"
Additional references Diagnostics Manual
Function Manual Basic Functions; Basic PLC Program
DB10
DBX109.0
Edge evaluation: No
Signal state 1
NCK alarm is active
Signal(s) updated: Cyclically
At least one NCK alarm is present.
This is a group signal for the interface signals of all existing channels:
DB21, ... DBX36.6 (channel-specific NCK alarm is active)
Signal state 0
No NCK alarm is active.
Corresponding to ...
DB21, ... DBX36.6 (channel-specific NCK alarm is active)
DB21, ... DBX36.7 (NCK alarm with processing stop present)
Additional references Diagnostics Manual
1554
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB10
DBX109.5
NCU heat sink temperature alarm
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
In the NCU, the limit values of the heat sink temperature was exceeded.
The heat sink temperature has been activated and a steady operation of the operator panel is no
longer guaranteed.
Signal state 0
The heat sink monitoring function of the NCU has not responded.
DB10
DBX109.6
Air temperature alarm
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The ambient temperature or fan monitoring function has responded.
This may be due to the following causes:
The temperature monitoring has identified an ambient temperature that is too high (approx. 60
C). Alarm 2110 "NCK temperature alarm" is output.
The speed monitoring of the 24 VDC fan used to cool the module has responded. Alarm 2120
"NCK fan alarm" is output.
Measures: Replace the fan and/or ensure that additional ventilation is provided.
When a temperature or fan error responds, a relay contact (terminal 5.1, 5.2 or 5.1, 5.3) in the infeed/
regenerative feedback unit is activated which can be evaluated by the customer.
Signal state 0
Neither the temperature monitoring nor the fan monitoring has responded.
Application exam
ple(s)
Appropriate measures can be initiated by the PLC user program if the temperature or fan monitoring
is activated.
Corresponding to ...
When a temperature or fan error responds, a relay contact (terminal 5.1, 5.2 or 5.1, 5.3) in the infeed/
regenerative feedback unit is activated. This can be evaluated.
Additional references Diagnostics Manual
DB10
DBX109.7
Edge evaluation: No
Signal state 1
NCK battery alarm
Signal(s) updated: Cyclically
The NCK battery voltage monitoring function has responded.
This may be due to the following causes:
The battery voltage is within the pre-warning limit range (approx. 2.7 to 2.9 V). Alarm 2100 "NCK
battery warning threshold reached" has been triggered.
Refer to References for effects and measure.
The battery voltage is below the pre-warning limit range ( 2.6 V).
Alarm 2101 "NCK battery alarm" is signaled in cyclic operation.
Effects: A supply voltage failure - e.g. when the controller is switched off - would result in the loss
of battery-buffered data (e.g. part program memory, variables, machine data ...).
Measure: Refer to additional References.
When the controller powered-up, it was identified that the battery voltage was below the prewarning limit range ( 2.6 V).
Alarm 2102 "NCK battery alarm" is output; NC ready and mode group ready are not issued.
Effects: Some of the battery-buffered data may already have been lost!
Measure: Refer to additional References.
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB10
DBX109.7
NCK battery alarm
Signal state 0
The battery voltage is above the lower limit value (normal condition).
Special cases, er
rors, ...
The NCK batteries should only be replaced while the NC is switched on to avoid data loss because
of no memory backup.
Additional references Diagnostics Manual
Equipment Manual NCU
19.1.4
Signals to Operator Panel (DB19)
DB19
DBX0.0
Screen bright
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or edge
change 0 1
The screen blanking is disabled.
Signal state 0 or edge
change 1 0
The screen blanking remains in effect.
Corresponding to ...
DB19 DBX0.1 (darken screen)
DB19
DBX0.1
Darken screen
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
The screen is darkened by the PLC user program.
The automatic screen brightening/darkening is therefore ineffective:
i.e. the screen does not brighten up automatically on actuating the keyboard.
Signal state 0 or edge The screen is controlled by the PLC user program "bright".
change 1 0
In this signal state, the screen brightening/darkening setting can be derived by the control via the
keyboard automatically.
The screen is darkened if no key is pressed for a period defined via the following machine data on
the keyboard:
MD9006 $MM_DISPLAY_BLACK_TIME (time to darken the screen)
The screen is brightened the next time a key on the operator panel front is pressed.
Application exam
ple(s)
Screen saver
Special cases,
errors, ....
Notice:
The keyboard of the operator panel front continues to be effective if the interface signal:
DB19 DBX0.1 (darken screen) = 1
We therefore recommend that this is disabled using the interface signal:
DB19 DBX0.2 (key disable)
Corresponding to ...
DB19 DBX0.2 (key disable)
MD9006 $MM_DISPLAY_BLACK_TIME (time to darken the screen)
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB19
DBX0.2
Key disable
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
The keyboard is disabled for the user.
Signal state 0 or edge The keyboard is enabled for the user.
change 1 0
Application exam
ple(s)
If the screen is darkened with the interface signal: DB19 DBX0.1 (darken screen), the keyboard
should be actuated simultaneously with the interface signal: DB19 DBX0.2 (key disable) to avoid an
unintended operation.
Corresponding to ...
DB19 DBX0.1 (darken screen)
DB19
DBX0.3
Clear cancel alarms
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or edge
change 0 1
Clear error key on the machine control panel is pressed.
All cancel alarms of the NCKs and the control panel are then acknowledged. The PLC application
acknowledges the PLC alarms itself.
Power On and Reset alarms remain active on the NCK until the cause of the error has been removed.
Signal state 0 or edge
change 1 0
Clear error key on the machine control panel is not pressed.
Functionality
Only valid for HMI Advanced.
Corresponding to ...
DB19 DBX20.3 (cancel alarm cleared)
DB19
DBX0.4
Clear recall alarms
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Clear error key on the machine control panel is pressed.
All cancel alarms of the NCKs and the control panel are then acknowledged. The PLC application
acknowledges the PLC alarms itself. POWER On and Reset alarms remain active on the NCK until
the cause of the error has been removed.
Signal state 0 or edge Clear error key on the machine control panel is not pressed.
change 1 0
Application exam
ple(s)
Applies to HMI Advanced only
Corresponding to ...
DB19 DBX20.4 (recall alarm cleared)
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19.1 Various interface signals and functions (A2)
DB19
DBX0.7
Actual values in WCS, 0 = MCS
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
The PLC selects the display of actual values in the workpiece coordinate system (WCS). This means
that when the machine area is selected, the WCS display is activated; i.e. the machine and the
supplementary axes as well as their actual positions and distances-to-go are displayed in the WCS
in the "Position" window.
The interface signal is only evaluated when it enters the basic machine screen; this means that the
operator, within the machine area, can toggle as required between the particular coordinate systems
using the softkeys "actual values MCS" and "actual values WCS".
Signal state 0 or edge This means that when the machine area is selected the coordinate system previously selected (WCS
change 1 0
or MCS) is reactivated and displayed.
Application exam
ple(s)
Using the interface signal:DB19, DBX0.7 (actual value in WCS) = 1 each time that the machine area
is re-selected, the workpiece coordinate system display frequently required by the operator (WCS),
is selected.
Corresponding to ...
DB19 DBX20.7 (changeover MCS/WCS)
Additional references Operation Guide HMI (corresponding to the used software)
DB19
DBB6
Analog spindle 1, utilization in percent
Edge evaluation: No
DB19
DBB7
Signal(s) updated: Cyclically
Analog spindle 2, utilization in percent
Edge evaluation: No
DB19
DBB8
Signal(s) updated: Cyclically
Channel number of the machine control panel to HMI
Edge evaluation: No
DB19
DBB10
Signal(s) updated: Cyclically
PLC hard keys (value range 1 ...255, 0 is the initial state)
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Program area selection active
Signal state 0 or edge Program area selection inactive
change 1 0
DB19
DBX13.5
Unload part program
Edge evaluation: No
Signal state 1 or edge
change 0 1
1558
Signal(s) updated: Cyclically
Unload active
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB19
DBX13.5
Unload part program
Signal state 0 or edge
change 1 0
Unload inactive
Application exam
ple(s)
A file transfer can be initiated using the hard disk.
DB19
DBX13.6
Load part program
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Load active
Signal state 0 or edge Load inactive
change 1 0
Application exam
ple(s)
DB19
DBX13.7
A file transfer can be initiated using the hard disk.
Part program selection
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Selection active
Signal state 0 or edge Selection inactive
change 1 0
Application exam
ple(s)
DB19
DBX14.0 - DBX14.6
A file transfer can be initiated using the hard disk.
PLC index
Edge evaluation: No
Signal(s) updated: Cyclically
Description
This byte for control of the RS-232-C describes the PLC index for the standard control file that speci
fies the axis, channel or TO number.
Application exam
ple(s)
Dependent on:
DB19 DBX14.7=0 Act. FS: PLC index that specifies axis, channel or TO No.
DB19 DBX14.7=1 Pas. FS: PLC index for the user control file
DB19
DBX14.7
Active or passive file system
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Passive file system
Signal state 0 or edge Active file system
change 1 0
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB19
DBB15
PLC line offset
Edge evaluation: No
Signal(s) updated: Cyclically
Description
This byte to control the RS-232-C interface defines the line of the standard or user control file in which
the control file to be transferred is specified.
Application exam
ple(s)
Dependent on:
DB19 DBX14.7=0 Act. FS: PLC line offset in a standard control file
DB19 DBX14.7=1 Pas. FS: PLC line offset in a user control file
DB19
DBX16.0 - DBX16.6
PLC index for the user control file
Edge evaluation: No
Signal(s) updated: Cyclically
Description
This byte for controlling file transfer via hard disk defines the index for the control file (job list).
Application exam
ple(s)
Dependent on:
DB19 DBX14.7=0 Act. FS: PLC index for the standard control file
DB19 DBX14.7=1 Pas. FS: PLC index for the user control file
DB19
DBX16.7
Active or passive file system
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Passive file system
Signal state 0 or edge Active file system
change 1 0
Application exam
ple(s)
DB19
DBB17
with HMI Advanced always 1
PLC line offset in the user control file
Edge evaluation: No
Signal(s) updated: Cyclically
Description
This byte for controlling file transfer via the hard disk defines the line of the user control file in which
the control file to be transferred is located.
Application exam
ple(s)
Dependent on:
DB19 DBX14.7=0 Act. FS: PLC line offset in a standard control file
DB19 DBX14.7=1 Pas. FS: PLC line offset in a user control file
DB19
DBX44.0
Edge evaluation: No
Signal state 1 or edge
change 0 1
Mode change disable
Signal(s) updated: Cyclically
Mode change disable active
Signal state 0 or edge Mode change disable active
change 1 0
1560
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB19
DBX45.0
FC9 Out: Active
Edge evaluation: No
DB19
DBX45.1
Signal(s) updated: Cyclically
FC9 Out: Done
Edge evaluation: No
DB19
DBX45.2
Signal(s) updated: Cyclically
FC9 Out: Error
Edge evaluation: No
DB19
DBX45.3
Signal(s) updated: Cyclically
FC9 Out: StartError
Edge evaluation: No
19.1.5
Signal(s) updated: Cyclically
Signals from operator control panel (DB19)
DB19
DBX20.1
Edge evaluation: No
Screen dark
Signal(s) updated: Cyclically
Signal state 1
The screen is darkened.
Signal state 0
The screen is not darkened.
Application exam
ple(s)
Using this IS, the PLC can identify whether the screen was switched dark using the interface signal:
DB19, DBX0.1 (darken screen)
or using the machine data:
MD9006 $MM_DISPLAY_BLACK_TIME (screen blanking time)
.
Corresponding to ...
MD9006 $MM_DISPLAY_BLACK_TIME (screen blanking time)
DB19
DBX20.3
Cancel alarm deleted
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Cancel alarm deleted active
Signal state 0
Cancel alarm deleted inactive
Note: The signal is not reset automatically, it must be set by the user via the PLC user program.
Application exam
ple(s)
Applies only to HMI Advanced
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB19
DBX20.4
Recall alarm deleted
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Recall alarm deleted inactive
Signal state 0
Recall alarm deleted inactive
Note: The signal is not reset automatically, it must be set by the user via the PLC user program.
Application exam
ple(s)
DB19
DBX20.6
Applies only to HMI Advanced
Simulation active
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
On entry to simulation = 1
Signal state 0
On exit from simulation = 0
Application exam
ple(s)
Can be evaluated by machine manufacturer in order to activate the test on NC start.
DB19
DBX20.7
Switch over MCS/WCS
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The coordinate system is switched over from workpiece coordinate system (WCS) to machine coor
dinate system (MCS) or from MCS to WCS.
After it has been set, the signal is active for one PLC cycle.
Signal state 0
No effect
Application exam
ple(s)
The interface signal:
DB19, DBX20.7 (switch over MCS/WCS)
must be transferred to the interface signal:
DB19, DBX0.7 (actual value in WCS)
in order that the switchover becomes effective.
Corresponding to ...
DB19, DBX0.7 (actual value in WCS)
DB19
DBB22
Displayed channel number from HMI
Edge evaluation: No
DB19
DBB24
Edge evaluation: No
DB19
DBX26.1
Edge evaluation: No
Signal state 1
1562
Signal(s) updated: Cyclically
Actual image number of the JobShop interface
Signal(s) updated: Cyclically
OK Part program handling status)
Signal(s) updated: Cyclically
Transfer correctly completed
Basic Functions
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB19
DBX26.1
OK Part program handling status)
Signal state 0
Transfer completed with error
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB27 (program selection: Error handling)
DB19
DBX26.2
Error (part program handling status)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Transfer completed with error
Signal state 0
Transfer correctly completed
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB27 (program selection: Error handling)
DB19
DBX26.3
Active (part program handling status)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Job in progress
Signal state 0
No job in progress
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB27 (program selection: Error handling)
DB19
DBX26.5
Unload (part program handling status)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Unload active
Signal state 0
Unload inactive
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB27 (program selection: Error handling)
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DB19
DBX26.6
Load (part program handling status)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Load active
Signal state 0
Load inactive
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB27 (program selection: Error handling)
DB19
DBX26.7
Select (part program handling status)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Selection active
Signal state 0
Selection inactive
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB27 (program selection: Error handling)
DB19
DBB27
Error program handling
Edge evaluation: No
Description
Signal(s) updated: Cyclically
Error codes: aaa
Val
ue
Meaning
No error
Invalid number for the control file (value in DB19.DBB16 < 127 or invalid)
Control file "plc_proglist_main.ppl" not found (value in DB19.DBB16 invalid)
Invalid index in control file (incorrect value in DB19.DBB17)
Job list in the selected workpiece could not be opened
Error in job list. (Job list Interpreter returns error)
Job list Interpreter returns empty job list
Additional references Commissioning Manual, SINUMERIK Operate (IM9), Section "PLC functions" > "Program selection"
Corresponding to ...
DB19.DBB13 (program selection: Requirement)
DB19.DBB16 (program selection: Control file index)
DB19.DBB17 (program selection: Program list index)
DB19.DBB26 (program selection: Acknowledgement)
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19.1 Various interface signals and functions (A2)
19.1.6
Signals to channel (DB21, ...)
DB21, ...
DBX6.2
Delete distance-to-go (channel-specific)
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
Delete distance-to-go (channel-specific):
IS "Delete distance-to-go (channel-specific)" for path axes is only active in AUTOMATIC mode.
The rising edge of the interface signal is only effective for the axes involved in the geometry grouping.
These are also stopped with a ramp stop and their distance-to-go deleted (setpoint - actual value
difference). Any remaining following error is still corrected. The next program block is then started.
IS "Delete distance-to-go (channel-specific)" is therefore ignored by positioning axes.
Remark:
IS "Delete distance-to-go" does not influence the running dwell time in a program block with dwell
time.
Signal state 0 or edge
change 1 0
No effect
Signal irrelevant for ... Positioning axes
Application exam
ple(s)
To terminate motion because of an external signal (e.g. measuring probe)
Special cases,
errors, ....
Delete distance-to-go (channel-specific)
When the axes have been stopped with IS "Delete distance-to-go" the next program block is prepared
with the new positions. After a "Delete distance-to-go", geometry axes thus follow a different contour
to the one originally defined in the part program.
If G90 is programmed in the block after "Delete distance-to-go" it is at least possible to approach the
programmed absolute position. On the other hand, with G91, the position originally defined in the
part program is no longer reached in the following block.
Corresponding to ...
19.1.7
DB31, ... DBX2.2 (delete distance-to-go (axis-specific))
Signals from channel (DB21, ...)
DB21, ...
DBX36.6
Channel-specific NCK alarm is active
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
At least one NCK alarm is present for this channel.
Thus the following group interface signal is also set:
DB10 DBX109.0 (NCK alarm is present)
The PLC user program can interrogate whether processing for the channel in question has been
interrupted because of an NCK channel:
DB21, ... DBX36.7 (NCK alarm with processing stop present).
Signal state 0 or edge
change 1 0
No NCK alarm is active for this channel.
Corresponding to ...
DB21, ... DBX36.7 (NCK alarm with processing stop pending)
DB10 DBX109.0 (NCK alarm pending)
Additional references Diagnostics guide
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19.1 Various interface signals and functions (A2)
DB21, ...
DBX36.7
NCK alarm with processing stop present
Edge evaluation: No
Signal state 1 or edge
change 0 1
Signal(s) updated: Cyclically
At least one NCK alarm - which is causing a processing stop of the part program running in this
channel - is active.
Signal state 0 or edge There is no alarm active in this channel that is causing a processing stop.
change 1 0
Application exam
ple(s)
With this alarm a program interruption because of an NCK alarm can be recognized immediately by
the PLC user program and the necessary steps introduced.
Corresponding to ...
DB21, ... DBX36.6 (channel-specific NCK alarm pending)
Additional references Diagnostics guide
19.1.8
Signals to axis/spindle (DB31, ...)
DB31, ...
DBX1.0
Edge evaluation: No
Signal state 1
Drive test travel enable
Signal(s) updated: Cyclically
Traversing motions of the axis are enabled for the drive test.
Feedback signal of the safety handshake at the start of the NC function generator.
The NC has requested the traversing enable for the axis at the start of the function generator with
the following interface signal:
DB31, ... DBX61.0 = 1 (drive test travel request)
The PLC user program sets the current interface signal as feedback signal to the NC that the axis
can be traversed:
DB31, ... DBX1.0 = 1 (drive test travel enable)
Only the PLC can decide on the traversing enable of an axis.
Signal state 0
Traversing motions of the axis are disabled for the drive test.
Additional references CNC Commissioning Manual: NCK, PLC, Drive
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX1.3
Edge evaluation: No
Axis/spindle disable
Signal(s) updated: Cyclically
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX1.3
Axis/spindle disable
Signal state 1
Axis
No setpoints are output to the position controller, i.e. the axis traversing movement is disabled.
The axis is in closed-loop position control and any remaining following error is compensated.
If the axis is traversed via an NC program or manually, the set position and set velocity are
displayed as actual position and actual velocity on the user interface. With channel reset or end
of program (M30/M2), the display of the actual value is set to the actual value of the machine axis.
Travel commands are output to the NC/PLC interface.
For a traversing axis, the axis is stopped in compliance with the braking characteristic and an
alarm is displayed.
Spindle
No setpoints are output on the speed controller during open-loop control mode.
No setpoints are output on the position controller during positioning mode.
The traversing motion of the spindle is disabled. The speed setpoint is displayed as the actual
speed value on the user interface.
If the interface signal is set for a rotating spindle, the spindle is stopped in compliance with the
acceleration characteristic and an alarm is displayed.
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Note
If one of the following interface signals is set for a traversing axis/spindle for which "Axis/spindle
disable" is active, the axis/spindle is not stopped:
DB21, ... DBX12.3, 16.3 and 20.3 (feedrate stop for geometry axes 1, 2 and 3)
DB21, ... DBX320.3, 324.3 and 328.3 (feedrate stop for orientation axes 1, 2 and 3)
DB31, ... DBX4.3 (feedrate stop / spindle stop)
The axis/spindle can still be switched to the "hold" or "follow up" state with DB31, ... DBX1.4
(follow-up mode).
If "Axis/spindle disable" is briefly set for a traversing axis, the axis is stopped without an alarm.
With the next travel request, the axis is traversed to the programmed position.
Example:
N10 G0 X0 Y0
N20 G1 F1000 X100
N30 Y100
N40 X200
Regarding N20: At position 20 mm,"Axis/spindle disable" is briefly set for axis X axis X is stopped
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX1.3
Axis/spindle disable
Regarding N40: Axis X traverses from the last position (approx. 20 mm) to the programmed
position 200 mm.
Effects of "Axis/spindle disable" for spindle or axis couplings:
LS/LA1)
FS/FA2)
Coupl.3)
Effect
Off
Setpoints are output
Off
No setpoint output for following spindle/axis
Off
No setpoint output for leading spindle/axis
Off
No setpoint output for leading and following spindle/
axis
On
Setpoints are output
On
Axis/spindle disable has no effect on the FS/FA
On
Axis/spindle disable also has an effect on the FS/FA
On
No setpoint output
1) Status of the interface signal DB31, ... DBX99.0 (leading spindle/axis active)
2) Status of the interface signal DB31, ... DBX99.1 (following spindle/axis active)
3) Status of the coupling between leading and following spindle/axis
Signal state 0
The reset of the interface signal does not take effect until the axis/spindle is stationary.
Axis
Setpoints are output on the position controller again immediately after the reset of the interface
signal.
Spindle
After the reset of the interface signal, the spindle disable which is still effective internally must be
cancelled by an axis-specific reset, channel reset or end of program (M30/M2). Only then are
setpoints output on the speed controller again.
Application exam
ple(s)
Prevention of traversing motions of the axis/spindle when running-in an NC program.
Corresponding to ...
DB21, ... DBX33.7 (program test active)
Additional references Behavior in synchronous mode:
Function Manual, Extended Functions; Synchronous Spindle (S3)
DB31, ...
DBX1.4
Follow-up mode
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
Follow-up mode is active:
The position setpoint is continuously tracked: Position setpoint = actual position value
Feedback signal: DB31, ... DBX61.3 = 1 (follow-up active)
Standstill and clamping monitoring are not active.
If an NC program is active when the closed-loop control system is switched on again, a controlinternal repositioning operation is performed (REPOSA: Linear approach with all axes) to the last
programmed position.
Note
Follow-up mode is only useful with a simultaneous reset of the controller enable: DB31, ... DBX2.1
=0
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX1.4
Follow-up mode
Signal state 0
Follow-up mode is not active:
The position setpoint is not tracked: Position setpoint = programmed set position
Feedback signal: DB31, ... DBX61.3 = 0 (follow-up not active)
Standstill and clamping monitoring are active.
Note
If the controller enable is reset (DB31, ... DBX2.1 == 0), the axis is in the "hold" state. Whereby the
set position of the axis is not corrected to the actual position. If the axis is moved in this state, e.g.
manually, the difference between the set position and the actual position increases constantly (fol
lowing error). The following error is suddenly corrected to zero when the "Controller enable" is set
(speed setpoint jump).
Special cases,
errors, ....
If the controller enable is cancelled in the control because of faults, the "hold" state should be activated
for the axis before the NC start after the queued alarms have been successfully deleted, and the
accompanying controller enable set: DB31, ... DBX1.4 = 0 (follow-up mode).
Otherwise, for an NC Start and active follow-up mode, the traversing distance of the previous NC
block would not be executed due to the internal delete distance-to-go.
Notice:
During the transition from the "follow-up" state to the "hold" state or when the controller enable is set
in position control, delete distance-to-go is activated in the control. As a consequence, a traversing
block in which only this axis is traversed, is terminated directly.
Corresponding to ...
DB31, ... DBX2.1 (controller enable)
DB31, ... DBX2.3 (clamping in progress)
DB31, ... DBX61.3 (follow-up active)
DB31, ...
DBX1.5 - DBX1.6
Edge evaluation: No
Position measuring system 1 (PMS1) / Position measuring system 2 (PMS2)
Signal(s) updated: Cyclically
Signal state 1
The position measuring system is active
Signal state 0
The position measuring system is inactive
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX1.5 - DBX1.6
Position measuring system 1 (PMS1) / Position measuring system 2 (PMS2)
Signal state overview
PMS1
PMS2
Effect
Position measuring system 1 is active:
Position control of the machine axis via position measuring system 1.
Monitoring functions (measuring system, standstill, clamping monitoring,
contour deviation, etc.) of the machine axis via position measuring system 1.
If position measuring system 2 exists (MD30200 $MA_NUM_ENCS == 2), its
actual position value is acquired, but not monitored by any of these functions.
Position measuring system 2 is active:
Position control of the machine axis via position measuring system 2.
Monitoring functions (measuring system, standstill, clamping monitoring,
contour deviation, etc.) of the machine axis via position measuring system 2.
If position measuring system 1 exists (MD30200 $MA_NUM_ENCS == 2), its
actual position value is acquired, but not monitored by any of these functions.
Position control of the machine axis via position measuring system 1.
If position measuring system 2 is available (MD30200 $MA_NUM_ENCS ==
2), its actual position value is also acquired.
Position measuring systems 1 and 2 are inactive ("parking" of the machine axis):
There is no actual value acquisition.
The monitoring of the position measuring system has been deactivated.
The following interface signals are reset:
DB31, ... DBX60.4/5 == 0 (referenced/synchronized encoder 1/2)
DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.7 (current controller active)
Notes
If the interface signal of the active position measuring system is reset for a traversing axis, the
axis is stopped with a ramp stop without the controller enable being cancelled internally.
If a speed-controlled spindle does not have a position measuring system, the "Controller enable"
interface signal must be set:
DB31, ... DBX2.1 == 1 (controller enable)
After deactivation of the "parking" state, incremental position measuring systems have to be
referenced to achieve the "referenced" encoder status.
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DB31, ...
DBX1.5 - DBX1.6
Application exam
ple(s)
Position measuring system 1 (PMS1) / Position measuring system 2 (PMS2)
1. Switching over from position measuring system 1 to positioning measuring system 2 (and vice
versa).
If the axis was referenced in both position measuring systems and the limit frequency of the used
measured value encoder has not been exceeded in the meantime, i.e.
DB31, ... DBX60.4 and 60.5 == 1 (referenced/synchronized 1 and 2) , a new reference point
approach is not required after the switchover.
On switchover, the current difference between position measuring system 1 and 2 is traversed
immediately.
A tolerance band in which the deviation between the two actual values may lie at the switchover
can be specified in the following machine data:
MD36500 $MA_ENC_CHANGE_TOL (maximum tolerance for actual position value switchover)
If the actual value difference is greater than the tolerance, switchover is not performed and alarm
25100 "Measuring system switchover not possible" is displayed.
2. Machine axis is parked:
The position measuring system monitoring is switched off when the measured value encoder is
removed.
3. Switch off position measuring system:
When the position measuring system 1 or 2 is switched off, the associated interface signal is reset:
DB31, ... DBX60.4/5 (referenced/synchronized 1/2)
4. Reference point approach:
Reference point approach of the axis is executed with the selected position measuring system.
Every position measuring system must be referenced separately.
Special cases,
errors, ....
If the "parking" state is active, the following interface signal is ignored at NC start for this axis:
DB31, ... DBX60.4 / 5 (referenced/synchronized 1 / 2).
Corresponding to ...
DB31, ... DBX60.4/.5 (referenced/synchronized 1/2)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX2.1 (controller enable)
MD36500 $MA_ENC_CHANGE_TOL (max. tolerance on actual position value switchover)
MD30200 $MA_NUM_ENCS (number of encoders)
Additional references Function Manual, Basic Functions; Velocities, Setpoint / Actual Value Systems, Closed-Loop Control
(G2)
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX2.1
Controller enable
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
Controller is enabled.
The position control loop is closed and the axis/spindle is in closed-loop control.
Feedback:
DB31, ... DBX61.5 = 1 (position controller active)
If the axis/spindle was referenced before resetting the interface signal, the axis/spindle does not have
to be re-referenced after the interface signal is set again. Supplementary condition: The limit frequen
cy of the active measuring system must not be exceeded in the meantime.
Note
If the axis/spindle was moved from its position during the time in which the controller enable was not
set, the behavior when the controller enable is set depends on the interface signal "follow-up mode":
DB31, ... DBX1.4 == 1 (follow-up mode)
Position control is performed at the current position
DB31, ... DBX1.4 == 0 (follow-up mode)
Position control is performed at the last position before the controller enable is reset
Signal state 0
Controller is not enabled.
The behavior when the "controller enable" is removed depends on whether the axis/spindle is sta
tionary or traversing at this time:
Axis/spindle stationary:
The position control loop of the axis is opened.
For DB31, ... DBX1.4 == 1 (follow-up mode) position setpoint = actual position value
The controller enable on the drive is reset
The following interface signals are reset:
DB31, ... DBX61.5 = 0 (position controller active)
DB31, ... DBX61.6 = 0 (speed controller active)
DB31, ... DBX61.7 = 0 (current controller active)
Axis/spindle traverses
The axis is stopped with rapid stop.
Alarm 21612 "Controller enable VDI signal reset during motion".
The position control loop of the axis/spindle is opened.
Independent of the interface signal DB31, ... DBX1.4 (follow-up mode), the position setpoint
is corrected at the end of the braking operation (position setpoint = actual position value) and
the feedback signal DB31, ... DBX61.3 = 1 (follow-up mode) is set.
The following interface signals are reset:
DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.7 (current controller active)
Note
The current set position is retained in the control when "Controller enable" is reset and "Follow-up
mode" (DB31, ... DBX1.4 == 0) is not set. If the axis is moved in this state, e.g. manually, the difference
between the set position and the actual position increases constantly (following error). The following
error is suddenly corrected to zero when the "Controller enable" is set (speed setpoint jump).
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DB31, ...
DBX2.1
Application exam
ple(s)
Controller enable
Mechanical clamping of an axis
If the axis is positioned at the clamping position, the clamping is closed. The controller enable is then
reset. Otherwise, the position controller would constantly work against the clamping, if the axis was
moved mechanically from its specified position during the clamping operation.
When the clamping is removed, the controller enable is set first and then the mechanical clamping is
released.
Special cases,
errors, ....
Travel request for an axis/spindle without controller enable:
The axis/spindle is not traversed
The travel command is output to the interface
As long as the travel request is present, the axis/spindle is traversed immediately when the
controller enable is set.
When the controller enable is reset for a traversing geometry axis, this always results in a contour
violation.
Corresponding to ...
DB31, ... DBX61.3 (follow-up active)
DB31, ... DBX1.4 (follow-up mode)
DB31, ... DBX61.5 (position controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.7 (current controller active)
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (OFF delay of the controller enable)
MD36610 $MA_AX_EMERGENCY_STOP_TIME (braking ramp time when errors occur)
DB31, ...
DBX2.2
Delete distance-to-go (axis-specific) / spindle reset
Edge evaluation: Yes
Edge change
01
Signal(s) updated: Cyclically
Delete distance-to-go (axis-specific) is requested.
The behavior varies depending on the operating mode:
JOG mode:
If the interface signal is set for one axis (edge change 0 1), this axis is stopped with ramp stop
and its distance-to-go deleted (setpoint - actual value difference).
Any remaining following error is then corrected.
AUTOMATIC and MDA modes:
The rising edge of the interface signals only influences the axes which are not in the geometry
grouping. They are stopped with ramp stop and their distance-to-go deleted (setpoint - actual
value difference). The next program block can then be started. IS "delete distance-to-go axial" is
therefore ignored by geometry axes.
Remark: "Delete distance-to-go" does not influence the running dwell time in a part program block
with dwell time.
Edge change
10
No effect
Application exam
ple(s)
To terminate motion because of an external signal (e.g. measuring probe)
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX2.2
Special cases,
errors, ....
Delete distance-to-go (axis-specific) / spindle reset
"Delete distance-to-go (axis-specific)"
After the axes have been stopped with "Delete distance-to-go" the next program block is prepared
with the new positions. The axes thus follow a different contour to the one originally defined in the
part program after a "Delete distance-to-go".
If G90 is programmed in the block after "Delete distance-to-go" it is at least possible to approach the
programmed absolute position. On the other hand, with G91, the position originally defined in the part
program is no longer reached in the following block.
Corresponding to ...
DB21, ... DBX6.2 (delete distance-to-go, channel-specific)
Additional references Function Manual, Basic Functions; Spindles (S1)
DB31, ...
DBX9.0 - DBX9.2
Edge evaluation: No
Meaning
Position controller parameter set selection A, B, C
Signal(s) updated: On request
Six different position controller parameter sets can be selected with the interface signals A, B, and
C. The following assignment applies:
Parameter set
Signal irrelevant
for ...
MD35590 $MA_PARAMSET_CHANGE_ENABLE = 0
Corresponding to ...
DB31, ...DBX69.0, .1, ..2 (feedback: Active position controller parameter set)
Additional references CNC Commissioning Manual: NCK, PLC, Drive, Section "Commissioning NCK" >
Edge evaluation: No
DB31, ...
DBX9.3
Edge evaluation: No
Signal(s) updated: On request
Parameter set switchover commands from NC disabled
Signal(s) updated: On request
Signal state 1
The parameter set switchover is disabled.
Signal state 0
The parameter set switchover is enabled.
Corresponding to ...
DB31, ... DBX9.0, .1, .2
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX20.1
Edge evaluation: No
Signal state 1
Ramp-function generator disable
Signal(s) updated: Cyclically
A rapid stop with speed setpoint 0 is requested for the drive. The drive is stopped without a ramp
function (regenerative braking).
Feedback for the triggering of the rapid stop in the drive is via:
DB31, ... DBX92.1 == 1 (ramp-function generator disable active)
Signal state 0
No rapid stop with speed setpoint 0 is requested for the drive.
Corresponding to ...
DB31, ... DBX92.1 (ramp-function generator disable active)
Remark
A PROFIDrive telegram compatible with the "SIMODRIVE 611 universal" interface mode must be set
in the drive.
See drive parameters: p0922 and p2038
Additional references NC: CNC Commissioning Manual: NCK, PLC, Drive
Drive: SINAMICS S120/S150 List Manual
DB31, ...
DBX21.0 - DBX21.4
Edge evaluation: No
Meaning
Motor/drive data set: Request interface
Signal(s) updated: Cyclically
The switchover to a new motor (MDS) and/or to drive data sets (DDS) is requested via the interface:
Formatting the request interface, i.e. which bits are used to address the motor data sets (MDS) and
which are used to address the drive data sets (DDS) is set via the formatting interface.
Remark
For main spindle drives:
MDS[ 0 ] star operation
MDS[ 1 ] delta operation
Application exam
ple(s)
For example, it is possible to switch between operating mode 1 (star operation) and operating mode
2 (delta operation) for a main spindle drive (MSD) by switching over the motor data set.
It may be necessary to switch over the drive parameter set, for:
Gear stage change
Changing the measuring circuit
Special cases,
errors, ....
In principle it is possible to switch over drive parameter sets at any time. However, as torque jumps
can occur when switching over speed controller parameters and motor speed normalization, param
eters should only be switched over in stationary states, especially axis standstill.
As soon as the request to switch over to another motor data set is identified, the pulses enable is
reset.
Corresponding to ...
DB31, ... DBX93.0 - 4 (motor/drive data set: display interface)
DB31, DBX130.0 - 4 (motor/drive data set: formatting interface)
DB31, ... DBX21.5 (motor being selected)
Additional references Function Manual, Basic Functions, Chapter "A2: Various NC/PLC interface signals and functions"
> "Switchover motor/drive data sets"
CNC Commissioning Manual: NCK, PLC, Drive
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX21.5
Motor being selected
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The necessary electrical and/or mechanical switchover operations (e.g. contactor switchover for stardelta switchover) have been completed.
The axis can be traversed again. The pulses are then enabled by the drive.
Note
The interface signal must be reset before a request to switch over to a new motor data set (MDS)
and/or drive data set (DDS) (DB31, ... DBX21.0 - 4).
Signal state 0
The necessary electrical (e.g. contactor switchover for star-delta switchover) and/or mechanical
switchovers are not complete. The axis must not traverse. The pulses are not enabled by the drive.
Corresponding to ...
DB31, ... DBX21.0 - 4 (motor/drive data set: request interface)
DB31, ... DBX93.0 - 4 (motor/drive data set: display interface)
DB31, DBX130.0 - 4 (motor/drive data set: formatting interface)
Additional references Function Manual, Basic Functions, Chapter "A2: Various NC/PLC interface signals and functions"
> "Switchover motor/drive data sets"
CNC Commissioning Manual: NCK, PLC, Drive
DB31, ...
DBX21.6
Integrator disable, speed controller
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The integrator (I component) of the speed controller is disabled or is to be disabled (P instead of PI
behavior).
Note:
If the speed controller integrator disable is activated, compensation operations may occur in certain
applications (e.g. if the integrator was already holding a load while stationary).
The drive acknowledges the integrator disable to the PLC using the interface signal:
DB31, ... DBX93.6 (speed controller integrator disabled).
Signal state 0
The integrator (I component) of the speed controller is enabled (PI behavior).
Corresponding to ...
DB31, ... DBX93.6 (feedback: The speed controller integrator is disabled)
Additional references CNC Commissioning Manual: NCK, PLC, Drive
DB31, ...
DBX21.7
Edge evaluation: No
Signal state 1
Pulse enable
Signal(s) updated: Cyclically
The pulses are enabled for the drive.
The pulse enable is only performed in the drive when the drive signals readiness:
DB31, ... DBX93.5 == 1 (feedback: Drive ready)
Signal state 0
The pulses are disabled for the drive.
Application exam
ple(s)
Signal relevant to safety
Special cases,
errors, ....
If the pulse enable is removed during motion (e.g. emergency stop), the axis/spindle is no longer
braked under control. The axis coasts to standstill.
Basic Functions
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX21.7
Pulse enable
Corresponding to ...
DB31, ... DBX93.5 (feedback: Drive ready)
DB31, ... DBX93.7 (feedback: Pulses are enabled)
Additional references CNC Commissioning Manual: NCK, PLC, Drive
19.1.9
Signals from axis/spindle (DB31, ...)
Note
SINAMICS S120: Message word (MELDW)
The message word (MELDW) is only contained in PROFIdrive telegrams compatible with
SIMODRIVE 611U, for example, telegrams 102, 103, 105, 106, 110, 111, 116, 118, 125, 126,
136, 138, 139
References:
SINAMICS List Manual, Function Diagrams 2419 and 2420
SINAMICS S120: Status word 1/2 (ZSW1/2)
The status words ZSW1 or ZSW2 only refer to SIMODRIVE 611U compatible PROFIdrive
telegrams in the following (SIMODRIVE 611U interface mode, p2038 = 1)
DB31, ...
DBX61.0
Edge evaluation: No
Signal state 1
Drive test travel request
Signal(s) updated: Cyclically
The control signals that all of the traversing conditions for the drives are fulfilled.
Requirements for this are:
The mechanical brake of the axis involved was previously released and all other axis traversing
conditions are fulfilled.
With:
DB31, ... DBX61.0 (drive test, travel request) = 1 signal
the appropriate axes can be moved.
The axis disable:
DB31, ... DBX1.3 (axis/spindle disable) = 1 signal
is not active.
Signal state 0
The control signals that the axes cannot be moved.
Axes cannot be moved when:
DB31, ... DBX61.0 (drive test, travel request) = 0 signal
Faults are present in the control
This means that the requirements specified above are not fulfilled.
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
1578
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB31, ...
DBX61.3
Edge evaluation: No
Signal state 1
Follow-up active (feedback)
Signal(s) updated: Cyclically
The control signals that the follow-up mode for the axis/spindle is not active.
Requirements for this are:
The controller enable for the drive has been withdrawn (either by the PLC with "controller enable
" = 0 signal or inside the control for faults; refer to the references)
Follow-up operation is selected (either by the PLC with IS "follow-up operation" = 1 signal or in
the control, e.g. when withdrawing the controller enable from an axis that is moving)
The position setpoint continually tracks the actual value while the follow-up mode is active.
Zero speed and clamping monitoring are not active.
Signal state 0
The control signals that follow-up mode for the axis/spindle is not active.
Zero speed and clamping monitoring are active.
This means that the requirements specified above are not fulfilled.
In the "hold" state, the interface signal:
DB31, ... DBX61.3 (follow-up active)
is 0.
Special cases,
errors, ....
Notice:
A delete distance-to-go is triggered internally in the control on transition from "Follow up" to "Hold"
(IS "Follow-up mode" = 0) or in the closed-loop control mode (IS "Controller enable" = 1).
Corresponding to ...
DB31, ... DBX2.1 (controller enable)
DB31, ... DBX1.4 (follow-up mode)
Additional references Diagnostics Manual
DB31, ...
DBX61.4
Edge evaluation: No
Axis/spindle stationary (n < nmin) (status)
Signal(s) updated: Cyclically
Signal state 1
The current speed of the axis or the actual number of rotations of the spindle lies below the limit given
by the machine data:
MD36060 $MA_STANDSTILL_VELO_TOL
(maximum velocity/speed for signal "Axis/spindle stationary").
Signal state 0
The current velocity of the axis or the actual spindle speed is greater than the value specified in the
MD (standstill range).
If a travel command is present, e.g. for a spindle, then the signal is always = 0 - even if the actual
speed lies below that specified in MD36060.
If the interface signal:
DB31, ... DBX61.4 (axis/spindle stationary)
is signaled and there is no closed-loop position control active for the spindle, then at the MMC, an
actual speed of zero is displayed and with the system variable $AA_S[n] zero is read.
Application exam
ple(s)
Enable signal for opening a protective device (e.g. open door).
The workpiece chuck or the tool clamping device is only opened when the spindle is stationary.
The oscillation mode can be switched-on during gear stage change after the spindle has been braked
down to standstill.
The tool clamping device must have been closed before the spindle can be accelerated.
Corresponding to ...
MD36060 $MA_STANDSTILL_VELO_TOL
(maximum velocity/speed for signal "Axis/spindle stationary")
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX61.5
Edge evaluation: No
Position controller active (status)
Signal(s) updated: Cyclically
Signal state 1
The control signals that the position controller for the axis or spindle is closed.
Signal state 0
The control signals that the position controller for the axis or spindle is open.
If "controller enable" is canceled because of a fault or from the PLC user program the position con
troller is opened and therefore the interface signal
DB31, ... DBX61.5 (position controller active)
is set to 0.
Spindle without position control: Signal "Position controller active" is always "0".
See References for other effects.
Application exam
ple(s)
If the position control is active the axis/spindle is kept in position by the position controller.
Any brakes or clamps can thus be opened.
The interface signal:
DB31, ... DBX61.5 (position controller active)
can be used as feedback signal for the interface signal:
DB31, ... DBX2.1 (controller enable).
The holding brake of a vertical axis must be activated as soon as the position control is no longer
active.
If a spindle has been technically designed/dimensioned for the purpose, in the part program, it can
be changed-over into the closed-loop position controlled mode as spindle or as axis (with SPCON or
M70).
In these cases, the interface signal "position controller active" is set.
Special cases,
errors, ....
Special case for simulation axes (MD30350 $MA_SIMU_AX_VDI_OUTPUT = "1"):
The IS "position controller active" is also set for simulation axes as soon as MD = "1".
Corresponding to ...
DB31, ... DBX2.1 (controller enable)
DB31, ... DBX1.4 (follow-up mode)
DB31, ... DBX1.5 and 1.6 (position measuring system 1 and 2)
Additional references Diagnostics Manual
DB31, ...
DBX61.6
Edge evaluation: No
Speed controller active (status)
Signal(s) updated: Cyclically
Signal state 1
The control signals that the speed controller is closed for the axis or spindle.
Signal state 0
The control signals that the speed controller is open for the axis or spindle.
The speed controller output is cleared.
Application exam
ple(s)
If the spindle is not under position control, the interface signal can be used as a feedback for the
interface signal DB31, ... DBX2.1 (controller enable).
Special cases,
errors, ....
The interface signal is also set for simulation axes:
Corresponding to ...
DB31, ... DBX61.5 (position controller active)
1580
Simulation axis: MD30350 $MA_SIMU_AX_VDI_OUTPUT == 1
Basic Functions
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB31, ...
DBX61.7
Current controller active (status)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The current controller for the axis/spindle is active.
Signal state 0
The current controller for the axis/spindle is not active.
Corresponding to ...
DB31, ... DBX61.5 (position controller active)
The current controller output, including the injection variables on the control voltage, is cleared.
DB31, ... DBX61.6 (speed controller active)
DB31, ...
DBX69.0 - DBX69.2
Active position controller parameter set A, B, C (feedback)
Edge evaluation: No
Meaning
Signal(s) updated: After switchover
The active position controller parameter sets are displayed with the interface signals A, B and C. The
following assignment applies:
Parameter set
Signal irrelevant
for ...
MD35590 $MA_PARAMSET_CHANGE_ENABLE == 0
If the switchover of the position controller parameter set is switched off, the first parameter set is
always active.
Corresponding to ...
DB31, ...DBX9.0 - DBX9.2 (position controller parameter set selection A, B, C)
DB31, ...
DBX76.0
Lubrication pulse
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change
01
or
10
As soon as the axis/spindle has moved through the traversing distance set in machine data:
MD33050 $MA_LUBRICATION_DIST (traversing distance for lubrication from the PLC),
the interface signal is inverted.
Application exam
ple(s)
The lubrication pump for the axis/spindle can be activated with the "Lubrication pulse" interface signal.
Machine bed lubrication therefore depends on the distance traveled.
Corresponding to ...
MD33050 $MA_LUBRICATION_DIST (lubrication pulse distance)
Note:
The distance measurement is restarted each time that the control runs up.
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19.1 Various interface signals and functions (A2)
DB31, ...
DBX92.1
Edge evaluation: No
Ramp-function generator disable active (feedback)
Signal(s) updated: Cyclically
Signal state 1
Ramp function generator fast stop is active for the drive.
Signal state 0
Ramp function generator fast stop is not active for the drive.
Application exam
ple(s)
Position controller bypassing of the ramp function generator.
Corresponding to ...
DB31, ... DBX20.1 (ramp-function generator fast stop)
Remark
In the SINAMICS a protocol can be set that runs in what is known as the 611U compatibility mode.
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
DB31, ...
DBX92.4
Edge evaluation: No
Signal state 1
Drive-autonomous motion active
Signal(s) updated: Cyclically
A drive-autonomous motion is active.
The axis traverses due to setpoints created by drive-internal functions. The drive still responds to
control signals of the NC, e.g. controller enable. Setpoint specifications of the NC are ignored.
Signal state 0
A drive-autonomous motion is not active.
Application exam
ple(s)
Internal drive functions:
Rotor or pole position identification
Function generator
Remark
DBX92.4 = 1 IF MELDW.11 == 1 (controller enable) AND ZSW1.2 == 0 (operation enabled)
Additional references SINAMICS S120 Function Manual;
Pole position identification: Section "Servo control" > "Pole position identification"
Function generator: Section "Servo control" > "Optimization of the current and speed controller"
DB31, ...
DBX93.0 - DBX93.4
Edge evaluation: No
Meaning
Motor/drive data set: Display interface
Signal(s) updated: Cyclically
The active motor data set (MDS) and drive data set (DDS) are displayed via the interface.
Formatting the request interface, i.e. which bits are used to address the motor data sets (MDS) and
which are used to address the drive data sets (DDS) is set via the formatting interface.
Remark
For main spindle drives:
MDS[ 0 ] star operation
MDS[ 1 ] delta operation
Corresponding to ...
DB31, ... DBX21.0 - 4 (motor/drive data set: request interface)
DB31, DBX130.0 - 4 (motor/drive data set: formatting interface)
DB31, ... DBX21.5 (motor being selected)
Additional references Commissioning Manual IBN CNC: NCK, PLC, drive
1582
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB31, ...
DBX93.5
Drive ready
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The drive is ready.
Signal state 0
The drive is not ready.
If the signal is reset while operational, the drive is stopped (pulse inhibit or fast stop). When poweringup, the pulses are still inhibited (canceled) In addition, the following interface signals are reset:
DB10, DBX108.6 = 0 (drive ready)
DB31, ... DBX61.7 = 0 (current controller active)
DB31, ... DBX61.6 = 0 (speed controller active)
Remark
Interface signal: DB31, ... DBX93.5 = drive: MELDW.12
Corresponding to ...
DB10, DBX108.6 (drives ready)
DB31, ... DBX61.7 (current controller active)
DB31, ... DBX61.6 (speed controller active)
Additional references Function Manual, Basic Functions, Chapter "A2: Various NC/PLC interface signals and functions"
> "Switchover motor/drive data sets"
Commissioning Manual IBN CNC: NCK, PLC, drive
SINAMICS S120/S150 List Manual
DB31, ...
DBX93.6
Edge evaluation: No
Speed controller integrator disabled (feedback)
Signal(s) updated: Cyclically
Signal state 1
The requested shutdown of the speed controller integrator is active in the drive. The speed controller
has been switched over from the PI to P control response.
Signal state 0
The integrator of the speed controller is enabled. The speed controller functions as a PI controller.
Corresponding to ...
DB31, ... DBX21.6 (integrator disable, n-controller)
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
DB31, ...
DBX93.7
Edge evaluation: No
Pulses enabled (feedback)
Signal(s) updated: Cyclically
Signal state 1
The pulses of the assigned drive are enabled for the axis/spindle.
Signal state 0
The pulses of the assigned drive are not enabled.
If the pulses on the assigned drive are deleted, the following interface signals are reset:
DB31, ... DBX61.7 (current controller active)
DB31, ... DBX61.6 (speed controller active)
DB31, ... DBX61.5 (position controller active)
Remark
DB31, ... DBX93.7 = MELDW.13
Corresponding to ...
DB31, ... DBX21.7 (pulse enable)
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
Basic Functions
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB31, ...
DBX94.0
Motor temperature prewarning
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The motor temperature has exceeded the warning threshold (p0604) configured in the drive.
Note
If the motor temperature remains too high for longer than the parameterized time (p0606), a fault is
output, the drive is stopped and the pulse enable removed.
If the motor temperature falls below the warning threshold (p0604) again before the time has expired
(p0606), the interface signal is reset.
Signal state 0
The motor temperature is below the warning threshold (p0604).
Remark
The current motor temperature is displayed on the user interface at:
Operating area "Diagnostics" > "Service display: Axis/spindle"
Corresponding to ...
DB31, ... DBX94.1 (heat sink temperature prewarning)
Additional references See DB31, ... DBX94.1 (heat sink temperature prewarning)
DB31, ...
DBX94.1
Heat sink temperature prewarning
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The heat sink temperature of the power semiconductors has exceeded the parameterized warning
threshold (p0294).
Note
The parameterized reaction (p0290) is performed in the drive. If the temperature violation remains,
a fault is output after approx. 20 s, the drive is stopped and the pulse enable removed.
Signal state 0
The drive module heat sink temperature monitoring has not responded, i.e. the temperature is below
the warning threshold.
Remark
The interface signals DB31, ... DBX94.0 and .1 are derived from the following signals of the cyclic
drive telegram:
Case 1: Temperature warning in the message word
DB31, ... DBX94.0 MELDW, bit 6 (no motor overtemperature warning)
DB31, ... DBX94.1 MELDW, bit 7 (no thermal overload in power unit warning)
Case 2: Warning of warning class B (interface mode "SIMODRIVE 611U", p2038 = 1)
DB31, ... DBX94.0 == 1 and DBX94.1 == 1, if the following applies:
Cyclic drive telegram, ZSW1: Bit 11 == 0 and 12 == 1 (warning class B)
The interface signals are derived from the warning of warning class B if there is no specific information
from the message word.
An alarm is displayed. Alarm number = 200.000 + alarm value (r2124)
Additional references S120 Commissioning Manual, Section "Commissioning" > "Temperature sensors for SINAMICS
components"
S120 Function Manual, Section "Monitoring and protective functions"
S120 List Manual
MELDW, bit 6 BO: r2135.14 function diagram: 2548, 8016
MELDW, bit 7 BO: r2135.15 function diagram: 2548, 2452, 2456, 8016
SINUMERIK Diagnostics Manual
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Z1: NC/PLC interface signals
19.1 Various interface signals and functions (A2)
DB31, ...
DBX94.2
Run-up completed
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The actual speed value has reached the speed tolerance band specified via p2164 after a new speed
setpoint specification and has not left the band for the duration of p2166.
Any subsequent speed fluctuations, also outside the tolerance band, e.g. due to load changes, will
not affect the interface signal.
Signal state 0
The run-up procedure is still active after the speed setpoint has been changed.
Corresponding to ...
DB31, ... DBX94.6 ("nact = nset")
DB31, ... DBX94.3 ("|MD| = Mdx")
Additional references SINUMERIK Commissioning Manual IBN CNC: NCK, PLC, Drive
SIMATIC S120 List Manual
DB31, ...
DBX94.3
|Md| < Mdx
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The current torque utilization is below the torque utilization threshold (torque threshold 2, p2194).
The run-up procedure is completed, the drive is in the steady state and the torque setpoint |Md| drive
does not exceed the threshold torque Mdx.
The torque threshold characteristic is speed-dependent.
During the run-up, DB31, ... DBX94.3 (|Md|< Mdx) == 1. The interface signal is not updated until the
run-up has been completed (DB31, ... DBX94.2 == 1) and the signal interlocking time for the threshold
torque has expired.
Signal state 0
The torque setpoint |Md| is larger than the threshold torque Mdx.
A motor overload can be determined via the interface signal. An appropriate response can then be
initiated in the PLC user program.
Remark
DB31, ... DBX94.3 = MELDW.1
Additional references SINUMERIK Commissioning Manual IBN CNC: NCK, PLC, Drive
SIMATIC S120 List Manual
DB31, ...
DBX94.4
|nact| < nmin
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The actual speed value nact is less than nmin (speed threshold value 3, p2161).
Signal state 0
The actual speed value is greater than the threshold minimum speed nmin.
Remark
DB31, ... DBX94.4 = MELDW.2
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
DB31, ...
DBX94.5
Edge evaluation: No
|nact| < nx
Signal(s) updated: Cyclically
Signal state 1
The actual speed value nact is less than nx (speed threshold value 2, p2155).
Signal state 0
The actual speed value nact is greater than the threshold speed nx.
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DB31, ...
DBX94.5
|nact| < nx
Remark
DB31, ... DBX94.5 = MELDW.3
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
DB31, ...
DBX94.6
Edge evaluation: No
nact = nset
Signal(s) updated: Cyclically
Signal state 1
The actual speed value is at least the parameterized time (switch-on delay n_act = n_set, p2167)
within the tolerance band around the speed setpoint (speed threshold value 4, p2163).
Signal state 0
The actual speed value is outside the tolerance band around the speed setpoint (speed threshold
value 4, p2163).
Additional references Commissioning Manual IBN CNC: NCK, PLC, Drive
DB31, ...
DBX94.7
Edge evaluation: No
Variable signaling function
Signal(s) updated: Cyclically
Signal state 1
The parameterized drive variable has exceeded the specified threshold value, including hysteresis.
Signal state 0
The parameterized drive variable has fallen below the specified threshold value, including hysteresis.
Remark
Using the "Variable signaling" function, BICO interconnections and parameters which have the at
tribute traceable can be monitored in the drive.
DB31, ... DBX94.7 = MELDW.5
Additional references SINAMICS S120 Function Manual, Section "Servo control" > "Variable signaling function"
DB31, ...
DBX95.7
Edge evaluation: No
Warning of warning class C is pending
Signal(s) updated: Cyclically
Signal state 1
The drive signals that a warning of warning class C is pending.
Signal state 0
The drive signals that no warning of warning class C is pending.
Remark
In the drive, a warning is the response to a detected potential or expected fault condition that does
not cause the drive to switch off and does not have to be acknowledged.
Additional references SINAMICS S120 List Manual, Section "Faults and alarms"
DB31, ...
DBX130.0 DBX21.4
Edge evaluation: No
Motor/drive data set: Formatting interface
Signal(s) updated: Cyclically
Meaning
The formatting interface is used to set which bits of the request and display interface are used to
address the motor data sets (MDS) and which are used to address the drive data sets (DDS):
Corresponding to ...
DB31, ... DBX21.0 - 4 (motor/drive data set: request interface)
DB31, ... DBX93.0 - 4 (motor/drive data set: display interface)
Additional references Function Manual, Basic Functions, Chapter "A2: Various NC/PLC interface signals and functions"
> "Switchover motor/drive data sets"
Commissioning Manual IBN CNC: NCK, PLC, drive
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Z1: NC/PLC interface signals
19.2 Axis monitoring, protection zones (A3)
19.2
Axis monitoring, protection zones (A3)
19.2.1
Signals to channel (DB21, ...)
DB21, ...
DBX1.1
Enable protection zones
Edge evaluation: Yes
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
When a positive edge of this signal appears, a protection zone is enabled and the active alarm cleared.
Then, motion can start in the same protection zone. As a result of the start of motion, the protection
zone is enabled, the IS "machine or channel-specific protection zone violated" is set, and the axis
starts to move.
The enabling signal is canceled if motion is started that does not lead into the enabled protection
zone.
Signal state 0 or
edge change
10
No effect
Application exam
ple(s)
This allows protection zones to be released:
If the current position is within a protection zone (alarm 2 present)
If motion is to be started towards the protection zone limit
(alarm 1 or 2 present)
DB21, ...
DBX8.0 - DBX9.1
Edge evaluation: No
Activate machine-specific protection zone 1 ( ...10)
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The pre-activated, machine-related protection zone 1 ( ...10) is activated by the PLC user program.
Signal state 0 or
edge change
10
The pre-activated, machine-related protection zone 1 ( ...10) is de-activated by the PLC user program.
The protection zone is immediately de-activated.
Application exam
ple(s)
Before a sensor, for example, is moved into the working range, the relevant machine-related protec
tion zone can be activated.
DB21, ...
DBX10.0 - DBX11.1
Activate channel-specific protection zone 1 ( ...10)
Edge evaluation: No
Signal state 1 or
edge change
01
The protection zone is immediately activated.
Only protection zones that have been pre-activated in the part program can be activated.
Only protection zones that have been activated via the PLC and have been pre-activated in the NC
part program can be de-activated.
Signal(s) updated: Cyclically
The preactivated, channel-specific protection zone 1 ( ...10) is activated by the PLC user program.
The protection zone is immediately activated.
Only protection zones that have been pre-activated in the part program can be activated.
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19.2 Axis monitoring, protection zones (A3)
DB21, ...
DBX10.0 - DBX11.1
Activate channel-specific protection zone 1 ( ...10)
Signal state 0 or
edge change
10
The protection zone is immediately de-activated.
Application exam
ple(s)
Before a synchronous spindle, for example, is moved into the working range, the relevant machinerelated protection zone can be activated.
19.2.2
The pre-activated, channel-specific protection zone 1 ( ...10) is de-activated by the PLC user program.
Only protection zones that have been activated via the PLC and have been pre-activated in the NC
part program can be de-activated.
Signals from channel (DB21, ...)
DB21, ...
DBX272.0
DBX273.1
Edge evaluation: No
Machine-related protection zone 1 ( ...10) pre-activated
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The machine-related protection zone 1 ( ...10) is preactivated in the current block.
(Pre-activated in the part program).
Signal state 0 or
edge change
10
The machine-related protection zone 1 ( ...10) is deactivated in the current block.
(De-activated in the part program).
Corresponding
to ....
DB21, ... DBX8.0 - DBX9.1 (activate machine-related protection zone 1 (...10))
DB21, ...
DBX274.0
DBX275.1
Edge evaluation: No
The protection zone can therefore be activated or de-activated in the PLC user program using the
interface signal:
DB21, ... DBX8.0 - DBX9.1 (machine-related protection zone 1 (...10))
The protection zone can therefore not be activated or de-activated in the PLC user program using
the interface signal:
DB21, ... DBX8.0 to DBX9.1 (activate machine-related protection zone 1 (...10))
Channel-specific protection zone 1 (...10) pre-activated
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The channel-specific protection zone 1 ( ...10) is preactivated in the current block.
(Pre-activated in the part program).
Signal state 0 or
edge change
10
The channel-specific protection zone 1 ( ...10) is deactivated in the current block.
(De-activated in the part program.)
Corresponding
to ....
DB21, ... DBX10.0 - DBX11.1 (activate channel-specific protection zone 1 (...10))
1588
The protection zone can therefore be activated or de-activated in the PLC user program using the
interface signal:
DB21, ... DBX10.0 - DBX11.1 channel-specific protection zone 1 (...10))
The protection zone can therefore not be activated or de-activated in the PLC user program using
the interface signal:
DB21, ... DBX10.0 - DBX11.1 (channel-specific protection zone 1 (...10))
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.2 Axis monitoring, protection zones (A3)
DB21, ...
DBX276.0
DBX277.1
Machine-related protection zone 1 (...10) violated
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The activated, machine-related protection zone 1 ( ...10) is violated in the current block or in the
current JOG movement.
Signal state 0
or edge change
10
The activated, machine-related protection zone 1 (...10) is not violated in the current block.
The pre-activated, machine-related protection zone 1 (...10) would not be violated in the current block
if it would be activated by the PLC.
Application exam
ple(s)
Before parts are moved into the working zone - this IS can be used to check as to whether the tool
or workpiece is located in the machine-related protection zone of the part to be moved in.
DB21, ...
DBX278.0 DBX279.1
Channel-specific protection zone 1 (...10) violated
The pre-activated, machine-related protection zone 1 ( ...10) would be violated in the current block if
it would be activated by the PLC.
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The activated, channel-specific protection zone 1 ( ...10) is violated in the current block.
Signal state 0 or
edge change
10
The activated, channel-specific protection zone 1 ( ...10) is not violated in the current block.
The pre-activated, channel-specific protection zone 1 (...10) would not be violated in the current block
if it would be activated by the PLC.
Application exam
ple(s)
Before parts are moved into the working zone - this IS can be used to check whether the tool or
workpiece is located in the channel-specific protection zone of the part to be moved in.
19.2.3
The pre-activated, channel-specific protection zone 1 ( ...10) would be violated in the current block if
it would be activated by the PLC.
Signals to axis/spindle (DB31, ...)
DB31, ...
DBX2.3
Edge evaluation: No
Clamping in progress
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Clamping in progress.
Signal state 0 or
edge change
10
Clamping completed.
Corresponding to ...
MD36050 $MA_CLAMP_POS_TOL (clamping tolerance)
The clamping monitoring function is activated.
The clamping monitoring function is replaced by the standstill (zero speed) monitoring.
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Z1: NC/PLC interface signals
19.2 Axis monitoring, protection zones (A3)
DB31, ...
DBX3.6
Edge evaluation: no
Velocity/spindle speed limitation
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The NCK limits the velocity/spindle speed to the limit value set in the machine data:
MD35160 $MA_SPIND_EXTERN_VELO_LIMIT
Signal state 0 or
edge change
10
No limitation active.
Corresponding to ...
MD35100 $MA_SPIND_VELO_LIMIT (max. spindle speed)
SD43220 $SA_SPIND_MAX_VELO_G26 (programmable upper spindle speed limitation for G26)
SD43230 $SA_SPIND_MAX_VELO_LIMS (spindle speed limitation for G96/G961/G97)
DB31, ...
DBX12.0 - DBX12.1
Edge evaluation: no
Signal state 1 or
edge change
01
Hardware limit switches plus and minus
Signal(s) updated: Cyclically
A switch can be mounted at each end of the travel range of a machine axis which will cause a signal
"hardware limit switch plus or minus" to be signaled to the NC via the PLC if it is actuated.
If the signal is recognized as set, alarm 021614 "hardware limit switch + or -" is output and the axis
is decelerated immediately.
The braking/deceleration type is defined using the machine data:
MD36600 $MA_BRAKE_MODE_CHOICE (braking behavior at the hardware limit switch)
If the controller enable is withdrawn at the same time as the "hardware limit switch" signal, then the
axis responds as described in Chapter A2 ("various interface signals").
Signal state 0 or
edge change
10
Normal condition - a hardware limit switch has not been actuated.
Corresponding to ...
MD36600 $MA_BRAKE_MODE_CHOICE (deceleration behavior when the hardware limit switch re
sponds)
DB31, ...
DBX12.2 - DBX12.3
Edge evaluation: no
Signal state 1 or
edge change
01
2nd software limit switch plus or minus
Signal(s) updated: Cyclically
2nd software limit switch for the plus and minus directions is effective.
1st software limit switch for the plus and minus directions is not effective.
In addition to the 1st software limit switches (plus and minus), the 2nd software limit switches (plus
and minus) can be activated using these interface signals.
The position is defined using machine data:
MD36130 $MA_POS_LIMIT_PLUS2 (2nd software limit switch plus)
and
MD36120 $MA_POS_LIMIT_MINUS2 (2nd software limit switch minus)
.
1590
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Z1: NC/PLC interface signals
19.2 Axis monitoring, protection zones (A3)
DB31, ...
DBX12.2 - DBX12.3
2nd software limit switch plus or minus
Signal state 0 or
edge change
10
1st software limit switch for the plus and minus directions is effective.
2nd software limit switch for the plus and minus directions is not effective.
Corresponding to ...
MD36110 $MA_POS_LIMIT_PLUS (1st software limit switch plus)
MD36130 $MA_POS_LIMIT_PLUS2 (2nd software limit switch plus)
MD36100 $MA_POS_LIMIT_MINUS (1st software limit switch minus)
MD36120 $MA_POS_LIMIT_MINUS2 (2nd software limit switch minus)
19.2.4
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX60.2 - DBX60.3
Encoder limit frequency exceeded 1
Encoder limit frequency exceeded 2
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The limit frequency set in the machine data:
MD36300 $MA_ENC_FREQ_LIMIT (encoder limit frequency)
has been exceeded.
The reference point for the position measuring system involved has been lost (IS: Referenced/
synchronized has a signal state 0). Closed-loop position control is no longer possible. Spindles con
tinue to run with closed-loop speed control. Axes are stopped with a fast stop (with open-circuit
position control loop) along a speed setpoint ramp.
Signal state 0
The limit frequency set in machine data:
MD36300 $MA_ENC_FREQ_LIMIT
is no longer exceeded.
For the edge change 1 0, the encoder frequency must have fallen below the value of machine data:
MD36302 $MA_ENC_FREQ_LIMIT_LOW (encoder limit frequency for encoder resynchronization)
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Z1: NC/PLC interface signals
19.3 Continuous-path mode, exact stop and LookAhead (B1)
DB31, ...
DBX102.5/6
Position measuring system1/2 activated
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The position measuring system is in the "active" or "passive" state. Monitoring and updating the
position measuring system is activated.
Signal state 0
The position measuring system is in the "Park" state. Monitoring and updating the position measuring
system is deactivated.
"Parked" status is entered if:
for the axis/spindle, the NC/PLC interfaces signals for the configured position measuring systems
and control enable are reset:
DB31, ... DBX1.5 (position measuring system 1) = 0
DB31, ... DBX1.6 (position measuring system 2) = 0
DB31, ... DBX2.1 (controller enable) = 0
or
"Parking the passive measuring system" is active for the measuring system:
MD31046 $MA_ENC_PASSIVE_PARKING[<n>] = 1
with <n> = 0 (position measuring system 1) or 1 (position measuring system 2)
and the NC/PLC interface signal for the position measuring system was reset to "0" by the user:
DB31, ... DBX1.5 (position measuring system 1) = 0
or
DB31, ... DBX1.6 (position measuring system 2) = 0
19.3
Continuous-path mode, exact stop and LookAhead (B1)
19.3.1
Signals from channel (DB21, ...)
DB21, ...
DBX36.3
Edge evaluation: no
Signal state 1 or
edge change
01
1592
All axes stationary
Signal(s) updated: cyclic
All axes assigned to the channel are stationary with interpolator end.
No other traversing movements are active.
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Z1: NC/PLC interface signals
19.3 Continuous-path mode, exact stop and LookAhead (B1)
19.3.2
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX60.6
Edge evaluation: No
Signal state 1 or
edge change
01
Position reached with exact stop coarse
Signal(s) updated: Cyclically
The axis is in the appropriate exact stop and no interpolator is active for the axis and:
The control is in the reset state (reset key or end of program).
The axis was last programmed as a positioning axis or positioning spindle (initial setting of
supplementary axis: Positioning axis).
The path motion was terminated with NC stop.
The spindle is in the closed-loop positioncontrolled mode (SPCON/SPOS instruction) and is
stationary.
The axis is switched from closed-loop speedcontrolled to closed-loop positioncontrolled mode
with IS "position measuring system".
Signal state 0 or
edge change
10
The axis is not in the appropriate exact stop or the interpolator is active for the axis or:
The path motion was terminated with NC stop.
The spindle is in the closed-loop speedcontrolled mode (SPCOF/SPOSA instruction).
The "followup" mode is active for the axis.
The "parking" mode is active for the axis.
The axis is switched from closed-loop positioncontrolled to closed-loop speedcontrolled mode
with IS "position measuring system".
Signal irrelevant
for ...
Rotary axes that are programmed as rounding axes.
Corresponding to ...
MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)
DB31, ...
DBX60.7
Position reached with exact stop fine
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Refer to DB31, ... DBX60.6 (position reached with exact stop coarse).
Signal state 0 or
edge change
10
Refer to DB31, ... DBX60.6 (position reached with exact stop coarse).
Signal irrelevant
for ...
Rotary axes that are programmed as rounding axes.
Corresponding to ...
MD36010 $MA_STOP_LIMIT_FINE (exact stop fine)
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Z1: NC/PLC interface signals
19.4 Travel to fixed stop (F1)
19.4
Travel to fixed stop (F1)
19.4.1
Signals to axis/spindle (DB31, ...)
DB31, ...
DBX1.1
Edge evaluation: no
Signal state 1 or
edge change
01
Acknowledge fixed stop reached
Signal(s) updated: cyclic
Significance after the fixed stop has been reached:
DB31, ... DBX62.5 (fixed stop reached) = 1
The axis presses against the fixed stop with the clamping torque:
The fixed stop monitoring window is activated.
A block change is executed.
Signal state 0
Significance after the fixed stop has been reached:
DB31, ... DBX62.5 (fixed stop reached) = 1
The axis presses against the fixed stop with the clamping torque.
The fixed stop monitoring window is activated.
Edge change
10
A block change is not executed and the channel message
"Wait: Auxiliary function acknowledgment missing" is displayed.
Meaning after the fixed stop has been reached:
IS "Fixed stop reached" DB31, ... DBX62.5 = 1
The function is aborted, the alarm "20094 axis %1 Function aborted" is output.
Significance when de-selecting the function FXS=0 via the part program:
The torque limiting and the monitoring of the fixed stop monitoring window are canceled.
IS irrelevant
for ...
MD37060 $MA_FIXED_STOP_ACKN_MASK
(monitoring PLC acknowledgments for travel to fixed stop)
= 0 or 1
Corresponding to ....
MD37060 $MA_FIXED_STOP_ACKN_MASK
(monitoring PLC acknowledgments for travel to fixed stop)
DB31, ... DBX62.5 (fixed stop reached)
DB31, ...
DBX1.2
Edge evaluation: no
Sensor for fixed stop
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
Fixed stop is reached.
Signal state 0 or
edge change
10
Fixed stop is not reached.
Corresponding to ....
The signal is only active if:
MD37040 $MA_FIXED_STOP_BY_SENSOR = 1
1594
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Z1: NC/PLC interface signals
19.4 Travel to fixed stop (F1)
DB31, ...
DBX3.1
Enable travel to fixed stop
Edge evaluation: no
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
Meaning when FXS function is selected using the part program
(IS "Activate travel to fixed stop" = 1):
Signal state 0
Meaning when FXS function is selected using the part program
(IS "Activate travel to fixed stop" = 1):
Travel to fixed stop is enabled and the axis traverses from the start position at the programmed
velocity to the programmed target position.
Travel to fixed stop is inhibited.
The axis is stationary at the start position with reduced torque.
The channel message "wait": Auxiliary function acknowledgment missing" is displayed.
Edge change
10
Meaning before the fixed stop has been reached
(IS "fixed stop reached" = 0):
Travel to fixed stop is aborted.
The alarm "20094: Axis%1 Function aborted" is displayed.
Meaning after the fixed stop has been reached
IS "fixed stop reached" = 1):
The torque limiting and monitoring of the fixed stop monitoring window are canceled.
Deselection: DB31, ...DBX1.1 (acknowledge fixed stop reached)
IS irrelevant
for ...
MD37060 $MA_FIXED_STOP_ACKN_MASK
(monitoring PLC acknowledgments for travel to fixed stop)
= 0 or 2
Corresponding to ....
MD37060 $MA_FIXED_STOP_ACKN_MASK
(monitoring PLC acknowledgments for travel to fixed stop)
DB31, ... DBX62.4 (activate travel to fixed stop)
19.4.2
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX62.4
Edge evaluation: no
Activate travel to fixed stop
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
The "Travel to fixed stop" function is active.
Signal state 0 or
edge change
10
The "Travel to fixed stop function" is not active.
This signal is used for analog drives in order, for example, to activate the current or torque limitation
parameterized in the actuator.
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Z1: NC/PLC interface signals
19.5 Help function output to PLC (H2)
DB31, ...
DBX62.5
Fixed stop reached
Edge evaluation: no
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
The fixed stop was reached after selecting the FXS function.
Signal state 0 or
edge change
10
The fixed stop has still not been reached after selecting the FXS function.
This signal is used by analog drives, e.g. to switch the actuator from speedcontrolled to current or
torquecontrolled mode so that a programmable clamping torque can be set.
19.5
Help function output to PLC (H2)
19.5.1
Signals to channel (DB21, ...)
DB21, ...
DBX30.5
Activate associated M01
Edge evaluation: no
Signal(s) updated:
Signal state 1 or
edge change
01
PLC signals the NCK that the associated M01 (help function) should be activated.
Signal state 0 or
edge change
10
De-activate the associated M01 (help function).
Corresponding to ....
DB21, ... DBX 318.5 (associated M01 active)
19.5.2
Signals from channel (DB21, ...)
DB21, ...
DBB58,
DBB60 - DBB65
Edge evaluation: No
M, S, T, D, H, F functions Modification
Signal(s) updated: job-controlled by NCK
Signal state 1 or
edge change
01
One M, S, T, An D, H, or F function has been output to the interface with a new value together with
the associated change signal at the beginning of an OB1 cycle.
In this case, the change signal indicates that the appropriate value is valid.
Signal state 0 or
edge change
10
The change signals are reset by the PLC basic program at the start of the next OB1 cycle.
The value of the data involved is not valid.
1596
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Z1: NC/PLC interface signals
19.5 Help function output to PLC (H2)
DB21, ...
DBX59.0 - DBX59.4
M fct. 1-5 not decoded
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: job-controlled by NCK
M function is greater than 99 (for extended address = 0) or for extended address > 0, not included in
the decoding list.
This signal is available - together with the associated M change signal - for one OB1 cycle.
Cause:
Incorrect M function programmed
M function not configured in the decoding list of the PLC
Remedy, e.g.:
PLC sets read-in disable
Output of a PLC alarm
Signal state 0 or
edge change
10
DB21, ...
DBB60 - DBB64,
DBB66 - DBB67
M function less than 99 (for extended address = 0) or for extended address > 0 included in the
decoding list.
M, S, T, D, H, F functions Additional info "Quick" (fast acknowledgment)
Edge evaluation: No
Signal(s) updated: job-controlled by NCK
Signal state 1 or
edge change
01
One M, S, T, An D, H, or F function has been output to the interface with a new value together with
the associated change signal at the beginning of an OB1 cycle.
In this case, the additional info "Quick" indicates the quick help function.
Signal state 0 or
edge change
10
The change signals are reset by the PLC basic program at the start of the next OB1 cycle.
The value of the data involved is not valid.
DB21, ...
DBB68 - DBB97
M functions 1 to 5
Edge evaluation: No
Signal state 1 or
edge change
01
Extended address M functions 1 to 5
Signal(s) updated: job-controlled by NCK
Up to 5 M functions programmed in an NC block are simultaneously made available here as soon as
the M change signals are available.
Value range of M functions: 0 to 9999 9999; integer number
Value range of the extended address: 0 to 99; integer number
The M functions remain valid until they are overwritten by new M functions.
Signal state 0 or
edge change
10
After the PLC has ramped-up.
Application exam
ple(s)
Decoding and evaluation of M functions that are not decoded as standard or via a list.
Using the extended address, the M function can be assigned to another channel that does not cor
respond to that channel in which the program is running.
Special cases,
errors, ......
For M00 to M99 the extended address = 0.
All help functions are deleted before a new function is entered.
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Z1: NC/PLC interface signals
19.5 Help function output to PLC (H2)
DB21, ...
DBB98 - DBB115
S functions 1 to 3
Extended address S functions 1 to 3
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: job-controlled by NCK
Up to 3 S functions programmed in an NC block are simultaneously made available here as soon as
the S change signals are available.
Value range of the spindle speed: 0 to 999 999; integer number
Value range of the extended address: 0 to 6; integer number
The S functions remain valid until they are overwritten by new S functions.
Signal state 0 or
edge change
10
After the PLC has ramped-up.
Application exam
ple(s)
Spindle speed control by the PLC.
The extended address is used to program for which spindle the S word is valid.
E.g.: S2=500
DB21, ...
DBB118
All help functions are deleted before a new function is entered.
T function 1
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: job-controlled by NCK
The T function programmed in an NC block is made available here
as soon as the T change signal is available.
Value range of T functions: 0 to 99 999 999; integer number
The T function remains valid until it is overwritten by a new T function.
Signal state 0 or
edge change
10
After the PLC has ramped-up.
Application exam
ple(s)
Control of automatic tool selection.
Special cases,
errors, ......
With T0, the current tool is removed from the tool holder but not replaced by a new tool (default
configuration of the machine manufacturer).
Remark
8 decade T numbers are only available as T function 1.
DB21, ...
DBB129
D function 1
Edge evaluation: No
Signal state 1 or
edge change
01
All help functions are deleted before a new function is entered.
Signal(s) updated: job-controlled by NCK
The D function programmed in an NC block is made available here
as soon as the D change signal is available.
Value range of D functions: 0 to 999; integer number
The D function remains valid until it is overwritten by a new D function.
Signal state 0 or
edge change
10
After the PLC has ramped-up.
Application exam
ple(s)
Implementation of protective functions.
Special cases,
errors, ......
D0 is reserved for deselecting the current tool offset.
1598
All help functions are deleted before a new function is entered.
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Z1: NC/PLC interface signals
19.5 Help function output to PLC (H2)
DB21, ...
DBB140 - DBB157
H functions 1 to 3
Extended address H functions 1 to 3
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: job-controlled by NCK
Up to 3 H functions programmed in an NC block are made available here simultaneously as soon as
the H change signals are available.
Value range of the H function: Floating point (corresponding to the MC5+format)
Value range of the extended address: 0 to 99; integer number
The H functions remain valid until they are overwritten by new H functions.
Signal state 0 or
edge change
10
After the PLC has ramped-up.
Application exam
ple(s)
Switching functions on the machine.
DB21, ...
DBB158 - DBB193
F functions 1 to 6
Edge evaluation: No
Signal state 1 or
edge change
01
All help functions are deleted before a new function is entered.
Extended address F functions 1 to 6
Signal(s) updated: job-controlled by NCK
Up to 6 F functions (one path feed and up to 5 axis-specific feeds for
positioning axes) are made available here simultaneously as soon as the F change
signals are available.
Value range of F function: Floating point (corresponding to the MC5+format)
Value range of the extended address: 0 to 18; integer number
The extended address of the F function is generated from the feed type (path feed or axis-specific
feed) and the axis names.
It is coded as follows:
WR
3DWKIHHG HJ )
HJ )
0DFKLQHD[LVQXPEHURIWKHSRVLWLRQLQJD[LV
IRUDQD[LVVSHFLILFIHHG
HJ )$>;@
The F functions remain until they are overwritten by new F functions.
Signal state 0 or
edge change
10
After the PLC has ramped-up.
Application exam
ple(s)
Control of programmed F word by the PLC, e.g. through overwriting of the set feed rate override.
Corresponding to ...
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time of F functions)
DB21, ...
DBB194 - DBB206
Dynamic M functions: M0 - M99
Edge evaluation: No
Signal state 1 or
edge change
01
All help functions are deleted before a new function is entered.
Signal(s) updated: job-controlled by NCK
The dynamic M signal bits are set by decoded M functions.
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19.5 Help function output to PLC (H2)
DB21, ...
DBB194 - DBB206
Dynamic M functions: M0 - M99
Signal state 0 or
edge change
10
For a general help function output, the dynamic M signal bits are acknowledged by the PLC basic
program after the OB1 has been completely run-through (executed once).
For a fast help function output, after the PLC identifies the help functions, they are acknowledged in
the same OB40 cycle.
Application exam
ple(s)
Spindle clockwise/counterclockwise rotation, switch coolant ON/OFF
DB21, ...
DBX318.5
Associated M01/M00 active
Edge evaluation: No
Signal(s) updated:
Signal state 1 or
edge change
01
This bit indicates that an M00 or M01 help function is active if the appropriate associated M00 and
M01 (help functions) were enabled/activated beforehand.
Signal state 0 or
edge change
10
No associated M00/M01 help functions active.
Corresponding to ...
DB21, ... DBX30.5 (activate associated M01)
19.5.3
Signals from axis/spindle (DB31, ...)
DB31, ...
DBD78
Edge evaluation: no
F auxiliary function for positioning axis
Signal(s) updated: Jobcontrolled
The values of the F help functions for positioning axes are stored here. The axis to which each value
applies is determined by the extended address.
DB31, ...
DBD86
Edge evaluation: no
M auxiliary function for spindle
Signal(s) updated: Jobcontrolled
The values for the M3, M4, M5 help functions are sent to the associated interface for the addressed
spindle.
DB31, ...
DBD88
Edge evaluation: no
S auxiliary function for spindle
Signal(s) updated: Jobcontrolled
The values for the S help functions are sent to the associated interface for the addressed spindle.
1600
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
19.6
Mode group, channel, program operation, reset response (K1)
19.6.1
Signals to mode group (DB11)
DB11
DBX0.0
AUTOMATIC mode
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
AUTOMATIC mode is selected by the PLC program.
Signal state 0 or
edge change
10
AUTOMATIC mode is not selected by the PLC program.
Signal irrelevant
for ...
DB11 DBX0.4 (operating mode, changeover inhibit) = 1
Corresponding to ...
DB11 DBX6.0 (active AUTOMATIC mode)
DB11
DBX0.1
MDA mode
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
MDA mode is selected by the PLC program.
Signal state 0 or
edge change
10
MDA mode is not selected by the PLC program.
Signal irrelevant
for ...
DB11 DBX0.4 (operating mode, changeover inhibit) = 1
Corresponding to ...
DB11 DBX6.1 (active MDA mode)
DB11
DBX0.2
JOG mode
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
JOG mode is selected by the PLC program.
Signal state 0 or
edge change
10
JOG mode is not selected by the PLC program.
Signal irrelevant
for ...
DB11 DBX0.4 (operating mode, changeover inhibit) = 1
Corresponding to ...
DB11 DBX6.2 (active JOG mode)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1601
Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX0.4
Mode change disable
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The currently active mode (JOG, MDA or AUTOMATIC) of the mode group cannot be changed. The
machine functions that can be selected within a mode group can be changed.
Signal state 0 or
edge change
10
The mode of the mode group can be changed.
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DB11
DBX0.5
Edge evaluation: No
Mode group stop
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
An NC Stop is activated for all the channels of the mode group. The channel status of all the active
channels changes to the channel status "interrupted". All of the channels in channel status "reset"
remain in the channel status "reset". Programs that are running at this point are immediately inter
rupted (at the earliest possible point, even within a block) and the program status changes to "stop
ped". All the moving axes of the mode group are decelerated according to their acceleration charac
teristics without contour violation. The program can be restarted with NC Start. None of the spindles
of that mode group are affected.
Signal state 0 or
edge change
10
Channel status and program execution are not influenced.
Special cases, er
rors, ... ...
All the axes of a mode group that are not triggered by a program or a program block (e.g. axes traverse
because traverse keys are being pressed on the machine control panel) decelerate to rest with mode
group stop.
1602
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX0.6
Mode group stop axes plus spindles
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
An NC Stop is activated for all the channels of the mode group. The channel status of all of the active
channels changes to the channel status "interrupted". All of the channels in channel status "reset"
remain in the channel status "reset". Programs that are running at this point are immediately inter
rupted (at the earliest possible point, even within a block) and the program status changes to "stop
ped". All the moving axes and spindles of the mode group are decelerated according to their accel
eration characteristics without contour violation. The program can be restarted with NC Start.
Signal state 0 or
edge change
10
Channel status and program execution are not influenced.
Special cases,
errors, ......
All the axes and spindles of a mode group that are not triggered by a program or a program block
(e.g. axes traverse because traverse keys are pressed on the machine control panel, spindles are
controlled by the PLC) decelerate to rest with "mode group stop plus spindles".
DB11
DBX0.7
Edge evaluation: Yes
Mode group reset
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
A reset is activated for all the channels of the mode group. All of the channels are then in the channel
status "reset". All of the current programs are then in the program status "aborted". All moving axes
and spindles are decelerated to zero speed according to their acceleration ramp without contour
violation. The initial settings are set (e.g. for G functions). The alarms for the mode group are cleared
if they are not POWER ON alarms.
Signal state 0 or
edge change
10
Channel status and program execution are not influenced by this signal.
Corresponding to ...
DB21, ... DBX7.7 (channel reset)
DB11 DBX6.7 (all channels in the reset status)
Special cases,
errors, ......
DB11
DBX1.0
Edge evaluation: No
An alarm that withdraws the interface signal
DB11 DBX6.3 (mode group ready)
ensures that all channels of the mode group are no longer in the reset status.
In order to switch to another operating mode, a mode group reset (DB11 DBX0.7) must then be
initiated.
Machine function TEACH IN
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Machine function TEACH IN is activated in JOG mode for the mode group.
Signal state 0 or
edge change
10
Machine function TEACH IN is not activated.
Signal irrelevant
for ...
If JOG mode is not active.
Additional references Operating Manual HMI (corresponding to the used software)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1603
Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX1.1
Machine function REPOS
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Machine function REPOS is activated in JOG mode for the mode group.
Signal state 0 or
edge change
10
Machine function REPOS is not activated.
Signal irrelevant
for ...
JOG mode is not active.
Application exam
ple(s)
When a fault occurs when executing a part program (e.g. tool breakage), the axis is manually moved
away from the fault location in the JOG mode in order to be able to replace the tool.
The axis can then be manually returned to the exact previous position using the REPOS machine
function so that the program can be continued in the automatic mode.
Additional references Operating Manual HMI (corresponding to the used software)
DB11
DBX1.2
Machine function REF
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Machine function REF is activated in the JOG mode for the mode group.
Signal state 0 or
edge change
10
Machine function REF is not activated.
Signal irrelevant
for ...
If JOG mode is not active.
Additional references See Section "R1: Referencing (Page 1149)"
DB11
DBX1.6
Single block type B
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated:
Bit set and DB11 DBX1.7 not set: Response across modes
All channels are stopped.
All channels receive a start command.
Channel KS stops at the end of the block.
The channels KA receive a STOPATEND.
(comparable with DB21, ... DBX7.2 (NC Stop at the block limit).)
All channels are stopped at a block limit (at some point in time).
(If DB11 DBX1.6 and DB11 DBX1.7 are set simultaneously, it is impossible to determine which single
block type is required. The control then assumes: No single block across mode groups).
Signal state 0 or
edge change
10
(If DB11 DBX1.6 and DB11 DBX1.7 are not set, it is impossible to determine which single block type
is required. The control then assumes: No single block across mode groups).
Corresponding to ...
Single block type A
1604
If Bit DB11 DBX1.6 is not set and Bit DB11 DBX1.7 is set, then it is single block type A.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX1.7
Single block type A
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated:
DB11 DBX1.7 set and DB11 DBX1.6 not set: Response across modes
All channels are stopped.
All channels receive a start (start key).
Channel KS stops at the end of the block (due to single-block).
Channels KA receive a STOP command (analogous to Stop key).
All channels are stopped. (deceleration phase of all KAs).
(If DB11 DBX1.6 and DB11 DBX1.7 are set simultaneously, it is impossible to determine which single
block type is required. The control then assumes: No single block across mode groups).
Signal state 0 or
edge change
10
(If DB11 DBX1.6 and DB11 DBX1.7 are not set, it is impossible to determine which single block type
is required. The control then assumes: No single block across mode groups).
Corresponding to ...
Single block type B
19.6.2
If DB11 DBX1.7 is not set and DB11 DBX1.6 is set, then it is single block type B.
Signals from the mode group (DB11)
DB11
DBX4.0
Edge evaluation: No
Selected mode AUTOMATIC
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
AUTOMATIC mode is selected by HMI.
Signal state 0 or
edge change
10
AUTOMATIC mode is not selected by HMI.
DB11
DBX4.1
Edge evaluation:
Selected mode MDA
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
MDA mode is selected by HMI.
Signal state 0 or
edge change
10
MDA mode is not selected by HMI.
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19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX4.2
Selected JOG mode
Data block
Signal(s) from BAG (HMI PLC)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
JOG mode is selected by HMI.
Signal state 0 or
edge change
10
JOG mode is not selected by HMI.
DB11
DBX5.0
Edge evaluation: No
Selected machine function TEACH IN
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The machine function TEACH IN is selected by HMI within BAG.
Signal state 0 or
edge change
10
The machine function TEACH IN is not selected by HMI.
Additional references Operating Manual HMI (corresponding to the used software)
DB11
DBX5.1
Edge evaluation: No
Selected REPOS machine function
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The machine function REPOS is selected by HMI within BAG.
Signal state 0 or
edge change
10
The machine function REPOS is not selected by HMI.
Application exam
ple(s)
When a fault occurs when executing a part program (e.g. tool breakage), the axis is manually moved
away from the fault location in the JOG mode in order to be able to replace the tool.
The axis can then be manually returned to the exact previous position using the REPOS machine
function so that the program can be continued in the automatic mode.
Additional references Operating Manual HMI (corresponding to the used software)
DB11
DBX5.2
Edge evaluation: No
Signal state 1 or
edge change
01
1606
Selected machine function REF
Signal(s) updated: Cyclically
The machine function REF is selected by HMI within BAG.
Basic Functions
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX5.2
Signal state 0 or
edge change
10
Selected machine function REF
The machine function REF is not selected by HMI.
Additional references See Section "R1: Referencing (Page 1149)"
DB11
DBX6.0
Active mode AUTOMATIC
Data block
Signal(s) from the mode group (NCK PLC)
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
AUTOMATIC mode is active.
Signal state 0 or
edge change
10
AUTOMATIC mode is not active.
DB11
DBX6.1
Active mode MDA
Edge evaluation:
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
MDA mode is active.
Signal state 0 or
edge change
10
MDA mode is not active.
DB11
DBX6.2
Active JOG mode
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
JOG mode is active.
Signal state 0 or
edge change
10
JOG mode is not active.
DB11
DBX6.3
Edge evaluation: No
Signal state 1 or
edge change
01
Mode group ready
Signal(s) updated: Cyclically
This signal is set after power on and all of the voltage have been established. The mode group is now
ready and part programs can be executed and axes traversed in the individual channels.
Basic Functions
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19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX6.3
Signal state 0 or
edge change
10
Mode group ready
The mode group is not ready. Possible causes for this are:
A critical axis or spindle alarm is present
Hardware faults
The mode group has been incorrectly configured (machine data)
If the mode group ready changes to signal state "0", then:
The axis and spindle drives are braked down to standstill with the max. braking current.
The signals from the PLC to the NCk are brought into an inactive state (cleared state).
Special cases,
errors, ......
DB11
DBX6.7
Edge evaluation: No
An alarm that withdraws the interface signal
DB11 DBX6.3 (mode group ready)
ensures that all channels of the mode group are no longer in the reset state.
In order to switch to another operating mode, a mode group reset (DB11 DBX0.7) must be made.
All channels in the reset state
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
All the channels that belong to this mode group are in the "channel status reset" state (DB21, ...
DBX7.7).
Signal state 0 or
edge change
10
At least one of the channels in the mode group is not in "channel status reset" (DB21, ... DBX7.7).
Corresponding to ...
DB21, ... DBX7.7 (channel state, reset)
DB11
DBX7.0
Active machine function TEACH IN
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Machine function TEACH IN is active in the mode group.
Signal state 0 or
edge change
10
Machine function TEACH IN is not active.
Additional references Operating Manual HMI (corresponding to the used software)
DB11
DBX7.1
Edge evaluation: No
Active REPOS machine function
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Machine function REPOS is active in the mode group.
Signal state 0 or
edge change
10
Machine function REPOS is not active.
1608
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB11
DBX7.1
Active REPOS machine function
Application exam
ple(s)
When a fault occurs when executing a part program (e.g. tool breakage), the axis is manually moved
away from the fault location in the JOG mode in order to be able to replace the tool.
The axis can then be manually returned to the exact previous position using the REPOS machine
function so that the program can be continued in the automatic mode.
Additional references Operating Manual HMI (corresponding to the used software)
DB11
DBX7.2
Active machine function REF
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
Machine function REF is active in the mode group.
Signal state 0 or
edge change
10
Machine function REF is not active.
Additional references See Section "R1: Referencing (Page 1149)"
19.6.3
Signals to channel (DB21, ...)
DB21, ...
DBX0.4
Activate single block
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
In AUTOMATIC and MDI modes, the operator must enable processing of each individual part program
block of the part program selected in the channel by reactivating NC Start.
Signal state 0
No effect.
Special cases,
errors, ......
In the case of active tool offset, intermediate blocks are inserted, when necessary. These blocks
must also be enabled using NC Start.
In a series of G33 blocks, a single block is only operative if "dry run feed" is selected.
In the case of a decoding single block, calculation blocks are not processed in the single step.
Corresponding to ...
DB21, ... DBX35.3 (program status interrupted)
DB21, ...
DBX0.5
Activate M01
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
Activation of program control "Conditional stop"M01 is requested.
Signal state 0
Activation of program control "Conditional stop" M01 is not requested.
Corresponding to ...
DB21, ... DBX24.5 (M01 selected)
DB21, ... DBX32.5 (M0/M01 active)
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX1.6
PLC action completed
Edge evaluation: no
Signal(s) updated: Cyclically
At the end of the block search, concluding action blocks are executed:
DB21, ... DBX32.3 (action block active) == 1 AND
DB21, ... DBX32.6 (last action block active) == 1
Alarm "10208 Channel <Channel Number> Issue NC Start to continue program" notifies that NC Start
must be reactivated to resume the part program starting from the target block.
If other actions are to be executed by the PLC user program prior to the NC Start (e.g. tool change),
Search mode can be parameterized as follows:
MD11450 $MN_SEARCH_RUN_MODE = 1
Output of alarm delayed until the existing signal is reset.
Signal state 1
PLC action is completed.
Signal state 0
PLC action is not yet completed.
Corresponding to ...
DB21, ... DBX32.3 (action block active)
DB21, ... DBX32.6 (last action block active)
DB21, ... DBX33.4 (block search active)
DB21, ...
DBX1.7
Activate program test
Edge evaluation: no
Signal state 1
Signal(s) updated: Cyclically
Activation of the program test is requested.
During the program test, all motion commands of axes (not spindles) take place under "Axis disable."
Notice!
Due to the axis disable, the assignment of a tool magazine is not changed for the program test. The
user / machine manufacturer must utilize a suitable PLC user program to ensure that the NC-internal
tool management and the actual assignment of the tool magazine remain consistent. Refer to the
program example included in the PLC Toolbox.
Signal state 0
Activation of the program test is not requested.
Corresponding to ...
DB21, ... DBX25.7 (program test selected)
DB21, ...DBX33.7 (program test active)
DB21, ...
DBB2
Edge evaluation: No
Signal state 1
Activate skip block
Signal(s) updated: Cyclically
Skip blocks marked in the part program with a slash (/) are not processed. If there is a series of skip
blocks, the signal is only active if it is present before the first skip block of the series is decoded.
Note
The signal should be available prior to the start of the part program.
Signal state 0
Skip blocks marked in the part program with an slash (/) are processed.
Corresponding to ...
DB21, ... DBX26.0 (skip block selected)
DB21, ... DBX35.2 (program status stopped)
1610
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX6.1
Read-in disable
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The main run does not read in any preprocessed part program blocks.
Note
The signal is only active in AUTOMATIC and MDI modes.
Signal state 0
The main run reads in preprocessed part program blocks.
Corresponding to ...
DB21, ... DBX35.0 (program status running)
DB21, ...
DBX6.4
Program level abort
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change
01
At each edge change 0 1 the current program level being processed (subprogram level, ASUB
level, save routine) is immediately aborted. Processing of the part program continues at the next
higher program level from the exit point.
Edge change
10
No effect.
Special cases,
errors, ......
The main program level cannot be aborted with this IS, only with IS "Reset".
DB21, ...
DBX7.0
NC Start disable
Edge evaluation: no
Signal(s) updated: Cyclically
Signal state 1
The NC Start disable prevents a part program from being started with NC START signal DB21, ...
DBX7.1 (NC Start) == 1.
Signal state 0
NC Start disable is not active.
Special cases,
errors, ......
The start of a part program selected in the channel by part program command START in another
channel (program coordination) is not prevented by the interface signal:
DB21, ... DBX7.0 (NC Start disable) == 1.
Corresponding to ...
DB21, ... DBX7.1 (NC Start)
DB21, ...
DBX7.1
NC Start
Edge evaluation: Yes
Edge change
01
Signal(s) updated: Cyclically
AUTOMATIC mode: The selected NC program is started or continued, or the auxiliary functions that
were saved during the program interruption are output.
If data is transferred from the PLC to the NC during program status "Program interrupted," then this
data is immediately cleared at NC Start.
MDI:mode
The entered block information or part program blocks are released for execution.
Edge change
10
No effect.
Corresponding to ...
DB21, ... DBX7.0 (NC Start disable)
Basic Functions
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1611
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX7.2
NC Stop at block limit
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The current NC program is stopped after the current part program block has been completely pro
cessed. Otherwise, as for DB21, ... DBX7.3 (NC Stop).
Signal state 0
No effect.
Corresponding to ...
DB21, ... DBX7.3 (NC Stop)
DB21, ... DBX7.4 (NC Stop axes plus spindles)
DB21, ... DBX35.2 (program status stopped)
DB21, ... DBX35.6 (channel status interrupted)
DB21, ...
DBX7.3
NC Stop
Edge evaluation: no
Signal state 1
Signal(s) updated: Cyclically
AUTOMATIC or MDI mode:
Processing of the part program active in the channel is stopped.
The axes (not spindles) are brought to a standstill within the assigned acceleration parameters.
Program status: Stopped
Channel status: Interrupted
JOG mode:
In JOG mode, incompletely traversed incremental paths (INC...) are retracted at the next NC Start.
Note
The signal must be present for at least one PLC cycle (OB1).
Signal state 0
No effect.
Signal irrelevant
for ...
Program status: Aborted
Special cases,
errors, ......
If data is transferred to the NCK after NC Stop (e.g. tool offset), the data is cleared at the next NC
Start.
Corresponding to ...
DB21, ... DBX7.2 (NC Stop at block limit)
DB21, ... DBX7.4 (NC Stop axes plus spindles)
DB21, ... DBX35.2 (program status stopped)
DB21, ... DBX35.6 (channel status interrupted)
DB21, ...
DBX7.4
Edge evaluation: no
Channel status: Reset
NC Stop axes plus spindles
Signal(s) updated: Cyclically
See DB21, ... DBX7.3 (NC Stop).
In addition, the spindles of the channel are stopped.
1612
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX7.7
Reset
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The channel is reset. The initial settings are set (e.g. G functions).
The alarms for the channel are cleared if they are not POWER ON alarms.
The reset signal must be issued by the PLC (e.g. using a logic operation with the reset key on the
MCP). The signal is only evaluated by the selected channel.
The program status changes to "Aborted", and the channel status changes to "Channel status reset".
Signal state 0
No effect.
Corresponding to ...
DB11, ... DBX0.7 (mode group reset)
DB21, ... DBX35.7 (channel status reset)
DB21, ...
DBX31.0 - DBX31.2
REPOS mode (A, B, C)
Edge evaluation: No
Meaning
Signal(s) updated: Cyclically
REPOS mode for repositioning to the contour after an interruption of the traversal block
Mode
Corresponding to ...
DB21, ...
DBX31.4
Bit 2
Bit 1
Bit 0
No REPOS mode active
RMB: Repositioning to start of block
RMI: Repositioning to interrupt point
RME: Repositioning to end of block
RMN: Repositioning to the nearest path
point
DB21, ...DBX25.0-2 (REPOS mode)
DB31, ... DBX10.0 (REPOS_DELAY)
REPOS mode change
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change
01
REPOS mode has changed.
Edge change
10
REPOS mode has not changed.
Corresponding to ...
DB21, ... DBX31.0-2 (REPOS mode)
DB21, ... DBX319.0 (acknowledgement of REPOS mode change)
19.6.4
Signals from channel (DB21, ...)
DB21, ...
DBX32.3
Edge evaluation: No
Signal state 1
Action block active
Signal(s) updated: Cyclically
The action block is being executed.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1613
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX32.3
Action block active
Signal state 0
No action block active.
Additional references Operating Manual HMI (corresponding to the used software)
DB21, ...
DBX32.4
Approach block active
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The approach block for the progress of the program with "Block search with computation on contour"
is active, as with "Block search with computation on block end point" no approach block is created of
its own. The axes are automatically positioned on the collected search position if ASUB exits with
REPOSA during "Block search with computation on contour".
Signal state 0
The search target is found during "Block search with computation on contour".
Additional references Programming Manual, Job Planning
DB21, ...
DBX32.5
Edge evaluation: No
Signal state 1
M00/M01 active
Signal(s) updated: Cyclically
The part program block is processed, the auxiliary functions are output, and:
M00 is in the RAM
M01 is in the RAM and IS "Activate M01" is active
The program status changes to "Stopped".
Signal state 0
With DB21, ... DBX7.1 (NC Start)
For a program abort as a result of a reset
1614
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX32.5
M00/M01 active
Screen
0
Corresponding to ...
'DWDWUDQVIHUWRZRUNLQJPHPRU\
0FKDQJHVLJQDO 3/&F\FOHWLPH
%ORFNSURFHVVHG
,600DFWLYH
1&EORFNZLWK0
,6&KDQQHOVWDWHDFWLYH HYHQZKHQ
D[HVDUHPRYHGLQ-2*PRGH
DB21, ... DBX0.5 (activate M01)
DB21, ... DBX24.5 (M01 selected)
DB21, ...
DBX32.6
Edge evaluation: No
Signal state 1
Last action block active
Signal(s) updated: Cyclically
The last action block is being executed.
This means that all the action blocks on the NC side have been processed and the actions on the
PLC side (ASUB, FC) or the operator such as overstore, mode change according to JOG/REPOS
are possible. In this way the PLC, for example, can still perform a tool change before the start of
movement.
Signal state 0
The last action block is not being executed. Action blocks contain the actions collected during "Block
search with computation" such as
Output help function H, M00, M01, M..
Tool programming T, D, DL
Spindle programming S-Value, M3/M4/M5/M19, SPOS
Feed programming, F
Additional references See Section "K1: Mode group, channel, program operation, reset response (Page 455)"
Basic Functions
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX33.4
Block search active
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The block search function is active.
It was selected from the operator interface and started using the interface signal:
DB21, ... DBX7.1 (NC Start)
Signal state 0
Search target found.
Application exam
ple(s)
The block search function makes it possible to jump to a certain block within a part program and to
start processing the part program from this block.
Additional references See Section "K1: Mode group, channel, program operation, reset response (Page 455)"
DB21, ...
DBX33.5
M02/M30 active
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
NC block with M02 or M30 (or M17 if a subprogram was started) is completely processed; if
traversing motions are also programmed in this block, the signal is only output when the target
position is reached.
The program was interrupted as a result of a reset, and the program status changes to "Aborted".
When MDI mode or machine functions REF or PRESET are selected
According to DB10 DBX56.2 (acknowledge emergency stop)
Signal state 0
No program end or program abort
Status after activation of control
Start of an NC Program
Screen
0
1616
'DWDWUDQVIHUWRZRUNLQJPHPRU\
0FKDQJHVLJQDO 3/&F\FOHWLPH
%ORFNSURFHVVHG
,600DFWLYH
1&EORFNZLWK0
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX33.5
M02/M30 active
Application exam
ple(s)
The PLC can detect the end of program processing with this signal and react appropriately.
Special cases,
errors, ......
The M02 and M30 functions have equal priority.
The interface signal:
DB21, ... DBX33.5 (M02/M30 active)
is available as steady-state signal after the end of the program.
Not suitable for automatic follow-on functions such as workpiece counting, bar feed, etc. For these
functions, M02/M30 must be written in a separate block and the word M02/M30 or the decoded M
signal used.
Auxiliary functions that could result in a read-in operation being stopped and any S values that
are to be operative beyond M02/M30 must not be written in the last block of a program.
DB21, ...
DBX33.6
Transformation active
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The NC command TRAORI (activate transformation) is programmed in the NC part program. This
block has been processed by the NC and the transformation is now activated.
Signal state 0
No transformation active.
Additional references Programming Manual, Job Planning
DB21, ...
DBX33.7
Edge evaluation: No
Program test active
Signal(s) updated: Cyclically
Signal state 1
Program control program test is active. Axis disable is set internally for all axes (not spindles). There
fore the machine axes do not move when a part program block or a part program is being processed.
The axis movements are simulated on the user interface with changing axis position values.
The axis position values for the display are generated from the calculated setpoints.
The part program is processed in the normal way.
Signal state 0
Program control "Program test" is not active.
Corresponding to ...
DB21, ... DBX1.7 (activate program test)
DB21, ... DBX25.7 (program test selected)
DB21, ...
DBX35.0
Edge evaluation: No
Signal state 1
Program status running
Signal(s) updated: Cyclically
The part program was started with the interface signal:
DB21, ... DBX7.1 (NC Start)
and is running.
The running program was stopped with the interface signal:
DB21, ... DBX6.1 (read-in disable)
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX35.0
Program status running
Signal state 0
Program stopped by M00/M01 or NC Stop or operating mode change.
If single-block mode, then the block is processed.
End of program reached (M02/M30).
Program aborted due to a reset.
No actual block in the memory (e.g. for MDI).
The actual block cannot be executed.
Signal irrelevant
for ...
The part program was started with the interface signal:
DB21, ... DBX7.1 (NC Start)
and is running.
Special cases,
errors, ......
The interface signal:
DB21, ... DBX35.0 (program status running)
does not change to 0 if workpiece machining is stopped due to the following events:
A feed disable or spindle disable was output
DB21, ... DBX6.1 (read-in disable)
Feed correction to 0%
The spindle and axis monitoring functions respond
Position setpoints are entered in the NC program for axes in "follow-up mode," for axes without
"servo enable," or for "parking axes"
Corresponding to ...
DB21, ... DBX6.1 (read-in disable)
DB21, ...
DBX35.1
Program status wait
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The running program is waiting for the program command WAIT_M or WAIT_E in an NC block. The
wait condition specified in the WAIT command for the channel or channels has not yet been fulfilled.
Signal state 0
Program status wait is not active.
Additional references Programming Manual, Fundamentals
DB21, ...
DBX35.2
Edge evaluation: No
Signal state 1
Program status stopped
Signal(s) updated: Cyclically
The NC part program has been stopped by:
DB21, ... DBX7.3 (NC Stop)
DB21, ... DBX7.4 (NC Stop axes plus spindles)
DB21, ... DBX7.2 (NC Stop at the block limit)
Programmed M00 or M01
or
Single-block mode
Signal state 0
"Program status stopped" is not present.
Corresponding to ...
DB21, ... DBX7.3 (NC Stop)
DB21, ... DBX7.4 (NC Stop axes plus spindles)
DB21, ... DBX7.2 (NC Stop at the block limit)
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX35.3
Program status interrupted
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
When the operating mode changes from AUTOMATIC or MDI (in stopped program status) to JOG,
the program status changes to "Interrupted". The program can be continued at the point of interruption
in AUTOMATIC or MDI mode when NC Start is issued.
Signal state 0
"Program status interrupted" not available.
Special cases,
errors, ......
The interface signal:
DB21, ... DBX35.3 (program status interrupted)
indicates that the part program can continue to be processed by restarting it.
DB21, ...
DBX35.4
Program status aborted
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The program has been selected but not started, or the current program was aborted with a reset.
Signal state 0
Program status interrupted is not active.
Corresponding to ...
DB21, ... DBX7.7 (reset)
DB21, ...
DBX35.5
Channel status active
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
In this channel:
A part program is presently being executed in Automatic or MDI mode
or
At least one axis is being traversed in JOG mode.
Signal state 0
DB21, ... DBX35.3 (channel status interrupted) or DB21, ... DB35.7 (channel status reset) is present.
DB21, ...
DBX35.6
Channel status interrupted
Edge evaluation: No
Signal state 1
Signal(s) updated: Cyclically
The NC part program in AUTOMATIC or MDI mode or a traversing motion in JOG mode can be
interrupted by:
DB21, ... DBX7.3 (NC Stop)
DB21, ... DBX7.4 (NC Stop axes plus spindles)
DB21, ... DBX7.2 (NC Stop at the block limit)
Programmed M00 or M01
or
Single-block mode
After an NC Start the part program or the interrupted traversing movement can be continued.
Signal state 0
DB21, ... DBX35.5 (channel status active) or DB21, ... DB35.7 (channel status reset) is present.
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX35.7
Channel status reset
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The signal changes to 1 as soon as the channel goes into the reset state, i.e. no processing taking
place.
Signal state 0
The signal is set to 0 as soon as processing takes place in the channel, e.g.:
Execution of a part program
Block search
TEACH IN active
Overstore active
DB21, ...
DBX36.4
Edge evaluation: No
Signal state 1
Interrupt processing active
Signal(s) updated: Cyclically
One or more channels in the mode group are not in the desired operating mode as the result of an
active interrupt routine.
Note: The signal is not set if an interrupt routine is running in a program mode.
Signal state 0
All channels are operating in the required mode.
Corresponding to ...
MD11600 $MN_BAG_MASK
DB21, ...
DBX36.5
Channel is ready
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
A channel is ready for a part program processing of machine axes, geometry axes and positioning
axes. These are already allocated corresponding to machine configuration and the current program
status of the concerned channels.
Signal state 0
The concerned channel is not ready for a part program processing of machine axes, geometry axes
and positioning axes.
Corresponding to ...
MD11600 $MN_BAG_MASK
DB21, ...
DBX37.6
Read-in disable is ignored
Edge evaluation: No
Signal(s) updated:
The following machine data is used to specify that the read-in disable (DB21, ... DBX6.1) is to be
ignored:
MD11602 $MN_ASUP_START_MASK, Bit 2 = 1 (start also permitted if read-in disable is active)
MD20116 $MC_IGNORE_INHIBIT_ASUP (execute interrupt program in spite of read-in disable)
MD20107 $MC_ PROG_EVENT_IGN_INHIBIT (Prog events ignore read-in disable)
Part program blocks for which read-in disable is ignored are designated as read-in disable-inoperative.
Signal state 1
1620
Read-in disable is active (DB21, ... DBX6.1==1) AND part program block is read-in disable-inopera
tive.
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX37.6
Read-in disable is ignored
Signal state 0
Read-in disable is not active (DB21, ... DBB6.1 == 0) OR
(read-in disable is active (DB21, ... DBX6.1 == 1) AND part program block is read-in disable-operative)
Corresponding to ...
DB21, ... DBX37.7 (Stop at block end is ignored during single block (SBL))
DB21, ...
DBX37.7
Stop at block end is ignored during single block (SBL)
Edge evaluation:
Signal(s) updated:
The following machine data and part program commands are used to specify that the stop at block
end during single block (DB21, ... DBX0.4 == 1) is to be ignored:
MD10702 $MN_IGNORE_SINGLEBLOCK_MASK (prevent single-block stop)
MD20117 $MC_IGNORE_SINGLEBLOCK_ASUP (execute interrupt program completely in spite
of single block)
MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK (Prog events ignore single block)
SBLOF (suppress single block), SBLON (cancel single block suppression)
Part program blocks for which stop at block end during single block is ignored are designated as
single block-inoperative.
Signal state 1
Single block is active (DB21, ... DBX0.4==1) AND part program block is single block-inoperative.
Signal state 0
Single block is not active (DB21, ... DBB0.4 == 0) OR
(single block is active (DB21, ... DBX0.4 == 1) AND part program block is single block-operative)
Corresponding to ...
Read-in disable is ignored. DB21, ... DBX37.6 (read-in disable is ignored)
DB21, ...
DBB208 - DBB271
Active G function of groups 1 to 60
Edge evaluation: No
Signal state <> 0
Signal(s) updated: Cyclically
The G function displayed in BCD format or its mnemonic identifier is active in the G group.
Val
ue
Signal state = 0
Application exam
ple(s)
Meaning
1st G function of the G group
2nd G function of the G group
nth G function of the G group
No G function or G group mnemonic identifier is active.
Bit
Value
128
64
32
16
Example:
G90
Special cases,
errors, ......
In contrast to auxiliary functions, G functions are not output to the PLC subject to acknowledgement,
i.e. processing of the part program is continued immediately after the G function output.
Additional references A complete list of the G groups and G functions can be found in:
References: Programming Manual, Fundamentals.
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBB317.1
Workpiece setpoint reached
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state = 1
The number of machined workpieces (actual workpiece total) is equal to the number of workpieces
to be machined (required number of workpieces):
Signal state = 0
The number of machined workpieces (actual workpiece total) is not equal to the number of workpieces
to be machined (required number of workpieces):
$AC_ACTUAL_PARTS == $AC_REQUIRED_PARTS
$AC_ACTUAL_PARTS <> $AC_REQUIRED_PARTS
Corresponding to ...
MD27880 $MC_PART_COUNTER (activation of workpiece counters)
Additional references Function Manual, Fundamentals, Section "K1: Mode group, channel, program operation, reset re
sponse" > "Program runtime / workpiece counter" > "Workpiece counter"
DB21, ...
DBX318.0
Edge evaluation: No
ASUB is stopped
Signal(s) updated: Cyclically
Signal state 1
The signal is set to 1 if the control stops automatically prior to the end of the ASUB.
The IS DB21, ... DBX318.0 (ASUB is stopped) is only supplied in the case "Interrupt in a program
mode and channel status stopped".
Signal state 0
The IS DB21, ... DBX318.0 (ASUB is stopped) is set to 0 with start and reset.
1622
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX318.0
ASUB is stopped
Typical sequence of an ASUB with REPOSA:
$68%ZLWK5(326$
(YHQWWKDWEULQJVWKHFRQWURO
LQWRWKHVWRSSHGVWDWXV
RFFXUV
([DPSOH 6WRSNH\
3DWKPRWLRQRIDQ
$68%ZLWK5(326$
&RQWUROKDVVWRSSHG
DXWRPDWLFDOO\
,6$68%VWRSSHGLV
VHW
)& EORFNVLJQDOV$68%'RQH
&RQWUROV\VWHPVWRSSHG
$68%LVWKHQVWDUWHGE\WKH
)&
3DWKRIWKHSDUWVSURJUDP
ASUB with REPOSA If the interrupt routine is ended with REPOSA, then the following sequence is typical:
is triggered in the sta NC Stop or an alarm is used to stop the part program.
tus AUTOMATIC
The control assumes program status "Stopped".
mode stopped
The PLC initiates an ASUB via block FC9.
Before the re-approach to the contour, the control stops and goes to program state "Stopped". IS
DB21, ... DBX318.0 (ASUB is stopped) is set.
The user presses Start. The IS DB21, ... DBX318.0 (ASUB is stopped) is reset, the re-approach
motion is started.
At the end of the re-approach motion, the FC9 signal "ASUB done" is set and the path of the
interrupted part program is continued.
DB21, ...
DBX318.1
Edge evaluation: No
Block search via program test is active (SERUPRO)
Signal(s) updated: Cyclically
Signal state 1
During the processing of the part program block in context of block search (internal channel status:
"Program test"), up to the change of the target block in the main execution (Program status: "Stop
ped").
Signal state 0
With the change of the target block in the main execution (internal channel status: "Program test" is
deselected; stop condition: "Search target found" is displayed).
Special cases,
errors, ......
The block search (SERUPRO) can only be activated in AUTOMATIC mode in program status "Abor
ted".
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX319.0
Edge evaluation: Yes
Acknowledgement of the REPOS mode change
Signal(s) updated: Cyclically
Edge change
01
The interface signal detected by the NC:
DB21, ... DBX31.4 (REPOS mode change)
is acknowledged with the existing interface signal, if the requested REPOS mode:
DB21, ... DBX31.0-2 (REPOS mode)
and the delay signal:
DB31, ... DBX10.0 (REPOSDELAY)
are taken over in the NC.
The signal states refer to the current main run block
Edge change
10
SERUPRO-ASUB stops automatically before REPOS and DB21, ... DBX31.4 (REPOS mode change)
does not affect the SERUPRO approach.
Corresponding to ...
DB21, ... DBX31.4 (REPOS mode-change)
DB21, ...
DBX319.1 DBX319.3
Active REPOS mode (A, B, C)
Edge evaluation: No
Meaning
1624
Signal(s) updated: Cyclically
The active REPOS mode is displayed with the interface signals A, B and C.
Active REPOS mode
0 = no REPOS mode active
1 = repositioning to block start point RMBBL
2 = repositioning to interruption point RMIBL
3 = repositioning to block end point RMEBL
4 = repositioning to nearest path point RMNBL
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX319.1 DBX319.3
Active REPOS mode (A, B, C)
Example of the sequence of REPOS acknowledgements in the part program and signal timing of the
acknowledgement process from the NC:
1
1
1
5(3263$7+02'(
5(32602'(('*(
5(32602'(('*($&.1
5HSRV3DWK0RGH$FNQ
W
Corresponding to ...
6WDUWWKHSDUWSURJUDP
6WRSSDUWSURJUDP
3UHVHOHFW501%/
,QLWLDWH$68%
&RPPDQGZLWK$68%LVVWDUWHG
5HSRVLWLRQLQJPRWLRQIURP5(326KDVEHHQ
FRPSOHWHG7KHUHPDLQLQJEORFNVWDUWV
7KHUHPDLQLQJEORFNLVFRPSOHWHG
DB21, ... DBX31.0-2 (REPOS mode)
DB21, ... DBX31.4 (REPOS mode-change)
DB21, ... DBX319.0 (acknowledgement of REPOS mode change)
DB31, ... DBX70.2 (acknowledgement of REPOS delay)
Additional references See Section "Block search Type 5 (SERUPRO) (Page 493)"
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Z1: NC/PLC interface signals
19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX319.5
Repos DEFERAL Chan
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
All axes currently controlled by this channel have either no REPOS offset or their REPOS offsets are
invalid.
Signal state 0
Miscellaneous.
Corresponding to ...
DB31, ... DBX70.0 (Repos offset)
DB21, ...
DBB376
ProgEventDisplay
Edge evaluation: No
Signal(s) updated: Event-driven
Note: Signal duration of at least one complete PLC cycle
All bits == 0: There is no event-driven program call active
Meaning of individual bits:
Bit
Meaning
Part program start from channel state "Reset"
Part program end
Operator panel reset
Startup
1st start after block search
5 - 7 Reserved, currently always 0
Signal state 1
The event assigned to the bit has activated the "Event-driven program call" function.
Signal state 0
The event assigned to the bit has not activated the "Event-driven program call" function or the eventdriven user program has expired or was canceled with RESET.
DB21, ...
DBX378.0
ASUB is active
Edge evaluation: No
Signal state 1
Signal(s) updated: Event-driven
One ASUB is active.
Note:
The user gets a feedback on a running ASUB through DB21, DBX378.0 even outside FC9 block.
Signal state 0
No ASUB is active.
DB21, ...
DBX378.1
Still ASUB is active
Edge evaluation: No
Signal(s) updated: Event-driven
Signal state 1
An ASUB with suppressed display updating (refer to MD20191 $MC_IGN_PROG_STATE_ASUP) is
active.
Signal state 0
No ASUB with suppressed display updating is active.
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19.6 Mode group, channel, program operation, reset response (K1)
DB21, ...
DBX384.0
Control program branching
Edge evaluation: No
Signal(s) updated:
Signal state 1
GOTOS in the part program initiates a return to the program start. The program is then processed
again.
Signal state 0
GOTOS initiates no return. Program execution is continued with the next part program block after
GOTOS.
Corresponding to ...
MD27860 $MC_PROCESSTIMER_MODE (activation of the program runtime measurement)
MD27880 $MC_PART_COUNTER (activation of workpiece counters)
19.6.5
Signals to axis/spindle (DB31, ...)
DB31, ...
DBX10.0
REPOSDELAY
Edge evaluation: no
Signal(s) updated: Cyclically
Signal state 1
The REPOS offset of the axis is first applied with its next programming.
Signal state 0
There is no REPOS offset.
Special cases,
errors, ......
The signal is not relevant for path axes.
Corresponding to ...
DB21, ... DBX31.0 - DBX31.2 (REPOS mode)
DB31, ... DBX70.2 (REPOSDELAY acknowledge)
DB31, ... DBX72.0 (REPOSDELAY)
19.6.6
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX70.0
REPOS offset
Edge evaluation: no
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
A REPOS offset must be applied for the appropriate axis.
Signal state 0 or
edge change
10
No REPOS offset need be applied for the appropriate axis.
Corresponds to ....
DB31, ... DBX70.1 (REPOS offset valid)
DB31, ...
DBX70.1
REPOS offset valid
Edge evaluation: no
Signal state 1 or
edge change
01
Signal(s) updated: cyclic
The range of validity of the REPOS offset is indicated with the value 1.
The REPOS offset was calculated to be valid.
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19.6 Mode group, channel, program operation, reset response (K1)
DB31, ...
DBX70.1
REPOS offset valid
Signal state 0 or
edge change
10
A value of zero indicates that the REPOS offset was calculated to be invalid.
Application exam
ple(s)
Updating the REPOS offset in the range of validity:
Between SERUPRO end and start, the axis can be moved in JOG mode with a mode change. The
user moves the REPOS offset to the zero value.
Corresponds to ....
DB31, ... DBX70.0 (REPOS offset)
DB31, ...
DBX70.2
REPOS Delay Ackn
Edge evaluation: no
Signal state 1 or
edge change
01
Signal(s) updated: cyclic
The axis was programmed within a traversing block, and the REPOS offset was applied.
Note
A REPOS offset was available for the axis, and REPOSDELAY was active:
DB31, ... DBX10.0 (REPOSDELAY) == 1
This signal behaves the same as:
DB21, ... DBX319.1 - DBX319.3 (Repos Path Mode Ackn)
Signal state 0 or
edge change
10
The value zero is used to acknowledge that the REPOS offset is not active for this axis. This signal
is cancelled on activation of the remaining block.
Corresponds to ....
DB31, ... DBX10.0 (REPOSDELAY)
DB31, ... DBX72.0 (REPOSDELAY)
DB31, ...
DBX72.0
Edge evaluation: no
REPOSDELAY
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
After a block search, a REPOS offset is applied for this axis. However it is not applied using the
approach block, but rather using the next traversing block in which the axis is programmed.
Signal state 0 or
edge change
10
The REPOS offset for this axis is not active.
Special cases,
errors, ......
The signal is not relevant for path axes.
Corresponds to ....
DB21, ... DBX31.0 - DBX31.2 (REPOSPATHMODE)
DB31, ... DBX10.0 (REPOSDELAY)
DB31, ... DBX70.2 (REPOS Delay Ackn)
1628
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19.8 Emergency stop (N2)
DB31, ...
DBX76.4
Path axis
Edge evaluation: no
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
The axis is involved in the path (path axis).
Signal state 0 or
edge change
10
The axis is not involved in the path.
Note
In conjunction with SERUPRO in status "Target block found", the signal refers to the status of the
axis in the target block.
19.7
Axis types, coordinate systems, frames (K2)
19.7.1
Signals to axis/spindle (DB31, ...)
DB 31, ...
DBX3.0
External Zero Offset
Edge evaluation: no
Signal(s) updated:
Signal state 1 or
edge change
01
The preselected value of the external work offest of an axis is used as the new value for calculating
the total work offset between the basic and the workpiece coordinate systems.
Signal state 0 or
edge change
10
The preselected value of the external work offset of an axis is not used as the new value for calculating
the total work offset between the basic and workpiece coordinate systems. The previous value is still
valid.
Signal irrelevant
for ...
$AA_ETRANS[axis] equals zero for all axes.
Special cases,
errors, ......
Signal zero after ramp-up (power ON).
Corresponding to ....
$AA_ETRANS[axis]
19.8
Emergency stop (N2)
19.8.1
Signals to NC (DB10)
DB10
DBX56.1
Edge evaluation: No
Signal state 1 or
edge change
01
Emergency stop
Signal(s) updated: Cyclically
The NC is brought into the emergency stop state and the emergency stop sequence in the NC is
started.
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19.8 Emergency stop (N2)
DB10
DBX56.1
Emergency stop
Signal state 0 or
edge change
10
The NC is not in the emergency stop state.
Corresponding to ...
DB10 DBX56.2 (acknowledge emergency stop)
The emergency stop state is (still) active but can be reset using the interface signals:
DB10 DBX56.2 (acknowledge emergency stop)
and
DB11 DBX0.7 (mode group reset)
DB10 DBX106.1 (emergency stop active)
DB10
DBX56.2
Acknowledge emergency stop
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: Cyclically
The emergency stop state is only reset if the interface signal:
DB10 DBX56.2 (acknowledge emergency stop)
is set followed by the interface signal:
DB11, ... DBX0.7 (mode group reset).
It must be noted that IS "Acknowledge emergency stop" and IS "Reset" must be set (together) for a
long enough period so that the interface signal:
DB10 DBX106.1 (emergency stop active)
was reset.
Resetting the emergency stop state has the following effects:
The controller enable is switched in.
Follow-up mode is canceled for all axes and position control mode resumed.
DB31, ... DBX61.5 set (position controller active).
DB11, ... DBX6.3 set (mode group ready).
DB10 DBX106.1 reset (emergency stop active).
Alarm 3000 is cleared.
Part program processing is aborted for all channels.
,6(PHUJHQF\VWRS
,6$FNQRZOHGJHHPHUJHQF\VWRS
,6(PHUJHQF\VWRSDFWLYH
,65HVHW
1630
7KH,6$FNQRZOHGJHHPHUJHQF\VWRSKDVQRHIIHFW
7KH,65HVHWKDVQRHIIHFW
7KH,6$FNQRZOHGJHHPHUJHQF\VWRSDQG5HVHWUHVHW(PHUJHQF\VWRSDFWLYH
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.9 PLC basic program (P3)
DB10
DBX56.2
Acknowledge emergency stop
Special cases,
errors, ......
The emergency stop state cannot be reset using the interface signal:
DB21, ... DBX7.7 (reset).
Corresponding to ...
DB10 DBX56.1 (Emergency stop)
DB10 DBX106.1 (emergency stop active)
DB11 DBX0.7 (mode group reset)
19.8.2
Signals from NC (DB10)
DB10
DBX106.1
Emergency stop active
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The NC is in the emergency stop state.
Corresponding to ...
DB10 DBX56.1 (Emergency stop)
DB10 DBX56.2 (acknowledge emergency stop)
19.9
PLC basic program (P3)
To describe the NC/PLC interface signals, refer to:
References:
Functions Manual, Basic Functions; PLC Basic Program (P3)
Chapter: "Signal/Data Specifications"
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1631
Z1: NC/PLC interface signals
19.10 Reference point approach (R1)
19.10
Reference point approach (R1)
19.10.1
Signals to channel (DB21, ...)
DB21, ...
DBX1.0
Activate referencing
Edge evaluation: Yes
Signal state 1 or
edge change
01
Signal(s) updated: Cyclically
Channel-specific referencing is started using the interface signal:
DB21, ... DBX1.0 (activate referencing).
The control acknowledges a successful start using the interface signal:
DB21, ... DBX33.0 (referencing active)
With the channel-specific referencing each machine axis, which is allocated to a channel, can be
referenced (control internals are simulated by traversing keys plus/minus).
Using the axis-specific machine data:
MD34110 $MA_REFP_CYCLE_NR (axis sequence for channel-specific referencing)
can determine in which sequence the machine axes are referenced.
When all of the axes entered in REFP_CYCLE_NO have reached their reference point,
the interface signal:
DB21, ... DBX36.3 (all axes stationary)
is set.
Application exam
ple(s)
If the machine axes are to be referenced in a particular sequence, there are the following possibilities:
The operator must observe the correct sequence when starting.
The PLC must check the sequence when starting or define it itself.
The channel-specific referencing function will be used.
Corresponding to ...
DB21, ... DBX33.0 (activate referencing)
DB21, ... DBX36.2 (all axes with obligatory reference point are referenced)
DB21, ...
DBX33.0
Referencing active
Edge evaluation: Yes
Signal state 1 or
edge change
01
Signal(s) updated: Cyclically
The channel-specific referencing was started using the interface signal:
DB21, ... DBX1.0 (activate referencing)
and the successful start was acknowledged using the interface signal:
DB21, ... DBX33.0 (referencing active).
The channel-specific referencing is operational.
Signal state 0 or
edge change
10
Channel-specific referencing is completed
Signal irrelevant
for ...
Spindles
Corresponding to ...
DB21, ... DBX1.0 (activate referencing)
1632
Axis-specific referencing is running
No referencing active
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.10 Reference point approach (R1)
19.10.2
Signals from channel (DB21, ...)
DB21, ...
DBX36.2
All axes that have to be referenced are referenced
Edge evaluation: no
Signal state 1 or
edge change
01
Signal(s) updated: cyclic
All axes that must be referenced (linear axes and rotary axes) of the channel are referenced.
The machine data:
MD20700 $MC_REFP_NC_START_LOCK (NC start inhibit without reference point)
is zero.
If two position measuring systems are connected to an axis, that would prevent an NC start, then the
active one must be referenced so that the axis is considered to have been referenced.
An NC Start command for parts program processing is only accepted when this signal is present.
Axes that have to be referenced are axes, if:
MD34110 $MA_REFP_CYCLE_NR _ = -1
and the axis is not in the parked position (position measuring system inactive and the controller enable
withdrawn).
Signal state 0 or
edge change
10
One or more axes of the channel have not been referenced.
Special cases,
errors, ......
The spindles of the channel have no effect on this interface signal.
Corresponding to ....
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
19.10.3
Signals to axis/spindle (DB31, ...)
DB31, ...
DBX2.4 - DBX2.7
Reference point value 1 to 4
Edge evaluation: no
Signal state 1 or
edge change
01
Signal(s) updated: cyclic
When the reference cam is reached, the NCK is signaled which coded reference cam is actuated.
The interface signal:
DB31, ... DBX2.4 - DBX2.7 (reference point values 1 to 4)
must remain set until the reference point is reached,
or until a new coded reference cam is actuated.
If the machine axis has reached the reference point (axis stationary) then using the reference point
value pre-selected using
IS "reference point values 1 to 4" from the machine data:
MD34100 $MA_REFP_SET_POS (reference point value)
is transferred into the control as the new reference position.
Signal state 0 or
edge change
10
No effect.
Signal irrelevant
for ...
Linear measurement systems with distancecoded reference marks
Application exam
ple(s)
On a machine tool with large traversing distances, four coded reference cams can be distributed over
the entire distance traveled by the axis, four different reference points approached and the time
required to reach a valid referenced point reduced.
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1633
Z1: NC/PLC interface signals
19.10 Reference point approach (R1)
DB31, ...
DBX2.4 - DBX2.7
Reference point value 1 to 4
Special cases,
errors, ......
If the machine axis has arrived at the reference point and none of the four "reference point value 1
to 4" interface signals has been set, the value of the reference point is automatically set to 1.
Corresponding to ....
MD34100 $MA_REFP_SET_POS (reference point value)
DB31, ...
DBX12.7
Reference point approach delay
Edge evaluation: no
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
The machine axis is positioned on the reference cam.
Signal state 0 or
edge change
10
The machine axis is positioned in front of the reference cam. An appropriately long reference cam
(up to the end of the traversing range) should be used to prevent the machine axis from being located
behind (after) the referencing cam.
Corresponding to ....
DB31, ... DBX2.4 - DBX2.7 (reference point values 1 to 4)
19.10.4
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX60.4
Referenced/synchronized 1
Edge evaluation:
Signal state 1 or
edge change
01
Signal(s) updated:
Axes:
When being referenced, if the machine axis has reached the reference point (incremental measuring
systems) or the target point (for length measuring system with distance-coded reference marks), then
the machine axis is referenced and the following interface signal is set:
DB31, ... DBX60.4 (referenced/synchronized 1)
(depending on which position measuring system is active when referencing).
Spindles:
After power-on, a spindle is synchronized the latest after one spindle revolution (360 degrees) (the
zero mark passed or the Bero responded).
Signal state 0 or
edge change
10
The machine axis/spindle with position measuring system 1 is not referenced/synchronized.
Corresponding to ...
DB31, ... DBX1.5 (position measuring system 1)
1634
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.10 Reference point approach (R1)
DB31, ...
DBX60.5
Referenced/synchronized 2
Edge evaluation:
Signal state 1 or
edge change
01
Signal(s) updated:
Axes:
When being referenced, if the machine axis has reached the reference point (incremental measuring
systems) or the target point (for length measuring system with distance-coded reference marks), then
the machine axis is referenced and the following interface signal is set:
DB31, ... DBX60.5 (referenced/synchronized 2)
(depending on which position measuring system is active when referencing).
Spindles:
After power-on, a spindle is synchronized the latest after one spindle revolution (360 degrees) (the
zero mark passed or the Bero responded).
Signal state 0 or
edge change
10
The machine axis/spindle with position measuring system 2 is not referenced/synchronized.
Axes:
Alarm 21610 was output.
Spindles:
Encoder limit frequency exceeded.
Corresponding to ...
DB31, ... DBX1.6 (position measuring system 2)
MD34102 $MA_REFP_SYNC_ENCS (measuring system calibration) = 0
DB31, ...
DBX71.4
Edge evaluation:
POS_RESTORED 1
Signal(s) updated:
Signal state 1 or
edge change
01
If MD34210 $MA_ENC_REFP_STATE is set to a value of 3, the last axis position buffered before
switch off is restored in distance-coded, incremental measuring systems. Referencing does not take
place automatically. Position measuring system 1 is in "Position restored" state.
Signal state 0 or
edge change
10
The machine axis/spindle with position measuring system 1 is not restored.
Corresponding to ...
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ...
DBX71.5
POS_RESTORED 2
Edge evaluation:
Signal(s) updated:
Signal state 1 or
edge change
01
If MD34210 $MA_ENC_REFP_STATE is set to a value of 3, the last axis position buffered before
switch off is restored in distance-coded, incremental measuring systems. Referencing does not take
place automatically. Position measuring system 2 is in "Position restored" state.
Signal state 0 or
edge change
10
The machine axis/spindle with position measuring system 2 is not restored.
Corresponding to ...
DB31, ... DBX60.5 (referenced / synchronized 2)
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1635
Z1: NC/PLC interface signals
19.11 Spindles (S1)
19.11
Spindles (S1)
19.11.1
Signals to axis/spindle (DB31, ...)
DB31, ...
DBX2.2
Spindle reset/delete distancetogo
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
Independent of the machine data:
MD35040 $MA_SPIND_ACTIVE_AFTER_RESET
selects a spindle reset for the various spindle operating modes in the following fashion:
Control mode:
Spindle stops
Program continues to run
Spindle continues to run with subsequent M and S program commands
Oscillating mode:
Oscillation is interrupted
Axes continue to run
Program continues with the actual gearbox stage
With the following M value and higher S value, it is possible that the IS:
DB31, ... DBX83.1 (programmed speed high)
is set.
Positioning mode:
Is stopped
Axis operation:
Is stopped
Edge change 1 0
No effect.
Corresponding to ...
MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (own spindle reset)
DB21, ... DBX7.7 (reset)
DB31, ... DBX2.2 (delete distance to go): is a different name for the same signal
1636
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX16.0 - DBX16.2
Edge evaluation: Yes
Signal state 1
(statusdriven)
Actual gear stage A to C
Signal(s) updated: Cyclically
If the new gear stage is engaged, the PLC user program sets the interface signals:
DB31, ... DBX16.2 - DBX16.0 (actual gear stage A to C)
and
DB31, ... DBX16.3 (gear is changed over).
This signals the NCK that the correct gear stage has been successfully engaged.
The gear change is considered to have been completed (spindle oscillation mode is deselected), the
spindle accelerates in the new gear stage to the last programmed spindle speed and the next block
in the parts program can be executed.
The actual gear stage is output in coded format.
For each of the 5 gear stages, there is one set of parameters assigned as follows:
3DUDPHWHUVHW1R
1&3/&LQWHUIDFH
0HDQLQJ
'DWDIRUD[LVPRGH
'DWDIRUVWJHDUVWDJH
'DWDIRUQGJHDUVWDJH
'DWDIRUUGJHDUVWDJH
'DWDIRUWKJHDUVWDJH
'DWDIRUWKJHDUVWDJH
Special cases,
errors, ......
If the PLC user reports back to the NCK with a different actual gear stage than issued by the NCK as
the setpoint gear stage, the gear change is still considered to have been successfully completed and
the actual gear stage A to C is activated.
Corresponding to ...
DB31, ... DBX82.0 - DBX82.2 (setpoint gear stage A to C)
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX16.3 (gear is changed)
DB31, ... DBX18.5 (oscillation speed)
Parameter sets for gear stages
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1637
Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX16.3
Gear is changed over
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
When the new gear stage is engaged, the PLC user sets the interface signals:
DB31, ... DBX16.0 - DBX16.2 (actual gear stages A to C)
and
DB31, ... DBX16.3 (gear is changed over).
This signals the NCK that the correct gear stage has been successfully engaged.
The gear stage change is complete (spindle oscillation mode is deselected), the spindle accelerates
in the new gear stage to the last programmed spindle speed and the next block in the parts program
can be executed.
The interface signal:
DB31, ... DBX82.3 (change over gear)
is reset by the NCK - the PLC user then resets the interface signal:
(gear is changed over).
Edge change 1 0
No effect.
Signal irrelevant
for ...
... spindle modes other than the oscillation mode
Special cases,
errors, ......
If the PLC user reports back to the NCK with a different actual gear stage than issued by the NCK as
the setpoint gear stage, the gear change is still considered to have been successfully completed and
the actual gear stage A to C is activated.
Corresponding to ...
DB31, ... DBX16.2 - DBX16.0 (actual gear stage A to C)
DB31, ... DBX82.2 - DBX82.0 (setpoint gear stage A to C)
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX18.5 (oscillation speed)
DB31, ...
DBX16.4 - DBX16.5
Resynchronizing spindles 1 and 2
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change 0 1
The spindle should be resynchronized, as the synchronization between the position measuring sys
tem of the spindle and the 0 degree position has been lost.
Edge change 1 0
No effect.
Signal irrelevant
for ...
... spindle modes other than the control mode.
Application exam
ple(s)
The machine has a selector switch to changeover between a vertical and a horizontal spindle. Two
different position encoders are used (one for the vertical spindle and one for the horizontal spindle),
but only one actual value input is used on the control. When the system switches from the vertical to
the horizontal spindle, the spindle must be resynchronized.
This synchronization is triggered by the IS "re-synchronize spindle 1 or 2".
Corresponding to ...
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
1638
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX16.7
Delete S value
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
Control mode:
Spindle stops
Program continues to run
Spindle continues to run with the following S value, if M3 or M4 were active
Oscillation mode, axis mode, positioning mode:
Signal has no effect for the corresponding function. However, if the open-loop control mode is
selected again, a new S value must be programmed.
Edge change 1 0
No effect.
Application exam
ple(s)
Terminating traversing motion on account of an external signal (e.g. sensing probe).
DB31, ...
DBX17.4 - DBX17.5
Re-synchronizing spindle when positioning 1 and 2
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change 0 1
When positioning, the spindle must be re-synchronized.
Edge change 1 0
No effect.
Signal irrelevant
for ...
... spindle modes other than the positioning mode.
Application exam
ple(s)
The spindle has an indirect measuring system and slippage may occur between the motor and the
clamp. If the signal=1 - when positioning is started, the old reference is deleted and the zero mark is
searched for again before the end position is approached.
Corresponding to ...
DB31, ... DBX60.4 (referenced / synchronized 1)
DB31, ... DBX60.5 (referenced / synchronized 2)
DB31, ...
DBX17.6
Invert M3/M4
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
The direction of rotation of the spindle motor changes for the following functions:
M3
M4
M5
SPOS/M19/SPOSA from the motion; not effective for SPOS/M19/SPOSA from zero speed (stationary).
Application exam
ple(s)
The machine has a selector switch to changeover between a vertical and a horizontal spindle. The
mechanical design is implemented so that for the horizontal spindle, one more gearwheel is engaged
than for the vertical spindle. The direction of rotation must therefore be changed for the vertical spindle
if the spindle is always to rotate clockwise with M3.
Basic Functions
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1639
Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX18.4
Edge evaluation: Yes
Edge change 0 1
Oscillation controlled by the PLC
Signal(s) updated: Cyclically
If the interface signal:
DB31, ... DBX18.4 (oscillation controlled by the PLC)
is not set, then automatic oscillation in the NCK is carried-out using the interface signal:
DB31, ... DBX18.5 (oscillation speed).
The two times for the directions of rotation are entered in the machine data:
MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for the M3 direction)
and
MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for the M4 direction).
If the IS "oscillation via PLC" is set, then with the IS "oscillation speed" a speed is only output in
conjunction with the interface signals:
DB31, ... DBX18.6 - DBX18.7 (setpoint direction of rotation, counter-clockwise and clockwise).
The oscillation, i.e. the continuous change of the direction of rotation, is performed by the PLC user
program using the interface signal "setpoint direction of rotation, counter-clockwise and clockwise"
(oscillation via the PLC).
Application exam
ple(s)
If the new gear stage cannot be engaged in spite of several attempts by the NCK, the system can be
switched to oscillation via PLC. Both of the times for the directions of rotation can then be altered by
the PLC user program as required. This ensures that the gear stage is reliably changed - even with
unfavorable gear wheel positions.
Corresponding to ...
MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for the M3 direction)
MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for the M4 direction)
DB31, ... DBX18.5 (oscillation speed)
DB31, ... DBX18.7 (setpoint direction of rotation, counter-clockwise)
DB31, ... DBX18.6 (setpoint direction of rotation, clockwise)
1640
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX18.5
Edge evaluation: No
Signal state 1
Oscillation enable
Signal(s) updated: Cyclically
If the gear stage is to be changed (DB31, ... DBX82.3 (change over gear) is set), then the spindle
operating mode changes to the oscillation mode.
Depending on the instant in time that the interface signal:
DB31, ... DBX18.5 (oscillation speed)
is set, the spindle decelerates down to standstill with different deceleration levels:
The IS "Oscillation speed" is set before the interface signal:
DB31, ... DBX82.3 (change over gear)
is set by the NCK.
When oscillating, the spindle is decelerated down to standstill with the deceleration:
MD35410 $MA_SPIND_OSCILL_ACCEL.
Once the spindle is stationary, oscillation is immediately initiated.
The IS "Oscillation speed" is enabled after the IS "Change gear" is set by the NCK and when the
spindle is stationary. The position controller is disabled. The spindle decelerates with the specified
deceleration rate in the speed controlled mode.
After the IS "oscillation speed" is set, the spindle starts to oscillate with the oscillation acceleration
(MD35410).
if the interface signal:
DB31, ... DBX18.4 (oscillation via the PLC)
is not set, then automatic oscillation is executed in the NCK using the IS "Oscillation speed".
The two times for the directions of rotation are entered in the machine data:
MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for the M3 direction)
and
MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for the M4 direction).
If the IS "oscillation via PLC" is set, then with the IS "oscillation speed" a speed is only output in
conjunction with the interface signals:
DB31, ... DBX18.6 - DBX18.7 (setpoint direction of rotation, counter-clockwise and clockwise).
The oscillation, i.e. the continuous change of the direction of rotation, is performed by the PLC user
program using the interface signal "setpoint direction of rotation, counter-clockwise and clockwise"
(oscillation via the PLC).
Signal state 0
The spindle does not oscillate.
Signal irrelevant
for ...
... All spindle modes except the oscillation mode.
Application exam
ple(s)
The oscillation speed is used to make it easier to engage a new gear stage.
Corresponding to ...
DB31, ... DBX18.4 (oscillation controlled by the PLC)
DB31, ... DBX18.7 (setpoint direction of rotation, counter-clockwise)
DB31, ... DBX18.6 (setpoint direction of rotation, clockwise)
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1641
Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX18.6 - DBX18.7
Oscillation direction of rotation counter-clockwise / oscillation direction of rotation clockwise
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change 0 1
If the interface signal:
DB31, ... DBX18.4 (oscillation by the PLC)
is set, then the direction of rotation for the oscillation speed
can be entered using the two interface signals:
DB31, ... DBX18.6 - DBX18.7 (setpoint direction of rotation counter-clockwise and clockwise).
The times for the oscillation movement of the spindle motor are defined by setting the interface signals
"direction of rotation setpoint counter-clockwise and clockwise" for a corresponding length of time.
Signal irrelevant
for ...
... spindle modes other than the oscillation mode
Application exam
ple(s)
Refer to DB31, ... DBX18.4 (oscillation controlled by the PLC)
Special cases,
errors, ......
If both of the interface signals are set simultaneously enabled, no oscillation speed is output.
Corresponding to ...
DB31, ... DBX18.4 (oscillation controlled by the PLC
If an interface signal is not set, then an oscillation speed is not output.
DB31, ... DBX18.5 (oscillation speed)
19.11.2
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX60.0
Edge evaluation: Yes
Edge change 0 1
Spindle/no axis
Signal(s) updated: Cyclically
The machine axis is operated in one of the following spindle modes:
Open-loop control mode
Oscillation mode
Positioning mode
Tapping without compensating chuck
Synchronous mode
The interface signals to the axis (DB31, ... DBB12 - DBB15) and from the axis (DB31, ... DBB74 DBB81) are invalid.
The interface signals to the spindle (DB31, ... DBB16 - DBB19) and from the spindle (DB31, ... DBB82
- DBB91) are valid.
Edge change 1 0
The machine axis is operated as rotary axis.
The interface signals to the axis (DB31, ... DBB12 - DBB15) and from the axis (DB31, ... DBB74 DBB81) are valid.
The interface signals to the spindle (DB31, ... DBB16 - DBB19) and from the spindle (DB31, ... DBB82
- DBB91) are invalid.
Application exam
ple(s)
If a machine axis is operated alternating as spindle or rotary axis, using the signal it is possible to
identify which mode is currently active. Application examples:
Turning machine: Spindle C axis
Milling machine: Spindle rotary axis for rigid tapping
1642
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX82.0 - 82.2
Setpoint gear stage A to C
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
The set gear stage is output in coded format:
Bit 2 (C)
Bit 1 (B)
Bit 0 (A)
Gear stage
invalid value
invalid value
Signal irrelevant
for ...
... Other spindle modes except oscillation mode
Corresponding to ...
DB31, ... DBX82.3 (change over gear stage)
DB31, ... DBX16.0 - DBX16.2 (actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)
DB31, ...
DBX82.3
Edge evaluation: Yes
Change gear
Signal(s) updated: Cyclically
Specification of gear stage:
Manual specification using M function M41 - M45 corresponding to gear stage 1 - 5
If set gear stage <> actual gear stage =>
DB31, ... DBX82.3 (change gear) = 1
DB31, ... DBX82.0 - DBX82.2 (set gear stage) = set gear stage
Automatic gear stage selection depending on the progr. Spindle speed via M-function M40
at specified setpoint speed requires gear stage change =>
DB31, ... DBX82.3 (change gear) = 1
DB31, ... DBX82.0 - DBX82.2 (setpoint gear stage) = setpoint gear stage
Edge change 0 1
New set gear stage was specified AND
set gear stage <> actual gear stage
Special cases,
errors, ......
Signal is not output if: Set gear stage == actual gear stage
Corresponding to ...
DB31, ... DBX82.0 - DBX82.2 (setpoint gear stage A to C)
DB31, ... DBX16.0 - DBX16.2 (actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)
Basic Functions
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX83.0
Speed limit exceeded
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change 0 1
The actual speed exceeds the maximum spindle speed:
MD35100 $MA_SPIND_VELO_ LIMIT
by more than the spindle speed tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL
Corresponding to ...
MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance)
MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed)
DB31, ...
DBX83.1
Setpoint speed limited (programmed speed too high)
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
The effective setpoint speed exceeds the actual max. limit value. The setpoint speed is limited to this
limit.
Limit values:
MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT (maximum speed of gear stage)
MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed)
DB31, ... DBX3.6 (spindle speed limitation to MD35160 $MA_SPIND_EXTERN_VELO_LIMIT)
G26 (upper spindle speed limitation)
LIMS (speed limitation for the master spindle if G96/G961/G97 is active)
VELOLIM: Programmed spindle speed limitation in the open-loop speed controlled mode
Safety Integrated
MD36931 $MA_SAFE_VELO_LIMIT (limit value for safely-reduced speed)
Edge change 1 0
1644
The effective setpoint speed of the spindle is outside the maximum limit value.
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX83.1
Setpoint speed limited (programmed speed too high)
Application exam
ple(s)
In the PLC user program, it can be identified via the interface signal that the spindle setpoint speed
has not been reached. Possible responses:
Indicate that the status is permissible and enable path feed:
DB21, ... DBX6.0 = 0 (feed disable)
Disable path feed or entire channel:
DB21, ... DBX6.0 = 1 (feed disable)
DB31, ... DBX83.5 (spindle in setpoint range) is processed
Safety Integrated
In addition to the limit value MD36931 $MA_SAFE_VELO_LIMIT, depending on the active safety
speed level SG1 ... SGn, the following machine data should be taken into account:
MD36932 $MA_ SAFE_VELO_OVR_FACTOR
MD36933 $MA_SAFE_DES_VELO_LIMIT
Example:
All standard limit values are greater than 1500 rpm.
SG1 is active
MD36932 $MA_ SAFE_VELO_OVR_FACTOR[<SG1>] = 1111.11111 [rpm]
MD36933 $MA_SAFE_DES_VELO_LIMIT[<SG1>] = 90%
Programming: M3 S1500
The speed setpoint is limited to 1000 rpm (MD36932 * MD36933).
DB31, ... DBX83.1 = 1
Corresponding to ...
DB31, ...
DBX83.2
DB21, ... DBX6.0 (feed disable)
DB31, ... DBX4.3 (feed/spindle stop)
DB31, ... DBX83.5 (spindle in setpoint range)
Setpoint speed increased (programmed speed too low)
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
The effective setpoint speed is below the current min. limit value. The setpoint speed is limited to this
limit.
Limit values:
MD35120 $MA_GEAR_STEP_MIN_VELO (minimum speed for automatic gear stage selection
M40)
MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (minimum speed of the gear stage)
G25 (lower spindle speed limitation)
Edge change 1 0
The set speed of the spindle is outside the minimum limit value.
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX83.2
Setpoint speed increased (programmed speed too low)
Application exam
ple(s)
In the PLC user program, it can be identified via the interface signal that the spindle setpoint speed
has not been reached. Possible responses:
Indicate that the status is permissible and enable path feed:
DB21, ... DBX6.0 = 0 (feed disable)
Disable path feed or entire channel:
DB21, ... DBX6.0 = 1 (feed disable)
DB31, ... DBX83.5 (spindle in setpoint range) is processed
The interface signal indicates if the programmed set speed is unattainable. The feed can be enabled
nonetheless by means of the PLC user program.
The PLC user can accept this state as permissible and enable the path velocity, or can disable the
path velocity or the entire channel.
Corresponding to ...
DB21, ... DBX6.0 (feedrate disable)
DB31, ... DBX4.3 (feed/spindle stop)
DB31, ... DBX83.5 (spindle in setpoint range)
DB31, ...
DBX83.5
Edge evaluation: Yes
Spindle in setpoint range
Signal(s) updated: Cyclically
Edge change 0 1
The actual speed of the spindle deviates from the set speed by less than the spindle speed tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL.
Edge change 1 0
The actual speed of the spindle deviates from the set speed by more than the spindle speed tolerance:
MD35150 $MA_SPIND_DES_VELO_TOL.
Normal status during the acceleration/deceleration phase of the spindle.
Signal irrelevant
for ...
... All spindle modes except for control mode (speed mode).
Application exam
ple(s)
Feed enable in the channel first with the end of the acceleration phase of the spindle:
IF ( DB31, ... DBX83.5 (spindle in the setpoint range) == 1 )
THEN ( DB21, ... DBX6.0 (feed inhibit) = 0 )
ELSE ( DB21, ... DBX6.0 (feed inhibit) = 1 )
Note: With the feed disable, the positioning axes are also stopped.
Corresponding to ...
MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START
MD35500 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance)
DB31, ...
DBX83.7
Edge evaluation: Yes
Actual direction of rotation clockwise
Signal(s) updated: Cyclically
Interface signal is only valid if the spindle is rotating:
DB31, ... DBX61.4 (axis/spindle stationary) == 0
The actual direction of rotation is derived from the position measuring encoder.
Edge change 0 1
Actual direction of rotation: Clockwise
Edge change 1 0
Actual direction of rotation: Counterclockwise
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX83.7
Actual direction of rotation clockwise
Signal irrelevant
for ...
Spindles without position measuring encoder
Corresponding to ...
DB31, ... DBX61.4 (axis/spindle stationary)
DB31, ...
DBX84.3
Rigid tapping active
Edge evaluation: Yes
Spindle is stationary: DB31, ... DBX61.4 (axis/spindle stationary) == 1
Signal(s) updated: Cyclically
The spindle is internally switched to axis mode by the "Rigid tapping" function (G331/G332). This
results in a reaction to or updating of the spindle-specific interface signals:
DB31, ... DBX2.2 (spindle reset)
DB31, ... DBX16.4 - DBX16.5 (synchronize spindle)
DB31, ... DBX17.6 (invert M3/M4)
DB31, ... DBX83.5 (spindle in setpoint range)
DB31, ... DBX83.1 (programmable speed too high)
Edge change 0 1
Rigid tapping active.
Application exam
ple(s)
Notice!
If the following signals are set during rigid tapping, the thread will be destroyed:
DB11, DBX0.7 (mode group reset) = 1
DB21, ... DBX7.7 (channel reset) = 1
DB31, ... DBX2.1 (controller enable) = 0
DB31, ... DBX4.3 (feed stop) = 1
DB31, ...
DBX84.5
Edge evaluation: Yes
Active spindle mode: Positioning mode
Signal(s) updated: Cyclically
Edge change 0 1
Positioning mode (SPOS or SPOSA) is active.
Corresponding to ...
DB31, ... DBX84.7 (spindle operating mode, control mode)
DB31, ... DBX84.6 (spindle operating mode, oscillation mode)
DB31, ...
DBX84.6
Edge evaluation: Yes
Edge change 0 1
Active spindle mode: Oscillation mode
Signal(s) updated: Cyclically
Oscillation mode is active.
Note: The spindle changes automatically to oscillation mode if there is a gear change.
Corresponding to ...
DB31, ... DBX84.7 (spindle operating mode, control mode)
DB31, ... DBX84.5 (spindle operating mode, positioning mode)
DB31, ... DBX82.3 (change over gear stage)
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX84.7
Active spindle mode: Open-loop control mode
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
The spindle is in control mode with the following functions:
Spindle direction of rotation specification M3/M4 or spindle stop M5
M41...M45, or automatic gear stage change M40
Corresponding to ...
DB31, ... DBX84.6 (spindle operating mode, oscillation mode)
DB31, ... DBX84.5 (spindle operating mode, positioning mode)
DB31, ...
DBX85.5
Edge evaluation: Yes
Spindle in position
Signal(s) updated: Cyclically
The interface signal is processed exclusively with the function spindle positioning. This includes:
SPOS, SPOSA and M19 in the part program
SPOS and M19 in synchronized actions
Spindle positioning, using FC18
Spindle positioning via PLC interface (DB31, ... DBX30.4)
Edge change 0 1
Requirement for the output of the DB31, ... DBX85.5 signal (spindle in position) is reaching the "Exact
stop fine".
DB31, ... DBX60.7 (exact stop fine) = 1
Additionally, the last programmed spindle position must have been reached on the setpoint side.
If the spindle is already at the programmed position after a positioning, then signal DB31,... DBX85.5
(spindle in position) is set.
Edge change 1 0
When signal DB31, ... DBX60.7 is withdrawn (exact stop fine), then signal DB31, ... DBX85.5 (spindle
in position) is also always reset.
Application exam
ple(s)
Spindle in position for the tool change
If the machine operator interrupts the tool change cycle (e.g. with NC stop, NC stop axis plus spindle,
mode group stop, etc.), then NC/PLC interface signal DB31, ... DBX85.5 can be used to query that
the position has been reached with which the spindle should enter the tool changer.
Corresponding to ...
DB31, ... DBX60.7 (exact stop fine)
DB31, ...
DBB86
M function for spindle
Edge evaluation: Yes
Signal(s) updated: Cyclically
Edge change 0 1
From the NCK one of the following M functions: M3, M4, M5, M19, M70 is output to the PLC.
The output is performed via: See "Corresponds to ..." below
Corresponding to ...
DB31, ... DBB86 - DBB87 (M function for spindle), axis-specific
DB21, ... DBB58, DBB68 - DBB97 (M function for spindle), channel-specific
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBB88
S function for spindle
Edge evaluation: Yes
Edge change 0 1
Signal(s) updated: Cyclically
An S function was output from the NCK to the PLC.
The output occurs by means of: See "Corresponds to ..." below
The following S functions are output here:
S.... as spindle speed in rpm (programmed value)
S .... as constant cutting rate in m/min or ft/min
The following S functions are not output here:
S.... as the programmed spindle speed limiting G25
S.... as the programmed spindle speed limiting G26
S .... as spindle speed in rpm if a spindle was not defined in the controller
S.... as the dwell time in spindle revolutions
Corresponding to ...
DB31, ... DBB88 - DBB91 (S function for spindle), axis-specific
DB21, ... DBB60, DBB98 - DBB115 (S function for spindle), channel-specific
Spindle with SMI 24 (Weiss spindle)
DB31, ...
DBX132.0
Edge evaluation: No
Sensors available
Signal(s) updated: Power-up
Signal state 1
The sensor required for spindles with SMI 24 is available.
Signal state 0
The sensor required for spindles with SMI 24 is not available.
Corresponding to ...
DB31, DBX132.1: Sensor S1 (clamped state) is available
DB31, DBX132.4: Sensor S4 is available
DB31, DBX132.5: Sensor S5 is available
DB31, ...
DBX132.1
Edge evaluation: No
Sensor S1 available (clamped state)
Signal(s) updated: Power-up
Signal state 1
Sensor S1 is available.
Signal state 0
Sensor S1 is not available.
Corresponding to ...
DB31, DBW134 (status of the clamping system)
DB31, DBW136 (analog value: clamped state)
DB31, ...
DBX132.4
Edge evaluation: No
Sensor S4 available (piston end position)
Signal(s) updated: Power-up
Signal state 1
Sensor S4 is available.
Signal state 0
Sensor S4 is not available.
Corresponding to ...
DB31, DBX138.4 (Sensor S4: piston end position)
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBX132.5
Sensor S5 available (angular position of the motor shaft)
Edge evaluation: No
Signal(s) updated: Power-up
Signal state 1
Sensor S5 is available.
Signal state 0
Sensor S5 is not available.
Corresponding to ...
DB31, DBX138.5 (Sensor S5: angular position of the motor shaft)
DB31, ...
DBX133.2
State value is generated, speed limitation p5043 is active
Edge evaluation: No
Signal(s) updated: Power-up
Signal state 1
The state value is generated and the speed limitations from drive parameter p5043 are active.
Signal state 0
The state value is not generated and the speed limitations from drive parameter p5043 are not active.
Note
When generating the state value, the analog voltage values of sensor S1 are transformed into discrete
state values of drive parameter r5001.
Corresponding to ...
DB31, DBX134 (clamped state)
Drive parameters: r5001
System variable: $VA_MOT_CLAMPING_STATE[<axis>]
OPI variables: vaMotClampingState
DB31, ...
DBW134
Status of the clamping system (sensor S1)
Edge evaluation: No
Signal(s) updated: Cyclically
Depending on the position of the clamping device, sensor S1 supplies an analog voltage value. To
simplify the evaluation of the clamped state, the analog voltage of sensor module SMI 24 is converted
into a state value.
The state values correspond to certain voltage ranges. The voltage ranges can be set via: Drive
parameter p5041[0...5].
Corresponding to ...
State value
Clamped state
Sensor S1 not available or state values inactive
State initialization running
Released with signal (error state)
Released
Clamping with tool
Releasing with tool
Releasing without tool
Clamped with tool AND S4 == 0
Clamped with tool AND S4 == 1
Clamping without tool
10
Clamped without tool
11
Clamped with signal (error state)
DB31, DBW136 (analog value: clamped state)
Drive parameters: p5041[0...5], p5043[0...6]
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Z1: NC/PLC interface signals
19.11 Spindles (S1)
DB31, ...
DBW136
Edge evaluation: No
Analog measured value: Of the clamping system
Signal(s) updated: Cyclically
Sensor S1 supplies an analog voltage value: 0 - 10 V. The analog value of the clamped state is
mapped to: 0 - 10000 increments, resolution 1 mV
Note
SIMATIC S7 input module: 0 - 27648 increments, resolution 0.36 mV
Adaptation factor if you change to a spindle with SMI 24: 2,7648
Corresponding to ...
DB31, DBW134 (clamped state)
Drive parameters: p5041[0...5], p5043[0...6]
DB31, ...
DBX138.4
Edge evaluation: No
Sensor S4, piston end position
Signal(s) updated: Cyclically
Signal state 1
The piston is in position, i.e. the piston is free to move
Signal state 0
The piston is not in position
Corresponding to ...
DB31, DBX132.4 (Sensor S4 available)
DB31, ...
DBX138.5
Sensor S5, angular position of the motor shaft
Edge evaluation: No
Signal(s) updated: Cyclically
Signal state 1
The motor shaft is in position (requirement: The spindle is stationary)
Signal state 0
The motor shaft is not aligned
Corresponding to ...
DB31, DBX132.5 (sensor S5 available)
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
19.12
Feeds (V1)
19.12.1
Signals to channel (DB21, ...)
DB21, ...
DBX0.6
Edge evaluation: Yes
Signal state 1 or
edge change
01
Activate dry run feed
Signal(s) updated: Cyclically
The dry run feedrate defined using the setting data:
SD42100 $SC_DRY_RUN_FEED
is used instead of the programmed feed (for G01, G02, G03) if the dry run feedrate is greater than
that programmed.
The dry run feedrate is effective after the reset state.
This interface signal is evaluated at NC start when the channel is in the "reset" state.
The dry run feed can be activated from the PLC or operator panel.
When selected from the operator panel front, the PLC interface signal:
DB21, ... DBX24.6 (dry run feed selected)
is set and transferred from the PLC basic program to the interface signal:
DB21, ... DBX0.6 (activate dry run feed).
When selected using the PLC, the IS "activate dry run feed" should be set from the PLC user program.
Signal state 0 or
edge change
10
The programmed feed is used.
Effective after the reset state.
Application exam
ple(s)
Testing a workpiece program with an increased feedrate.
Special cases,
errors, ......
If the signal changes to "0" within a G33 block, the programmed feed is not activated until the end of
the block is reached, since an NC stop was not triggered.
Corresponding to ...
DB21, ... DBX24.6 (dry run feedrate selected)
SD42100 $SC_DRY_RUN_FEED (dry run feedrate)
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBB4
Edge evaluation: No
Feedrate override
Signal(s) updated: Cyclically
Basic Functions
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1653
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBB4
Signal state 1 or
edge change
01
Feedrate override
The feedrate override can be defined via the PLC in binary or Gray coding.
With binary coding, the feed value is interpreted in %.
0% to 200% feed changes are possible, in accordance with the binary value in the byte.
The following permanent assignment applies:
&RGH
)HHGUDWHRYHUULGHIDFWRU
Binary values > 200 are limited to 200%.
The machine data:
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary-coded override switch)
can be used to additionally limit the maximum feedrate override.
In gray coding, the following codes are assigned to the individual switch settings:
1654
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBB4
Feedrate override
7DEOH *UD\FRGLQJIRUIHHGUDWHRYHUULGH
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&RGH
)HHGUDWH
RYHUULGHIDFWRU
VWDQGDUGYDOXHV
The factors listed in the table for the feedrate override are stored in the machine data:
MD12030 $MN_OVR_FACTOR_FEEDRATE [n].
The table contains the default settings.
The number of possible switch settings for standard machine panels is described in the Configuration
Manual for SINUMERIK 840D.
Corresponding to ...
DB21, ... DBX6.7 (feedrate override active)
MD12030 $MN_OVR_FACTOR_FEEDRATE [n] (evaluation of the path feedrate override switch)
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary coded override switch)
Basic Functions
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1655
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBB5
Edge evaluation: No
1656
Rapid traverse override
Signal(s) updated: Cyclically
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBB5
Rapid traverse override
Signal state 1 or
edge change
01
The rapid traverse override can be entered via the PLC in either the binary or Gray code.
For binary coding, the rapid traverse override is interpreted as a %.
0% to 100% feed changes are possible, in accordance with the binary value in the byte.
The following permanent assignment applies:
&RGH
5DSLGWUDYHUVHRYHUULGHIDFWRU
Binary values > 100 are limited to 100%.
Using the machine data:
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary-coded override switch),
the maximum rapid traverse override can be additionally limited.
In gray coding, the following codes are assigned to the individual switch settings:
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1657
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBB5
Rapid traverse override
7DEOH *UD\FRGLQJIRUUDSLGWUDYHUVHRYHUULGH
6ZLWFK
SRVLWLRQ
&RGH
5DSLGWUDYHUVH
RYHUULGHIDFWRU
VWDQGDUGYDOXHV
The factors listed in the table for the rapid traverse override are stored in the machine data:
MD12050 $MN_OVR_FACTOR_RAPID_TRA[n].
The table contains the default settings.
The number of possible switch settings for standard machine panels is described in the Configuration
Manual for SINUMERIK 840D.
Corresponding to ...
DB21, ... DBX6.6 (rapid traverse override active)
MD12050 $MN_OVR_FACTOR_RAPID_TRA[n] (evaluation of the path feedrate override switch)
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary coded override switch)
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBX6.0
Edge evaluation: No
Signal state 1 or
edge change
01
Feed disable
Signal(s) updated: Cyclically
The signal is active in one channel in all operating modes.
The signal disables the feed for all of the axes (geometry and synchronized) that interpolate relative
to one another as long as G33 (thread) is not active.
All axes are brought to a standstill but still maintaining the path contour. When the feed disable is
canceled (0 signal), the interrupted part program is continued.
The signal triggers a feed disable for all positioning axes. This signal brings all traversing axes to a
standstill with controlled braking (ramp stop). No alarm is output.
The position control is retained, i.e. the following error is eliminated.
If a travel request is issued for an axis with an active "Feed disable", then this is kept. The queued
travel request is executed immediately when the "Feed disable" is canceled.
If the axis is interpolating in relation to others, this also applies to these axes.
Signal state 0 or
edge change
10
The feedrate is enabled for all axes of the channel.
Application exam
ple(s)
Stopping machining by selecting FEED OFF on the machine control panel.
Special cases,
errors, ......
The feed disable is inactive when G33 is active.
DB21, ...
DBX6.6
Edge evaluation: No
If a travel request ("travel command") exists for an axis or group of axes when the "feed disable" is
canceled, then this is executed immediately.
Rapid traverse override active
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The rapid traverse override between 0 and a maximum of 100% entered in the PLC interface is
channel-specific. The override factor is defined using the machine data:
MD12040 $MN_OVR_RAPID_IS_GRAY_CODE (rapid traverse override switch gray coded)
and
MD12050 $MN_OVR_FACTOR_RAPID_TRA [n] (evaluation of the rapid traverse override switch).
Signal state 0 or
edge change
10
The rapid traverse override entered at the PLC interface is ignored.
Application exam
ple(s)
When the rapid traverse override is inactive, the NC always uses 100% as the internal override factor.
Exceptions are the zero setting for a binary interface and the 1st switch setting for a Gray-coded
interface. In these cases, the override factors entered at the PLC interface are used. With a binary
interface, the override factor = 0. With a gray-coded interface, the value entered in the machine data
for the 1st switch setting is output as the override value.
The override value is generally selected using the rapid traverse override switch on the machine
control panel.
Using the interface signal:
DB21, ... DBX6.6 (rapid traverse override active),
the rapid traverse override switch can be enabled from the PLC user program while commissioning
a new NC program, e.g. using the key-operated switch.
Special cases,
errors, ......
The rapid traverse override is inactive when G33, G63, G331, G332 are active.
Corresponding to ...
DB21, ... DBB5 (rapid traverse override)
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19.12 Feeds (V1)
DB21, ...
DBX6.7
Edge evaluation: No
Feedrate override active
Signal(s) updated: Cyclically
Signal state 1 or
edge change
01
The feedrate override between 0 and a maximum of 200% entered at the PLC interface is active for
the path feedrate and therefore automatically for the related axes.
Signal state 0 or
edge change
10
The feedrate override entered at the PLC interface is ignored.
Application exam
ple(s)
The override value is generally selected using the feedrate override switch on the machine control
panel.
In JOG mode, the feedrate override acts directly on the axes.
The override factor is entered using the machine data:
MD12020 $MN_OVR_FEED_IS_GRAY_CODE (path feedrate override factor, gray-coded)
and
MD12030 $MN_OVR_FACTOR_FEEDRATE [n] (evaluation of the path feedrate override switch)
When the feedrate override is inactive, the NC always uses 100% as the internal override factor.
Exceptions are the zero setting for a binary interface and the 1st switch setting for a Gray-coded
interface. In these cases, the override factors entered in the PLC interface are used. With a binary
interface, the override factor = 0. With a gray-coded interface, the value entered in the machine data
for the 1st switch setting is output as the override value.
Using the interface signal:
DB21, ... DBX6.7 (feedrate override active),
the feedrate override switch can be enabled from the PLC user program while commissioning a new
NC program, e.g. using the key-operated switch.
Special cases,
errors, ......
The feedrate override is inactive when G33, G63, G331, G332 are active.
Corresponding to ...
DB21, ... DBB4 (feedrate override)
DB21, ...
DBX12.3, DBX16.3,
DBX20.3
Feed stop (Geometry axis 1 to 3)
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: Cyclically
The signal is only active in JOG mode.
The signal stops the feed of the geometry axis. This signal brings all traversing axes to a standstill
with controlled braking (ramp stop). No alarm is output.
The position control is retained, i.e. the following error is eliminated.
If, for a geometry axis, a travel request is issued with an active "feed stop", the request is kept. This
queued travel request is executed immediately after the "feed stop" is canceled.
Signal state 0 or
edge change
10
1660
The feed is enabled for the geometry axis.
If, for the geometry axis, a travel request ("travel command") is active when the "feed stop" is canceled,
this is executed immediately.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB21, ...
DBX24.6
Edge evaluation: No
Signal state 1 or
edge change
01
Dry run feedrate selected
Signal(s) updated: Cyclically
Dry run feedrate is selected.
Instead of the programmed feedrate, the dry run feedrate entered in setting data:
SD42100 $SC_DRY_RUN_FEED
is active.
When activated from the operator panel, the dry run feed signal is automatically entered in the PLC
interface and transmitted by the PLC basic program to the PLC interface signal:
DB21, ... DBX0.6 (active dry run feed).
Signal state 0 or
edge change
10
Dry run feedrate is not selected.
Corresponding to ...
DB21, ... DBX0.6 (activate dry run feed)
The programmed feedrate is active.
SD42100 $SC_DRY_RUN_FEED (dry run feedrate)
DB21, ...
DBX25.3
Edge evaluation: No
Signal state 1 or
edge change
01
Feedrate override selected for rapid traverse
Signal(s) updated: Cyclically
The feedrate override switch should also be active as rapid traverse override switch.
Override values above 100% are limited to the maximum value for 100% rapid traverse override.
The interface signal:
DB21, ... DBX25.3 (feedrate override for rapid traverse selected)
is automatically entered into the PLC interface from the operator panel
and transferred from the PLC basic program to the PLC interface signal:
DB21, ... DBX6.6 (rapid traverse override active).
Further, the interface signal:
DB21, ... DBB4 (feedrate override)
is copied from the PLC basic program to the interface signal:
DB21, ... DBB5 (rapid traverse override).
Signal state 0 or
edge change
10
The feedrate override switch should not be activated as rapid traverse override switch.
Application exam
ple(s)
The signal is used when no separate rapid traverse override switch is available.
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB 21, ...
DBX29.0 - DBX29.3
Edge evaluation: No
Description
Corresponding to ...
Activate fixed feedrate 1 - 4 for path/geometry axes
Signal(s) updated: Cyclically
These signals are used to select/de-select the function "fixed feed" and define which fixed feed should
be effective for path/geometry axes.
%LW
%LW
%LW
%LW
0HDQLQJ
)L[HGIHHGLVGHVHOHFWHG
)L[HGIHHGLVVHOHFWHG
)L[HGIHHGLVVHOHFWHG
)L[HGIHHGLVVHOHFWHG
)L[HGIHHGLVVHOHFWHG
MD12202 $MN_PERMANENT_FEED[n]
MD12200 $MN_RUN_OVERRIDE_0
1662
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
19.12.2
Signals to axis/spindle (DB31, ...)
DB31, ...
DBB0
Feedrate override (axis-specific)
Edge evaluation: No
Signal(s) updated: Cyclically
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB31, ...
DBB0
Feedrate override (axis-specific)
Signal state 1 or
edge change
01
The axis-specific feedrate override can be defined via the PLC in binary or Gray coding. With binary
coding, the feed value is interpreted in %. 0% to 200% feed changes are possible, in accordance with
the binary value in the byte.
The following permanent assignment applies:
&RGH
$[LVVSHFLILFIHHGUDWH
RYHUULGHIDFWRU
Binary values > 200 are limited to 200%.
Using the machine data:
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary-coded override switch)
the maximum axis-specific feedrate override can be additionally limited.
In gray coding, the following codes are assigned to the individual switch settings:
1664
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB31, ...
DBB0
Feedrate override (axis-specific)
7DEOH *UD\FRGLQJIRUD[LVVSHFLILFIHHGUDWHRYHUULGH
6ZLWFK
SRVLWLRQ
&RGH
$[LDOIHHGUDWH
RYHUULGHIDFWRU
VWDQGDUGYDOXHV
The factors listed in the table for the axial feedrate override
are stored in the NC-specific machine data:
MD12010 $MN_OVR_FACTOR_AX_SPEED [n]
The table contains the default settings.
The number of possible switch settings for standard machine panels is described in the Configuration
Manual for SINUMERIK 840D.
Corresponding to ...
DB31, ... DBX1.7 (override effective)
MD12010 $MN_OVR_FACTOR_AX_SPEED [n] (evaluation of the axis feedrate override switch)
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary coded override switch)
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB31, ...
DBX1.7
Override active
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: Cyclically
Feedrate override active:
The axis-specific feedrate override between 0 and a maximum of 200% entered in the PLC interface
is used.
The override factor is defined using the machine data:
MD12000 $MN_OVR_AX_IS_GRAY_CODE (axis feedrate override switch gray coded)
and
MD12010 $MN_OVR_FACTOR_AX_SPEED [n] (evaluation of the axis feedrate override switch).
Spindle override active:
The spindle override - input at the PLC interface - of 0 to a maximum of 200% is taken into account.
The override factor is entered using the machine data:
MD12060 $MN_OVR_SPIND_IS_GRAY_CODE (spindle override switch, Gray coded)
and
MD12070 $MN_OVR_FACTOR_SPIND_SPEED [n] (evaluation of the spindle override switch).
Signal state 0 or
edge change
10
Application exam
ple(s)
The existing axis-specific feedrate override or spindle override is not active.
If the feedrate override is inactive, "100%" is used as the internal override factor.
Exceptions are the zero setting for a binary interface and the 1st switch setting for a Gray-coded
interface. In these cases, the override factors entered at the PLC interface are used.
With a binary interface, the override factor = 0. With a gray-coded interface, the value entered in the
machine data for the 1st switch setting is output as the override value.
The override value is generally specified using the axis-specific feedrate override switch or the spindle
override switch on the machine control panel.
The "feedrate override active" signal can be used to enable the feedrate override switch from the PLC
user program, e.g. using the key-operated switch when commissioning a new NC program.
Special cases,
errors, ......
The spindle override is always accepted with 100% in the spindle "Oscillation mode".
The spindle override acts on the programmed values before the limits (e.g. G26, LIMS...) intervene.
The feedrate override is ineffective for:
Active G33
Active G63 (the override is defined in the NC at 100%)
Active G331, G332 (the override is defined in the NC at 100%)
The spindle override is inactive for:
Active G63 (the override is defined in the NC at 100%)
Corresponding to ...
1666
DB31, ... DBB0 (feed/spindle override)
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB31, ...
DBX3.2 - DBX3.5
Activate fixed feedrate 1 - 4 for machine axes
Edge evaluation: No
Description
Corresponding to ...
Signal(s) updated: Cyclically
These signals are used to select/de-select the function "fixed feed" and define which fixed feed should
be effective for machine axes.
%LW
%LW
%LW
%LW
0HDQLQJ
)L[HGIHHGLVGHVHOHFWHG
)L[HGIHHGLVVHOHFWHG
)L[HGIHHGLVVHOHFWHG
)L[HGIHHGLVVHOHFWHG
)L[HGIHHGLVVHOHFWHG
MD12202 $MN_PERMANENT_FEED[n]
MD12200 $MN_RUN_OVERRIDE_0
DB31, ...
DBX4.3
Feed stop / spindle stop (axis-specific)
Edge evaluation: No
Signal state 1 or
edge change
01
Signal(s) updated: Cyclically
The signal is active in all modes.
Feed stop:
The signal triggers a "feed stop" for the axis. This signal brings all traversing axes to a standstill with
controlled braking (ramp stop). No alarm is output.
The signal triggers a "feed stop" for all path axes interpolating relative to each other when the "feed
stop" is activated for any one of these path axes. In this case, all the axes are brought to a stop with
adherence to the path contour. When the "feed stop" signal is canceled, execution of the interrupted
part program is resumed.
The position control is retained, i.e. the following error is eliminated.
If a travel request is issued for an axis with an active "feed stop", this is kept. This queued travel
request is executed immediately after the "feed stop" is canceled.
If the axis is interpolating in relation to others, this also applies to these axes.
Spindle stop:
The spindle is brought to a standstill along the acceleration characteristic.
In the positioning mode, when the "Spindle stop" signal is set positioning is interrupted. The above
response applies with respect to individual axes.
Signal state 0 or
edge change
10
Feed stop:
The feedrate is enabled for the axis.
If a travel request ("travel command") is active when the "feed stop" is canceled, this is executed
immediately.
Spindle stop:
The speed is enabled for the spindle.
The spindle is accelerated to the previous speed setpoint with the acceleration characteristic or, in
positioning mode, positioning is resumed.
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1667
Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB31, ...
DBX4.3
Application exam
ple(s)
Feed stop / spindle stop (axis-specific)
Feed stop:
The traversing motion of the machine axes is not started with "feed stop", if, for example, certain
operating states exist at the machine that do not permit the axes to be moved (e.g. a door is not
closed).
Spindle stop:
In order to change a tool
To enter help functions (M, S, H, T, D and F functions) during setup.
Special cases,
errors, ......
DB31, ...
DBB19
Edge evaluation: No
Signal state 1 or
edge change
01
Spindle stop is inactive when G331, G332 are active.
Spindle override
Signal(s) updated: Cyclically
The spindle override can be defined via the PLC in binary or Gray coding.
The override value determines the percentage of the programmed speed setpoint that is issued to
the spindle.
With binary coding, the override is interpreted in %. 0% to 200% feed changes are possible, in ac
cordance with the binary value in the byte.
The following permanent assignment applies:
&RGH
6SLQGOHRYHUULGHIDFWRU
Binary values > 200 are limited to 200%.
The machine data:
MD12100 $MN_OVR_FACTOR_LIMIT_BIN (limit for binary-coded override switch)
can be used to additionally limit the maximum spindle override.
1668
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Z1: NC/PLC interface signals
19.12 Feeds (V1)
DB31, ...
DBB19
Signal state 1 or
edge change
01
Spindle override
In gray coding, the following codes are assigned to the individual switch settings:
7DEOH *UD\FRGLQJIRUVSLQGOHRYHUULGH
6ZLWFK
SRVLWLRQ
&RGH
6SLQGOHRYHUULGH
IDFWRU
VWDQGDUGYDOXHV
The factors listed in the table for spindle override are stored in the machine data:
MD12070 $MN_OVR_FACTOR_SPIND_SPEED [n]
The table contains the default settings.
The number of possible switch settings for standard machine panels is described in the Configuration
Manual for SINUMERIK 840D.
Corresponding to ...
DB31, ... DBX1.7 (override active)
MD12070 $MN_OVR_FACTOR_SPIND_SPEED [n] (evaluation of the spindle override switch)
MD12100 $MN_FACTOR_LIMIT_BIN (limit for binary-coded override switch)
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1669
Z1: NC/PLC interface signals
19.12 Feeds (V1)
19.12.3
Signals from axis/spindle (DB31, ...)
DB31, ...
DBX62.2
Edge evaluation: no
Revolutional feed rate active
Signal(s) updated: cyclic
Signal state 1 or
edge change
01
For programming of G95 (revolutional feed rate) in JOG mode or automatic mode.
Corresponding to ....
SD41100 $SN_JOG_REV_IS_ACTIVE (revolutional feed rate for JOG active)
SD42600 $SC_JOG_FEED_PER_REV_SOURCE
(in the JOG mode revolutional feed rate for geometry axes, on which the frame with rotation acts)
SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE
(revolutional feed rate for position axes/spindles)
MD32040 $MA_JOG_REV_VELO_RAPID (revolutional feed rate for JOG with rapid traverse override)
MD32050 $MA_JOG_REV_VELO (revolutional feed rate for JOG mode)
DB31, ...
DBB78 - DBB81
Edge evaluation: no
Signal state 1 or
edge change
01
F function for positioning axis
Signal(s) updated: cyclic
The F value of a positioning axis programmed in the current block is entered in the axisspecific PLC
interface signal.
The assignment between the DB number and machine axis number is established using the axis
name.
The value is retained until it is overwritten by another.
Format: Binary number in real format.
Application exam
ple(s)
Modification of the programmed F value by the PLC, e.g. by overwriting the selected axisspecific feed
rate override.
Corresponding to ....
MD22240 $MC_AUXFU_F_SYNC_TYPE (output time F functions)
1670
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Appendix
A.1
List of abbreviations
A
O
Output
ADI4
(Analog drive interface for 4 axes)
AC
Adaptive Control
ALM
Active Line Module
ARM
Rotating induction motor
AS
Automation system
ASCII
American Standard Code for Information Interchange: American coding standard for
the exchange of information
ASIC
Application-Specific Integrated Circuit: User switching circuit
ASUB
Asynchronous subprogram
AUXFU
Auxiliary function: Auxiliary function
STL
Statement List
UP
User Program
B
OP
Operating Mode
BAG
Mode group
BCD
Binary Coded Decimals: Decimal numbers encoded in binary code
BERO
Contact-less proximity switch
BI
Binector Input
BICO
Binector Connector
BIN
BINary files: Binary files
BIOS
Basic Input Output System
BCS
Basic Coordinate System
BO
Binector Output
OPI
Operator Panel Interface
C
CAD
Computer-Aided Design
CAM
Computer-Aided Manufacturing
CC
Compile Cycle: Compile cycles
CI
Connector Input
CF Card
Compact Flash Card
CNC
Computerized Numerical Control: Computer-Supported Numerical Control
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1671
Appendix
A.1 List of abbreviations
C
CO
Connector Output
CoL
Certificate of License
COM
Communication
CPA
Compiler Projecting Data: Configuring data of the compiler
CRT
Cathode Ray Tube: picture tube
CSB
Central Service Board: PLC module
CU
Control Unit
CP
Communication Processor
CPU
Central Processing Unit: Central processing unit
CR
Carriage Return
CTS
Clear To Send: Ready to send signal for serial data interfaces
CUTCOM
Cutter radius Compensation: Tool radius compensation
D
DAC
Digital-to-Analog Converter
DB
Data Block (PLC)
DBB
Data Block Byte (PLC)
DBD
Data Block Double word (PLC)
DBW
Data Block Word (PLC)
DBX
Data block bit (PLC)
DDE
Dynamic Data Exchange
DDS
Drive Data Set: Drive data set
DIN
Deutsche Industrie Norm
DIO
Data Input/Output: Data transfer display
DIR
Directory: Directory
DLL
Dynamic Link Library
DO
Drive Object
DPM
Dual Port Memory
DPR
Dual Port RAM
DRAM
Dynamic memory (non-buffered)
DRF
Differential Resolver Function: Differential revolver function (handwheel)
DRIVE-CLiQ
Drive Component Link with IQ
DRY
Dry Run: Dry run feedrate
DSB
Decoding Single Block: Decoding single block
DSC
Dynamic Servo Control / Dynamic Stiffness Control
DW
Data Word
DWORD
Double Word (currently 32 bits)
E
I
Input
EES
Execution from External Storage
1672
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Appendix
A.1 List of abbreviations
E
I/O
Input/Output
ENC
Encoder: Actual value encoder
EFP
Compact I/O module (PLC I/O module)
ESD
Electrostatic Sensitive Devices
EMC
ElectroMagnetic Compatibility
EN
European standard
ENC
Encoder: Actual value encoder
EnDat
Encoder interface
EPROM
Erasable Programmable Read Only Memory: Erasable, electrically programmable
read-only memory
ePS Network Services
Services for Internet-based remote machine maintenance
EQN
Designation for an absolute encoder with 2048 sine signals per revolution
ES
Engineering System
ESR
Extended Stop and Retract
ETC
ETC key ">"; softkey bar extension in the same menu
F
FB
Function Block (PLC)
FC
Function Call: Function Block (PLC)
FEPROM
Flash EPROM: Read and write memory
FIFO
First In First Out: Memory that works without address specification and whose data is
read in the same order in which they was stored
FIPO
Fine interpolator
FPU
Floating Point Unit: Floating Point Unit
CRC
Cutter Radius Compensation
FST
Feed Stop: Feedrate stop
FBD
Function Block Diagram (PLC programming method)
FW
Firmware
G
GC
Global Control (PROFIBUS: Broadcast telegram)
GDIR
Global part program memory
GEO
Geometry, e.g. geometry axis
GIA
Gear Interpolation dAta: Gear interpolation data
GND
Signal Ground
GP
Basic program (PLC)
GS
Gear Stage
GSD
Device master file for describing a PROFIBUS slave
GSDML
Generic Station Description Markup Language: XML-based description language for
creating a GSD file
GUD
Global User Data: Global user data
Basic Functions
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1673
Appendix
A.1 List of abbreviations
H
HEX
Abbreviation for hexadecimal number
AuxF
Auxiliary function
HLA
Hydraulic linear drive
HMI
Human Machine Interface: SINUMERIK user interface
MSD
Main Spindle Drive
HW
Hardware
I
IBN
Commissioning
ICA
Interpolatory compensation
IM
Interface Module: Interconnection module
IMR
Interface Module Receive: Interface module for receiving data
IMS
Interface Module Send: Interface module for sending data
INC
Increment: Increment
INI
Initializing Data: Initializing data
IPO
Interpolator
ISA
Industry Standard Architecture
ISO
International Standardization Organization
J
JOG
Jogging: Setup mode
K
KV
Gain factor of control loop
Kp
Proportional gain
Transformation ratio
LAD
Ladder Diagram (PLC programming method)
L
LAI
Logic Machine Axis Image: Logical machine axes image
LAN
Local Area Network
LCD
Liquid Crystal Display: Liquid crystal display
LED
Light Emitting Diode: Light-emitting diode
LF
Line Feed
PMS
Position Measuring System
LR
Position controller
LSB
Least Significant Bit: Least significant bit
LUD
Local User Data: User data (local)
1674
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Appendix
A.1 List of abbreviations
M
MAC
Media Access Control
MAIN
Main program: Main program (OB1, PLC)
MB
Megabyte
MCI
Motion Control Interface
MCIS
Motion Control Information System
MCP
Machine Control Panel: Machine control panel
MD
Machine Data
MDA
Manual Data Automatic: Manual input
MDS
Motor Data Set: Motor data set
MSGW
Message Word
MCS
Machine Coordinate System
MM
Motor Module
MPF
Main Program File: Main program (NC)
MCP
Machine control panel
N
NC
Numerical Control: Numerical Control
NCK
Numerical Control Kernel: NC kernel with block preparation, traversing range, etc.
NCU
Numerical Control Unit: NCK hardware unit
NRK
Name for the operating system of the NCK
IS
Interface Signal
NURBS
Non-Uniform Rational B-Spline
WO
Work Offset
NX
Numerical Extension: Axis expansion board
O
OB
Organization block in the PLC
OEM
Original Equipment Manufacturer
OP
Operator Panel: Operating equipment
OPI
Operator Panel Interface: Interface for connection to the operator panel
OPT
Options: Options
OLP
Optical Link Plug: Fiber optic bus connector
OSI
Open Systems Interconnection: Standard for computer communications
P
PIQ
Process Image Output
PII
Process Image Input
PC
Personal Computer
PCIN
Name of the SW for data exchange with the control
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1675
Appendix
A.1 List of abbreviations
P
PCMCIA
Personal Computer Memory Card International Association:
Plug-in memory card standardization
PCU
PC Unit: PC box (computer unit)
PG
Programming device
PKE
Parameter identification: Part of a PIV
PIV
Parameter identification: Value (parameterizing part of a PPO)
PLC
Programmable Logic Control: Adaptation control
PN
PROFINET
PNO
PROFIBUS user organization
PO
POWER ON
POU
Program Organization Unit
POS
Position/positioning
POSMO A
Positioning Motor Actuator: Positioning motor
POSMO CA
Positioning Motor Compact AC: Complete drive unit with integrated power and control
module as well as positioning unit and program memory; AC infeed
POSMO CD
Positioning Motor Compact DC: Like CA but with DC infeed
POSMO SI
Positioning Motor Servo Integrated: Positioning motor, DC infeed
PPO
Parameter Process data Object: Cyclic data telegram for PROFIBUS DP transmission
and "Variable speed drives" profile
PPU
Panel Processing Unit (central hardware for a panel-based CNC, e.g SINUMERIK
828D)
PROFIBUS
Process Field Bus: Serial data bus
PRT
Program Test
PSW
Program control word
PTP
Point-To-Point: Point-To-Point
PUD
Program global User Data: Program-global user variables
PZD
Process data: Process data part of a PPO
Q
QEC
Quadrant Error Compensation
R
RAM
Random Access Memory: Read/write memory
REF
REFerence point approach function
REPOS
REPOSition function
RISC
Reduced Instruction Set Computer: Type of processor with small instruction set and
ability to process instructions at high speed
ROV
Rapid Override: Input correction
RP
R Parameter, arithmetic parameter, predefined user variable
RPA
R Parameter Active: Memory area on the NCK for R parameter numbers
RPY
Roll Pitch Yaw: Rotation type of a coordinate system
RTLI
Rapid Traverse Linear Interpolation: Linear interpolation during rapid traverse motion
1676
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Appendix
A.1 List of abbreviations
R
RTS
Request To Send: Control signal of serial data interfaces
RTCP
Real Time Control Protocol
S
SA
Synchronized Action
SBC
Safe Brake Control: Safe Brake Control
SBL
Single Block: Single block
SBR
Subroutine: Subprogram (PLC)
SD
Setting Data
SDB
System Data Block
SEA
Setting Data Active: Identifier (file type) for setting data
SERUPRO
SEarch RUn by PROgram test: Search run by program test
SFB
System Function Block
SFC
System Function Call
SGE
Safety-related input
SGA
Safety-related output
SH
Safe standstill
SIM
Single in Line Module
SK
Softkey
SKP
Skip: Function for skipping a part program block
SLM
Synchronous Linear Motor
SM
Stepper Motor
SMC
Sensor Module Cabinet Mounted
SME
Sensor Module Externally Mounted
SMI
Sensor Module Integrated
SPF
Sub Routine File: Subprogram (NC)
PLC
Programmable Logic Controller
SRAM
Static RAM (non-volatile)
TNRC
Tool Nose Radius Compensation
SRM
Synchronous Rotary Motor
LEC
Leadscrew Error Compensation
SSI
Serial Synchronous Interface: Synchronous serial interface
SSL
Block search
STW
Control word
GWPS
Grinding Wheel Peripheral Speed
SW
Software
SYF
System Files: System files
SYNACT
SYNchronized ACTion: Synchronized Action
Basic Functions
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1677
Appendix
A.1 List of abbreviations
T
TB
Terminal Board (SINAMICS)
TCP
Tool Center Point: Tool tip
TCP/IP
Transport Control Protocol / Internet Protocol
TCU
Thin Client Unit
TEA
Testing Data Active: Identifier for machine data
TIA
Totally Integrated Automation
TM
Terminal Module (SINAMICS)
TO
Tool Offset: Tool offset
TOA
Tool Offset Active: Identifier (file type) for tool offsets
TRANSMIT
Transform Milling Into Turning: Coordination transformation for milling operations on
a lathe
TTL
Transistor-Transistor Logic (interface type)
TZ
Technology cycle
U
UFR
User Frame: Work offset
SR
Subprogram
USB
Universal Serial Bus
UPS
Uninterruptible Power Supply
V
VDI
Internal communication interface between NCK and PLC
VDI
Verein Deutscher Ingenieure [Association of German Engineers]
VDE
Verband Deutscher Elektrotechniker [Association of German Electrical Engineers]
VI
Voltage Input
VO
Voltage Output
FDD
Feed Drive
W
SAR
Smooth Approach and Retraction
WCS
Workpiece Coordinate System
Tool
TLC
Tool Length Compensation
WOP
Workshop-Oriented Programming
WPD
Workpiece Directory: Workpiece directory
TRC
Tool Radius Compensation
Tool
TO
Tool Offset
TM
Tool Management
TC
Tool change
1678
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Appendix
A.1 List of abbreviations
X
XML
Extensible Markup Language
Z
WOA
Work Offset Active: Identifier for work offsets
ZSW
Status word (of drive)
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1679
Appendix
A.2 Documentation overview
A.2
Documentation overview
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Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Glossary
Absolute dimensions
A destination for an axis motion is defined by a dimension that refers to the origin of the currently
active coordinate system. See Incremental dimension
Acceleration with jerk limitation
In order to optimize the acceleration response of the machine whilst simultaneously protecting
the mechanical components, it is possible to switch over in the machining program between
abrupt acceleration and continuous (jerk-free) acceleration.
Address
An address is the identifier for a certain operand or operand range, e.g. input, output, etc.
Alarms
All messages and alarms are displayed on the operator panel in plain text with date and time
and the corresponding symbol for the cancel criterion. Alarms and messages are displayed
separately.
1. Alarms and messages in the part program:
Alarms and messages can be displayed in plain text directly from the part program.
2. Alarms and messages from the PLC:
Alarms and messages for the machine can be displayed in plain text from the PLC program.
No additional function block packages are required for this purpose.
Archiving
Reading out of files and/or directories on an external memory device.
Asynchronous subprogram
Part program that can be started asynchronously to (independently of) the current program
status using an interrupt signal (e.g. "Rapid NC input" signal).
Automatic
Operating mode of the controller (block sequence operation according to DIN): Operating
mode for NC systems in which a subprogram is selected and executed continuously.
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Glossary
Auxiliary functions
Auxiliary functions enable part programs to transfer parameters to the PLC, which then
trigger reactions defined by the machine manufacturer.
Axes
In accordance with their functional scope, the CNC axes are subdivided into:
Axes: Interpolating path axes
Auxiliary axes: Non-interpolating feed and positioning axes with an axis-specific feedrate.
Auxiliary axes are not involved in actual machining, e.g. tool feeder, tool magazine.
Axis address
See Axis name
Axis name
To ensure clear identification, all channel and machine axes of the control system must be
designated with unique names in the channel and control system. The geometry axes are
called X, Y, Z. The rotary axes rotating around the geometry axes are called A, B, C.
Backlash compensation
Compensation for a mechanical machine backlash, e.g. backlash on reversal for ball screws.
Backlash compensation can be entered separately for each axis.
Backup battery
The backup battery ensures that the user program in the CPU is stored so that it is safe
from power failure and so that specified data areas and bit memory, timers and counters are
stored retentively.
Basic axis
Axis whose setpoint or actual value position forms the basis of the calculation of a
compensation value.
Basic Coordinate System
Cartesian coordinate system which is mapped by transformation onto the machine coordinate
system.
The programmer uses axis names of the basic coordinate system in the part program. The
basic coordinate system exists parallel to the machine coordinate system if no
transformation is active. The difference lies in the axis names.
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Glossary
Baud rate
Rate of data transfer (bits/s).
Blank
Workpiece as it is before it is machined.
Block
"Block" is the term given to any files required for creating and processing programs.
Block search
For debugging purposes or following a program abort, the "Block search" function can be used
to select any location in the part program at which the program is to be started or resumed.
Booting
Loading the system program after power ON.
C axis
Axis around which the tool spindle describes a controlled rotational and positioning motion.
C spline
The C spline is the most well-known and widely used spline. The transitions at the interpolation
points are continuous, both tangentially and in terms of curvature. 3rd order polynomials are
used.
Channel
A channel is characterized by the fact that it can process a part program independently of
other channels. A channel exclusively controls the axes and spindles assigned to it. Part
program runs of different channels can be coordinated through synchronization.
Circular interpolation
The tool moves on a circle between specified points on the contour at a given feedrate, and
the workpiece is thereby machined.
CNC
See NC
Computerized Numerical Control: includes the components NCK, PLC, HMI, COM.
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1683
Glossary
CNC
See NC
Computerized Numerical Control: includes the components NCK, PLC, HMI, COM.
COM
Component of the NC for the implementation and coordination of communication.
Compensation axis
Axis with a setpoint or actual value modified by the compensation value
Compensation table
Table containing interpolation points. It provides the compensation values of the compensation
axis for selected positions on the basic axis.
Compensation value
Difference between the axis position measured by the encoder and the desired, programmed
axis position.
Continuous-path mode
The objective of continuous-path mode is to avoid substantial deceleration of the path axes
at the part program block boundaries and to change to the next block at as close to the same
path velocity as possible.
Contour
Contour of the workpiece
Contour monitoring
The following error is monitored within a definable tolerance band as a measure of contour
accuracy. An unacceptably high following error can cause the drive to become overloaded, for
example. In such cases, an alarm is output and the axes are stopped.
Coordinate system
See Machine coordinate system, Workpiece coordinate system
CPU
Central processing unit, see PLC
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Glossary
Curvature
The curvature k of a contour is the inverse of radius r of the nestling circle in a contour point
(k = 1/r).
Cycles
Protected subprograms for execution of repetitive machining operations on the workpiece.
Data block
1. Data unit of the PLC that HIGHSTEP programs can access.
2. Data unit of the NC: Data modules contain data definitions for global user data. This data
can be initialized directly when it is defined.
Data word
Two-byte data unit within a data block.
Diagnostics
1. Operating area of the controller.
2. The controller has a self-diagnostics program as well as test functions for servicing
purposes: status, alarm, and service displays
Dimensions specification, metric and inches
Position and pitch values can be programmed in inches in the machining program. Irrespective
of the programmable dimensions (G70/G71), the controller is set to a basic system.
DRF
Differential Resolver Function: NC function which generates an incremental zero offset in
Automatic mode in conjunction with an electronic handwheel.
Drive
The drive is the unit of the CNC that performs the speed and torque control based on the
settings of the NC.
Dynamic feedforward control
Inaccuracies in the contour due to following errors can be practically eliminated using
dynamic, acceleration-dependent feedforward control. This results in excellent machining
accuracy even at high path velocities. Feedforward control can be selected and deselected
on an axis-specific basis via the part program.
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1685
Glossary
Editor
The editor makes it possible to create, edit, extend, join, and import programs/texts/program
blocks.
Exact stop
When an exact stop statement is programmed, the position specified in a block is approached
exactly and, if necessary, very slowly. To reduce the approach time, exact stop limits are
defined for rapid traverse and feed.
Exact stop limit
When all path axes reach their exact stop limits, the controller responds as if it had reached
its precise destination point. A block advance of the part program occurs.
External zero offset
Zero offset specified by the PLC.
Fast retraction from the contour
When an interrupt occurs, a motion can be initiated via the CNC machining program, enabling
the tool to be quickly retracted from the workpiece contour that is currently being machined.
The retraction angle and the distance retracted can also be parameterized. An interrupt routine
can also be executed following the fast retraction.
Feed override
The programmed velocity is overriden by the current velocity setting made via the machine
control panel or from the PLC (0 to 200%). The feedrate can also be corrected by a
programmable percentage factor (1 to 200%) in the machining program.
Finished-part contour
Contour of the finished workpiece. See Raw part.
Fixed machine point
Point that is uniquely defined by the machine tool, e.g. machine reference point.
Fixed-point approach
Machine tools can approach fixed points such as a tool change point, loading point, pallet
change point, etc. in a defined way. The coordinates of these points are stored in the controller.
The controller moves the relevant axes in rapid traverse, whenever possible.
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Glossary
Frame
A frame is an arithmetic rule that transforms one Cartesian coordinate system into another
Cartesian coordinate system. A frame contains the following components: zero offset,
rotation, scaling, mirroring.
Functionality
The path-jerk limitation can be activated/deactivated by programming the setting data.
Parameter: Value
Value range: TRUE, FALSE
Application:
Part program
Static synchronized action
Geometry
Description of a workpiece in the workpiece coordinate system.
Geometry axis
The geometry axes form the 2 or 3-dimensional workpiece coordinate system in which, in
part programs, the geometry of the workpiece is programmed.
Ground
Ground is taken as the total of all linked inactive parts of a device which will not become live
with a dangerous contact voltage even in the event of a malfunction.
Helical interpolation
The helical interpolation function is ideal for machining internal and external threads using form
milling cutters and for milling lubrication grooves.
The helix comprises two motions:
Circular motion in one plane
A linear motion perpendicular to this plane
High-level CNC language
The high-level language is used to write NC programs, synchronized actions, and cycles.
It provides: control structures user-defined variables, system variables, macro
programming.
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Glossary
High-speed digital inputs/outputs
The digital inputs can be used for example to start fast CNC program routines (interrupt
routines). High-speed, program-driven switching functions can be initiated via the digital CNC
outputs
HIGHSTEP
Summary of programming options for PLCs of the AS300/AS400 system.
HW Config
SIMATIC S7 tool for the configuration and parameterization of hardware components within
an S7 project
Identifier
In accordance with DIN 66025, words are supplemented using identifiers (names) for variables
(arithmetic variables, system variables, user variables), subprograms, key words, and words
with multiple address letters. These supplements have the same meaning as the words with
respect to block format. Identifiers must be unique. It is not permissible to use the same
identifier for different objects.
Inch measuring system
Measuring system which defines distances in inches and fractions of inches.
Inclined surface machining
Drilling and milling operations on workpiece surfaces that do not lie in the coordinate planes
of the machine can be performed easily using the function "inclined-surface machining".
Increment
Travel path length specification based on number of increments. The number of increments
can be stored as setting data or be selected by means of a suitably labeled key (i.e. 10, 100,
1000, 10000).
Incremental dimension
Also incremental dimension: A destination for axis traversal is defined by a distance to be
covered and a direction referenced to a point already reached. See Absolute dimension.
Intermediate blocks
Motions with selected tool offset (G41/G42) may be interrupted by a limited number of
intermediate blocks (blocks without axis motions in the offset plane), whereby the tool offset
can still be correctly compensated for. The permissible number of intermediate blocks which
the controller reads ahead can be set in system parameters.
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Glossary
Interpolator
Logic unit of the NCK that defines intermediate values for the motions to be carried out in
individual axes based on information on the end positions specified in the part program.
Interpolatory compensation
Mechanical deviations of the machine are compensated for by means of interpolatory
compensation functions, such as leadscrew error, sag, angularity, and temperature
compensation.
Interrupt routine
Interrupt routines are special subprograms that can be started by events (external signals)
in the machining process. A part program block which is currently being worked through is
interrupted and the position of the axes at the point of interruption is automatically saved.
Inverse-time feedrate
The time required for the path of a block to be traversed can also be programmed for the axis
motion instead of the feed velocity (G93).
JOG
Control operating mode (setup mode): In JOG mode, the machine can be set up. Individual
axes and spindles can be traversed in JOG mode by means of the direction keys. Additional
functions in JOG mode include: Reference point approach, Repos, and Preset (set
actual value).
Key switch
The key switch on the machine control panel has four positions that are assigned functions
by the operating system of the controller. The key switch has three different colored keys that
can be removed in the specified positions.
Keywords
Words with specified notation that have a defined meaning in the programming language for
part programs.
K
Transformation ratio
KV
Servo gain factor, a control variable in a control loop.
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1689
Glossary
Leading axis
The leading axis is the gantry axis that exists from the point of view of the operator and
programmer and, thus, can be influenced like a standard NC axis.
Leadscrew error compensation
Compensation for the mechanical inaccuracies of a leadscrew participating in the feed. The
controller uses stored deviation values for the compensation.
Limit speed
Maximum/minimum (spindle) speed: The maximum speed of a spindle can be limited by
specifying machine data, the PLC or setting data.
Linear axis
In contrast to a rotary axis, a linear axis describes a straight line.
Linear interpolation
The tool travels along a straight line to the destination point while machining the workpiece.
Load memory
The load memory is the same as the working memory for the CPU 314 of the PLC.
Look Ahead
The Look Ahead function is used to achieve an optimal machining speed by looking ahead
over an assignable number of traversing blocks.
Machine axes
Physically existent axes on the machine tool.
Machine control panel
An operator panel on a machine tool with operating elements such as keys, rotary switches,
etc., and simple indicators such as LEDs. It is used to directly influence the machine tool via
the PLC.
Machine coordinate system
A coordinate system, which is related to the axes of the machine tool.
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Glossary
Machine zero
Fixed point of the machine tool to which all (derived) measuring systems can be traced back.
Machining channel
A channel structure can be used to shorten idle times by means of parallel motion sequences,
e.g. moving a loading gantry simultaneously with machining. Here, a CNC channel must be
regarded as a separate CNC control system with decoding, block preparation and interpolation.
Macro techniques
Grouping of a set of statements under a single identifier. The identifier represents the set of
consolidated statements in the program.
Main block
A block prefixed by ":" introductory block, containing all the parameters required to start
execution of a -> part program.
Main program
The term "main program" has its origins during the time when part programs were split strictly
into main and subprograms. This strict division no longer exists with today's SINUMERIK
NC language. In principle, any part program in the channel can be selected and started. It then
runs through in program level 0 (main program level). Further part programs or cycles as
subprograms can be called up in the main program.
MDA
Control operating mode: Manual Data Automatic. In the MDA mode, individual program blocks
or block sequences with no reference to a main program or subprogram can be input and
executed immediately afterwards through actuation of the NC start key.
Messages
All messages programmed in the part program and alarms detected by the system are
displayed on the operator panel in plain text with date and time and the corresponding symbol
for the cancel criterion. Alarms and messages are displayed separately.
Metric measuring system
Standardized system of units: For length, e.g. mm (millimeters), m (meters).
Mirroring
Mirroring reverses the signs of the coordinate values of a contour, with respect to an axis. It
is possible to mirror with respect to more than one axis at a time.
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1691
Glossary
Mode
An operating concept on a SINUMERIK controller. The following modes are defined: Jog,
MDA, Automatic.
Mode group
Axes and spindles that are technologically related can be combined into one mode group.
Axes/spindles of a mode group can be controlled by one or more channels. The same
mode type is always assigned to the channels of the mode group.
NC
Numerical Control component of the CNC that executes the part programs and coordinates
the movements of the machine tool.
Network
A network is the connection of multiple S7-300 and other end devices, e.g. a programming
device via a connecting cable. A data exchange takes place over the network between the
connected devices.
NRK
Numeric robotic kernel (operating system of NCK)
NURBS
The motion control and path interpolation that occurs within the controller is performed based
on NURBS (Non Uniform Rational B-Splines). This provides a uniform procedure for all internal
interpolations.
OEM
The scope for implementing individual solutions (OEM applications) has been provided for
machine manufacturers, who wish to create their own user interface or integrate technologyspecific functions in the controller.
Offset memory
Data range in the control, in which the tool offset data is stored.
Oriented spindle stop
Stops the workpiece spindle in a specified angular position, e.g. in order to perform additional
machining at a particular location.
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Glossary
Oriented tool retraction
RETTOOL: If machining is interrupted (e.g. when a tool breaks), a program command can be
used to retract the tool in a user-specified orientation by a defined distance.
Overall reset
In the event of an overall reset, the following memories of the CPU are deleted:
Working memory
Read/write area of load memory
System memory
Backup memory
Override
Manual or programmable control feature which enables the user to override programmed
feedrates or speeds in order to adapt them to a specific workpiece or material.
Part program
Series of statements to the NC that act in concert to produce a particular workpiece. Likewise,
this term applies to execution of a particular machining operation on a given raw part.
Part program block
Part of a part program that is demarcated by a line feed. There are two types: main blocks
and subblocks.
Part program management
Part program management can be organized by workpieces. The size of the user memory
determines the number of programs and the amount of data that can be managed. Each file
(programs and data) can be given a name consisting of a maximum of 24 alphanumeric
characters.
Path axis
Path axes include all machining axes of the channel that are controlled by the interpolator
in such a way that they start, accelerate, stop, and reach their end point simultaneously.
Path feedrate
Path feed affects path axes. It represents the geometric sum of the feedrates of the
geometry axes involved.
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1693
Glossary
Path velocity
The maximum programmable path velocity depends on the input resolution. For example, with
a resolution of 0.1 mm the maximum programmable path velocity is 1000 m/min.
PCIN data transfer program
PCIN is an auxiliary program for sending and receiving CNC user data (e.g. part programs,
tool offsets, etc.) via a serial interface. The PCIN program can run in MS-DOS on standard
industrial PCs.
Peripheral module
I/O modules represent the link between the CPU and the process.
I/O modules are:
Digital input/output modules
Analog input/output modules
Simulator modules
PLC
Programmable Logic Controller: Programmable logic controller. Component of NC:
Programmable control for processing the control logic of the machine tool.
PLC program memory
SINUMERIK 840D sl: The PLC user program, the user data and the basic PLC program are
stored together in the PLC user memory.
PLC programming
The PLC is programmed using the STEP 7 software. The STEP 7 programming software is
based on the WINDOWS standard operating system and contains the STEP 5 programming
functions with innovative enhancements.
Polar coordinates
A coordinate system which defines the position of a point on a plane in terms of its distance
from the origin and the angle formed by the radius vector with a defined axis.
Polynomial interpolation
Polynomial interpolation enables a wide variety of curve characteristics to be generated, such
as straight line, parabolic, exponential functions (SINUMERIK 840D sl).
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Glossary
Positioning axis
Axis that performs an auxiliary motion on a machine tool (e.g. tool magazine, pallet transport).
Positioning axes are axes that do not interpolate with path axes.
Pre-coincidence
Block change occurs already when the path distance approaches an amount equal to a
specifiable delta of the end position.
Program block
Program blocks contain the main program and subprograms of part programs.
Program level
A part program started in the channel runs as a main program on program level 0 (main
program level). Any part program called up in the main program runs as a subprogram on
a program level 1 ... n of its own.
Programmable frames
Programmable frames enable dynamic definition of new coordinate system output points
while the part program is being executed. A distinction is made between absolute definition
using a new frame and additive definition with reference to an existing starting point.
Programmable logic controller
Programmable logic controllers (PLCs) are electronic controllers, the function of which is stored
as a program in the control unit. This means that the layout and wiring of the device do not
depend on the function of the controller. The programmable logic control has the same
structure as a computer; it consists of a CPU (central module) with memory, input/output
modules and an internal bus system. The peripherals and the programming language are
matched to the requirements of the control technology.
Programmable working area limitation
Limitation of the motion space of the tool to a space defined by programmed limitations.
Programming key
Characters and character strings that have a defined meaning in the programming language
for part programs.
Protection zone
Three-dimensional zone within the working area into which the tool tip must not pass.
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1695
Glossary
Quadrant error compensation
Contour errors at quadrant transitions, which arise as a result of changing friction conditions
on the guideways, can be virtually entirely eliminated with the quadrant error compensation.
Parameterization of the quadrant error compensation is performed by means of a circuit test.
R parameters
Arithmetic parameter that can be set or queried by the programmer of the part program for
any purpose in the program.
Rapid traverse
The highest traverse rate of an axis. For example, rapid traverse is used when the tool
approaches the workpiece contour from a resting position or when the tool is retracted from
the workpiece contour. The rapid traverse velocity is set on a machine-specific basis using a
machine data element.
Reference point
Machine tool position that the measuring system of the machine axes references.
Rotary axis
Rotary axes apply a workpiece or tool rotation to a defined angular position.
Rotation
Component of a frame that defines a rotation of the coordinate system around a particular
angle.
Rounding axis
Rounding axes rotate a workpiece or tool to an angular position corresponding to an indexing
grid. When a grid index is reached, the rounding axis is "in position".
RS-232-C
Serial interface for data input/output. Machining programs as well as manufacturer and user
data can be loaded and saved via this interface.
Safety functions
The controller is equipped with permanently active monitoring functions that detect faults in
the CNC, the PLC, and the machine in a timely manner so that damage to the workpiece,
tool, or machine is largely prevented. In the event of a fault, the machining operation is
interrupted and the drives stopped. The cause of the malfunction is logged and output as an
alarm. At the same time, the PLC is notified that a CNC alarm has been triggered.
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Glossary
Scaling
Component of a frame that implements axis-specific scale modifications.
Setting data
Data which communicates the properties of the machine tool to the NC as defined by the
system software.
Softkey
A key, whose name appears on an area of the screen. The choice of softkeys displayed is
dynamically adapted to the operating situation. The freely assignable function keys (softkeys)
are assigned defined functions in the software.
Software limit switch
Software limit switches limit the traversing range of an axis and prevent an abrupt stop of the
slide at the hardware limit switch. Two value pairs can be specified for each axis and activated
separately by means of the PLC.
Spline interpolation
With spline interpolation, the controller can generate a smooth curve characteristic from only
a few specified interpolation points of a set contour.
Standard cycles
Standard cycles are provided for machining operations which are frequently repeated:
For the drilling/milling technology
For turning technology
The available cycles are listed in the "Cycle support" menu in the "Program" operating area.
Once the desired machining cycle has been selected, the parameters required for assigning
values are displayed in plain text.
Subblock
Block preceded by "N" containing information for a sequence, e.g. positional data.
Subprogram
The term "subprogram" has its origins during the time when part programs were split strictly
into main and subprograms. This strict division no longer exists with today's SINUMERIK NC
language. In principle, any part program or any cycle can be called up as a subprogram
within another part program. It then runs through in the next program level (x+1) (subprogram
level (x+1)).
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Glossary
Synchronization
Statements in part programs for coordination of sequences in different channels at certain
machining points.
Synchronized actions
1. Auxiliary function output
During workpiece machining, technological functions ( auxiliary functions) can be output
from the CNC program to the PLC. For example, these auxiliary functions are used to
control additional equipment for the machine tool, such as quills, grabbers, clamping
chucks, etc.
2. Fast auxiliary function output
For time-critical switching functions, the acknowledgement times for the auxiliary
functions can be minimized and unnecessary hold points in the machining process can be
avoided.
Synchronized axes
Synchronized axes take the same time to traverse their path as the geometry axes take for
their path.
Synchronized axis
A synchronized axis is the gantry axis whose set position is continuously derived from the
motion of the leading axis and is, thus, moved synchronously with the leading axis. From
the point of view of the programmer and operator, the synchronized axis "does not exist".
Syntax
$SC_IS_SD_MAX_PATH_JERK = value
System memory
The system memory is a memory in the CPU in which the following data is stored:
Data required by the operating system
The operands timers, counters, markers
System variable
A variable that exists without any input from the programmer of a part program. It is defined
by a data type and the variable name preceded by the character $. See User-defined variable.
Tapping without compensating chuck
This function allows threads to be tapped without a compensating chuck. By using the
interpolating method of the spindle as a rotary axis and the drilling axis, threads can be cut to
a precise final drilling depth, e.g. for blind hole threads (requirement: spindles in axis operation).
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Glossary
Text editor
See Editor
TOA area
The TOA area includes all tool and magazine data. By default, this area coincides with the
channel area with regard to the access of the data. However, machine data can be used to
specify that multiple channels share one TOA unit so that common tool management data
is then available to these channels.
TOA unit
Each TOA area can have more than one TOA unit. The number of possible TOA units is
limited by the maximum number of active channels. A TOA unit includes exactly one tool
data block and one magazine data block. In addition, a TOA unit can also contain a toolholder
data block (optional).
Tool
Active part on the machine tool that implements machining (e.g. turning tool, milling tool, drill,
LASER beam, etc.).
Tool nose radius compensation
Contour programming assumes that the tool is pointed. Because this is not actually the case
in practice, the curvature radius of the tool used must be communicated to the controller which
then takes it into account. The curvature center is maintained equidistantly around the contour,
offset by the curvature radius.
Tool offset
Consideration of the tool dimensions in calculating the path.
Tool radius compensation
To directly program a desired workpiece contour, the control must traverse an equistant path
to the programmed contour taking into account the radius of the tool that is being used (G41/
G42).
Transformation
Additive or absolute zero offset of an axis.
Travel range
The maximum permissible travel range for linear axes is 9 decades. The absolute value
depends on the selected input and position control resolution and the unit of measurement
(inch or metric).
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1699
Glossary
User interface
The user interface (UI) is the display medium for a CNC in the form of a screen. It features
horizontal and vertical softkeys.
User memory
All programs and data, such as part programs, subprograms, comments, tool offsets, and zero
offsets/frames, as well as channel and program user data, can be stored in the shared CNC
user memory.
User program
User programs for the S7-300 automation systems are created using the programming
language STEP 7. The user program has a modular layout and consists of individual blocks.
The basic block types are:
Code blocks
These blocks contain the STEP 7 commands.
Data blocks
These blocks contain constants and variables for the STEP 7 program.
User-defined variable
Users can declare their own variables for any purpose in the part program or data block
(global user data). A definition contains a data type specification and the variable name. See
System variable.
Variable definition
A variable definition includes the specification of a data type and a variable name. The variable
names can be used to access the value of the variables.
Velocity control
In order to achieve an acceptable traverse rate in the case of very slight motions per block, an
anticipatory evaluation over several blocks ( Look Ahead) can be specified.
WinSCP
WinSCP is a freely available open source program for Windows for the transfer of files.
Working area
Three-dimensional zone into which the tool tip can be moved on account of the physical design
of the machine tool. See Protection zone.
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Glossary
Working area limitation
With the aid of the working area limitation, the traversing range of the axes can be further
restricted in addition to the limit switches. One value pair per axis may be used to describe the
protected working area.
Working memory
The working memory is a RAM in the CPU that the processor accesses when processing
the application program.
Workpiece
Part to be made/machined by the machine tool.
Workpiece contour
Set contour of the workpiece to be created or machined.
Workpiece coordinate system
The workpiece coordinate system has its starting point in the workpiece zero-point. In
machining operations programmed in the workpiece coordinate system, the dimensions and
directions refer to this system.
Workpiece zero
The workpiece zero is the starting point for the workpiece coordinate system. It is defined
in terms of distances to the machine zero.
Zero offset
Specifies a new reference point for a coordinate system through reference to an existing zero
point and a frame.
1. Settable
A configurable number of settable zero offsets are available for each CNC axis. The offsets
- which are selected by means of G functions - take effect alternatively.
2. External
In addition to all the offsets which define the position of the workpiece zero, an external
zero offset can be overridden by means of the handwheel (DRF offset) or from the PLC.
3. Programmable
Zero offsets can be programmed for all path and positioning axes using the TRANS
statement.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
1701
Glossary
1702
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
$
$A_MONIFACT, 1535
$AA_ACC, 1355
$AA_ATOL, 234
$AA_ETRANS, 769
$AA_FGREF, 335
$AA_FGROUP, 335
$AA_MOTEND, 1356
$AA_S, 1204
$AA_SCPAR, 1357
$AA_VLFCT, 1287
$AA_VMAXB, 1287
$AA_VMAXM, 1287
$AC_ACT_PROG_NET_TIME, 642
$AC_ACTUAL_PARTS, 648
$AC_ASUP, 573
$AC_AUXFU_EXT, 440
$AC_AUXFU_M_EXT, 440
$AC_AUXFU_M_STATE, 441
$AC_AUXFU_M_TICK, 421
$AC_AUXFU_M_VALUE, 441
$AC_AUXFU_PREDEF_INDEX, 426, 440
$AC_AUXFU_SPEC, 438, 441
$AC_AUXFU_STATE, 441
$AC_AUXFU_TYPE, 440
$AC_AUXFU_VALUE, 441
$AC_CONSTCUT_S, 1281
$AC_CTOL, 234
$AC_CUT_INV, 1479
$AC_CUTMOD, 1479
$AC_CUTMOD_ANG, 1473, 1479
$AC_CUTTING_TIME, 644
$AC_CYCLE_TIME, 644
$AC_FGROUP_MASK, 335
$AC_OLD_PROG_NET_TIME, 642
$AC_OLD_PROG_NET_TIME_COUNT, 643
$AC_OPERATING_TIME, 644
$AC_OTOL, 234
$AC_PATHACC, 254, 266
$AC_PATHJERK, 265, 266, 267
$AC_PROG_NET_TIME_TRIGGER, 643
$AC_REQUIRED_PARTS, 648
$AC_SGEAR, 1246, 1266
$AC_SMAXACC, 1287
$AC_SMAXACC_INFO, 1287
$AC_SMAXVELO, 1287
$AC_SMAXVELO_INFO, 1287
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
$AC_SMINVELO, 1287
$AC_SMINVELO_INFO, 1287
$AC_SPECIAL_PARTS, 648
$AC_SPIND_STATE, 1287
$AC_STOLF, 238
$AC_TOTAL_PARTS, 648
$AN_AUXFU_LIST_ENDINDEX, 431
$AN_POWERON_TIME, 641
$AN_SETUP_TIME, 641
$C_AUX_EXT, 623
$C_AUX_IS_QUICK, 623
$C_AUX_VALUE, 623
$C_D, 624
$C_D_PROG, 624
$C_DL, 624
$C_DL_PROG, 624
$C_DUPLO, 624
$C_DUPLO_PROG, 624
$C_M, 623
$C_M_PROG, 623
$C_ME, 623
$C_MTL, 620, 624
$C_MTL_PROG, 620, 624
$C_T, 623
$C_T_PROG, 623
$C_TCA, 624
$C_TE, 624
$C_THNO, 624
$C_THNO_PROG, 624
$C_TS, 624
$C_TS_PROG, 624
$P_AD, 1479
$P_CHANNO, 553
$P_CONSTCUT_S, 1281
$P_CTOL, 234
$P_CUT_INV, 1479
$P_CUTMOD, 1479
$P_CUTMOD_ANG, 1473, 1479
$P_FGROUP_MASK, 336
$P_GEAR, 1266
$P_GFRNUM, 731
$P_IFRAME, 729
$P_ISTEST, 472
$P_OTOL, 234
$P_PROG_EVENT, 553
$P_REPINF, 569
$P_SEARCH_S, 424, 484
$P_SEARCH_SDIR, 424, 484
$P_SEARCH_SGEAR, 424, 484, 1246
1703
Index
$P_SEARCH_SMODE, 484
$P_SEARCH_SPOS, 424, 484
$P_SEARCH_SPOSMODE, 424, 485
$P_SGEAR, 1246
$P_SIM, 478
$P_STOLF, 238
$P_SUB_AUTOGEAR, 632
$P_SUB_AXFCT, 632
$P_SUB_CA, 632
$P_SUB_GEAR, 632
$P_SUB_LA, 632
$P_SUB_M19, 633
$P_SUB_SPOS, 632
$P_SUB_SPOSA, 633
$P_SUB_SPOSIT, 633
$P_SUB_SPOSMODE, 633
$P_SUB_STAT, 622, 624
$P_TOOLENV, 1519
$P_TOOLENVN, 1519
$P_UIFR, 729
$P_UIFRNUM, 730
$P_WORKAREA_CS_COORD_SYSTEM, 111
$PA_ATOL, 234
$PA_FGREF, 335
$PA_FGROUP, 336
$SC_IS_SD_MAX_PATH_ACCEL, 252
$SC_IS_SD_MAX_PATH_JERK, 264
$SC_SD_MAX_PATH_ACCEL, 252
$SC_SD_MAX_PATH_JERK, 264
$TC_DP1, 1469
$TC_DP10, 1471
$TC_DP11, 1470
$TC_DP2, 1470, 1474
$TC_DP24, 1471
$TC_DPCE[t,d], 1373
$TC_DPNT, 1311
$VA_ABSOLUTE_ENC_DELTA_INIT, 102
$VA_ENC_ZERO_MON_ERR_CNT, 99, 102
$VA_TORQUE_AT_LIMIT, 313
$VC_SGEAR, 1245
3
3D face milling, 1397
A
ACC, 1275, 1354
Access authorization, 60
Access features, 61
Access security, 60
1704
ACN, 1273
ACP, 1273
Action blocks, 481
Action single block, 473
Activation
from machine control panel, hand-held unit, 868
Actual image number of the JobShop interface, 1562
Actual value synchronization, 46
Actual values in workpiece coordinate system, 39
Actual-value acquisition, 337
Actual-value correction, 338
Actual-value processing, 345
Actual-value system
workpiecerelated, 788
adaptation factor
dynamic path response, 215
Adapter dimension, 1399
Adapting the motor/load ratios, 342
ADDFRAME, 767
AG_SEND, AG_RECV, 858
Air temperature alarm, 38
Alarm for preprocessing stop, 1437
ALF, 568, 1322
Angle
Clearance, 1471
Holder, 1471
ANY, 1067
ANY in FB, 1069
ANY in FC, 1068
Applied position difference, 370
Assignment tool/toolholder, 1443
ASUB
Activation, 561
For user alarms, 574
Internal, 571
Priority, 568
Reorganization, 561
SERUPRO end, 431
ATRANS, 664
Autonomous singleaxis operations, 523
AUXFUDEL, 432
AUXFUDELG, 433
AUXFUMSEQ, 421
AUXFUSYNC, 432
auxiliary function
Associated, 408
Auxiliary function
Address extension, 400
-counter, 427
Definition, 378
Output behavior, 401
Predefined, 377
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
Type, 400
User-defined, 377
Value, 400
Auxiliary function output, 527
auxiliary functions
Pre-defined, 384
User-specific, 405
Axis clamping, 86
Axis configuration, 675
Axis disable, 41, 1335
Axis monitoring functions, 79
Actual velocity, 94
Axis/spindlespecific setting data, 174
Following error, 80
Speed setpoint, 93
Supplementary conditions, 159
Zero speed, 84
Axis/spindle stationary, 49
B
Basic block display
Activating, 593
Configure, 592
Basic coordinate system (BCS), 663, 696
Basic display
Size of display buffer, 593
Basic orientation of tool, example, 1538
Basic orientation of tools, 1485
Basic tool orientation, 1484
Block
Hide, 589
Block search
Cascaded, 480
with calculation at block end point (type 4), 479
with calculation at the contour (type 2), 479
with calculation in program test mode, SERUPRO
(type 5), 479
without calculation (type 1), 479
Block search SERUPRO
Conditions for axis functions, 522
Control REPOS with NC/PLC interface
signals, 501
Delayed approach of axis with REPOS
offset, 499
Gear stage change, 523
Initial setting, 525
Overlaid movements, 524
Path axes, 500
Prefer or ignore REPOS, 499
REPOS acknowledgements, 502
REPOS offset after an axis interchange, 504
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
REPOS offset with synchronous spindle
coupling, 505
Reposition positioning axes, 499
Set REPOS response, 497
Setpoint and actual value couplings, 519
Time sequence, 494
Updating the REPOS offset within the scope, 504
Block search with calculation
accumulated spindle functions, 484
Block-related limit (FOC), 312
BLSYNC, 568
BRISK, 247
BRISKA, 247
C
Cancel alarms, 39
Cascaded block search, 487
CFC, 1309
CFCIN, 1309
CFINE, 664
CFTCP, 1309
Channel
Configuration, 468
Current, 553
-display status, 534
Initial setting, 527
Properties, 467
-states, 534
Channel axes, 670
Channel state
Channel active, 463
Channel interrupted, 463
Channel reset, 463
Channel-specific NCK alarm is active, 38
Clamping monitoring, 86
Clearance angle, 1471
Closed-loop control, 357
CLRINT, 569
Coarse offset, 664
Collision detection, 1430
COMPCAD, 227
COMPCURV, 227
COMPOF, 229, 232
COMPON, 227
Computational resolution, 320
Concurrent axes, 856
Constant curvature, 1405
Constant cutting rate, 1312
Constant cutting speed setting, 1280
Constant speed, 1314
Constant tangent, 1405
1705
Index
Continuous-path mode, 184
Implicit, 187
Contour
sampling factor, 225
sampling time, 225
tolerance, 232
Contour error, 80
Control direction, 345
Control system response
at the end of the part program, 609
at the start of the part program, 609
during run-up, 609
When resetting:, 609
Controller enable, 45
Controller parameter set switchover, 70
Conversion of basic system, 329
Convex thread, 1326
Counter pulse, 649
CTRANS, 664
Current controller active, 49
Curvature, 224
Cut direction, 1470
Cutting edge
Position, 1470, 1474
Cutting edge number, 1373
Cutting edge position, 1393
relevant, 1402
Cutting edges
Center point, 1473
-reference point, 1473
-shape, 1472
Cyclic operation, 851
Cyclic signal exchange, 36
D
D functions, 382, 1367
D number structure
- flat (without tool management), 1382
D numbers
Allocation of free ..., 1372
D/DL function replacement, 620
Darken screen, 38
Data channel, faster, 57
Data exchange
with operator panel, 833
Data interface, 836
DB 31, ...
DBX60.6, 1292
DBX60.7, 1292
DBX83.1, 1215
1706
DB10
DBB4-7, 806
DBX103.0, 37, 1551
DBX103.5, 1552
DBX103.6, 1552
DBX103.7, 1552
DBX104.3, 870
DBX104.4, 870
DBX104.7, 37, 855, 1552, 1553
DBX106.1, 805, 807, 808, 1631
DBX107.7, 331
DBX108.3, 37, 1553
DBX108.5, 37, 1553
DBX108.6, 37, 1553
DBX108.7, 37, 1554
DBX109.0, 38, 1554
DBX109.5, 1555
DBX109.6, 38, 1555
DBX109.7, 38, 1555, 1556
DBX180.2, 1553
DBX56.1, 45, 530, 805, 806, 808, 1629, 1630
DBX56.2, 805, 807, 1630, 1631
DBX56.4, 63, 1551
DBX56.5, 63, 1551
DBX56.6, 63, 1551
DBX56.7, 63, 1551
DBX92.0, 854
DBX92.1, 854
DBX92.2, 854
DBX92.4, 854
DBX92.5, 854
DBX92.6, 854
DB11
DBX0.0, 462, 464, 1601
DBX0.1, 462, 1150, 1152, 1601
DBX0.2, 462, 1150, 1152, 1601
DBX0.4, 467, 1602
DBX0.5, 460, 1602
DBX0.6, 460, 1603
DBX0.7, 460, 533, 807, 1152, 1153, 1154, 1603
DBX07.7, 530
DBX1.0, 1603
DBX1.0 - DBX1.2, 463
DBX1.1, 1604
DBX1.2, 1150, 1152, 1604
DBX1.6, 587, 1604
DBX1.7, 587, 1605
DBX26.4, 465
DBX26.5, 465
DBX4.0, 1605
DBX4.0 - DBX4.2, 462
DBX4.1, 1605
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
DBX4.2, 1606
DBX4.4, 530
DBX46.4, 465
DBX46.5, 465
DBX5.0, 1606
DBX5.0 - DBX5.2, 463
DBX5.1, 1606
DBX5.2, 1606, 1607
DBX6.0, 463, 465, 1607
DBX6.1, 463, 1607
DBX6.2, 463, 1607
DBX6.3, 461, 805, 808, 1607, 1608
DBX6.4, 465
DBX6.5, 465
DBX6.7, 461, 1608
DBX7.0, 465, 1608
DBX7.0 - DBX7.2, 463
DBX7.1, 1608, 1609
DBX7.2, 1609
DB1600, 1081
DB19
DBB10, 1558
DBB13, 39
DBB15, 1560
DBB16, 39
DBB17, 39, 40, 1560
DBB22, 1562
DBB24, 1562
DBB26, 40
DBB27, 40
DBB6, 1558
DBB7, 1558
DBB8, 1558
DBX 0.3, 39
DBX 0.4, 39
DBX0.0, 38, 1556
DBX0.1, 38, 39, 1556
DBX0.2, 38, 39, 1557
DBX0.3, 1557
DBX0.4, 1557
DBX0.7, 39, 1558
DBX13.5, 1558, 1559
DBX13.6, 1559
DBX13.7, 1559
DBX14.0 - DBX14.6, 1559
DBX14.7, 1559
DBX16.6, 1560
DBX16.7, 1560
DBX20.1, 1561
DBX20.3, 39, 1557, 1561
DBX20.4, 39, 1557, 1562
DBX20.6, 1562
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
DBX20.7, 1558, 1562
DBX26.1, 1562, 1563
DBX26.2, 1563
DBX26.3, 1563
DBX26.5, 1563
DBX26.6, 1564
DBX26.7, 1564
DBX44.0, 1560
DBX45.0, 1561
DBX45.1, 1561
DBX45.2, 1561
DBX45.3, 1561
DB21
DBX378.1, 567
DB21, ...
D35.5, 531
DBB116 - DBB136, 416
DBB118, 1598
DBB129, 1598
DBB140 - DBB157, 1599
DBB140 - DBB190, 416
DBB158 - DBB193, 1599
DBB194, 1275
DBB194 - DBB206, 416, 1599, 1600
DBB2, 1610
DBB202, 1275
DBB208 - DBB271, 1621
DBB317.1, 1622
DBB376, 548, 1626
DBB4, 1336, 1653, 1654, 1655
DBB5, 1336, 1656, 1657, 1658
DBB58, 1596
DBB58 - DBB67, 415
DBB60 - DBB64, 1597
DBB60 - DBB65, 1596
DBB66 - DBB67, 1597
DBB68 - DBB112, 415
DBB68 - DBB97, 1597
DBB68ff., 1275
DBB98 - DBB115, 1598
DBX0.4, 474, 581, 1609
DBX0.5, 1609
DBX0.6, 476, 1341, 1652
DBX1.0, 1152, 1632
DBX1.1, 1587
DBX1.6, 480, 484, 1610
DBX1.7, 472, 530, 1610
DBX10.0 - DBX11.1, 141, 1587, 1588
DBX12.3, 1334, 1660
DBX16.3, 1334, 1660
DBX2.0, 477, 531
DBX2.0 - 7, 589
1707
Index
DBX20.3, 1334, 1660
DBX24.6, 476, 1341, 1661
DBX25.3, 1661
DBX25.7, 471
DBX26.0, 477
DBX272.0 - DBX273.1, 1588
DBX274.0 - DBX275.1, 1588
DBX276.0 - DBX277.1, 143, 1589
DBX278.0 - DBX279.1, 1589
DBX29.0, 1348
DBX29.0 - DBX29.3, 1662
DBX29.1, 1348
DBX29.2, 1348
DBX29.3, 1348
DBX30.5, 409, 1596
DBX31.0 - DBX31.2, 500, 501, 1613
DBX31.0-31.2, 506
DBX31.4, 499, 500, 501, 502, 1613
DBX31.6 - 7, 589
DBX317.1, 648
DBX318.0, 562, 1622, 1623
DBX318.1, 1623
DBX318.5, 409, 1600
DBX318.6, 1341
DBX319.0, 502, 1624
DBX319.1- DBX319.3, 501, 502, 503, 1624, 1625
DBX319.5, 502, 504, 1626
DBX32.3, 480, 1613, 1614
DBX32.4, 480, 482, 1614
DBX32.5, 1614, 1615
DBX32.6, 424, 480, 1615
DBX33.0, 1153, 1632
DBX33.4, 480, 1616
DBX33.5, 1616, 1617
DBX33.6, 1617
DBX33.7, 472, 1617
DBX35.0, 530, 533, 1617, 1618
DBX35.0 - DBX35.4, 567
DBX35.1, 533, 1618
DBX35.2, 533, 1618
DBX35.3, 474, 533, 1619
DBX35.4, 533, 1619
DBX35.5, 530, 534, 1619
DBX35.5 - DBX35.7, 567
DBX35.6, 530, 534, 1619
DBX35.7, 530, 533, 534, 1620
DBX36.2, 1151, 1153, 1633
DBX36.3, 1592
DBX36.4, 1620
DBX36.5, 1620
DBX36.6, 38, 1554, 1565
DBX36.7, 38, 484, 1554, 1566
1708
DBX37.6, 1620, 1621
DBX37.7, 1621
DBX378.0, 1626
DBX378.1, 1626
DBX384.0, 539, 1627
DBX4.3, 1335
DBX59.0 - DBX59.4, 1597
DBX6.0, 1334, 1659
DBX6.1, 564, 1209, 1240, 1611
DBX6.2, 40, 1565
DBX6.4, 1611
DBX6.6, 1336, 1659
DBX6.7, 1336, 1660
DBX7.0, 530, 1611
DBX7.1, 472, 532, 1611
DBX7.2, 530, 531, 1612
DBX7.3, 530, 531, 1612
DBX7.4, 530, 531, 1242, 1286, 1612
DBX7.5, 470
DBX7.7, 530, 533, 807, 1152, 1153, 1154, 1613
DBX8.0 - DBX9.1, 141, 1587
DB21, ... DB32.6, 483
DB21, ... DBX0.4, 482
DB21, ... DBX36.6, 484
DB21,
DBX378.0, 561
DB31, ...
DBB0, 1337, 1663, 1664, 1665
DBB1.5, 1188
DBB1.6, 1188
DBB19, 1338, 1668, 1669
DBB2.1, 1188
DBB60.4, 1174, 1183, 1185
DBB60.5, 1174, 1183, 1185
DBB68ff., 1275
DBB78 - DBB81, 1670
DBB86, 1648
DBB88, 1649
DBD 78, 1600
DBD86, 1600
DBD88, 1600
DBW134, 1650
DBW136, 1651
DBX1.0, 40, 49, 1566
DBX1.1, 300, 1594
DBX1.2, 297, 1594
DBX1.3, 41, 297, 1286, 1335, 1567, 1568, 1569
DBX1.4, 41, 43, 46, 86, 1177, 1178, 1569, 1570
DBX1.5, 44, 97, 113, 337, 1231
DBX1.5 - DBX1.6, 1570, 1571, 1572
DBX1.6, 44, 97, 113, 337, 1231
DBX1.7, 1337, 1338, 1666
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
DBX10.0, 497, 499, 500, 501, 502, 506, 1627
DBX102.5, 114, 116
DBX102.5/6, 1592
DBX102.6, 114, 116
DBX12.0, 103
DBX12.0 - DBX12.1, 1590
DBX12.1, 103
DBX12.2, 104
DBX12.2 - DBX12.3, 1590, 1591
DBX12.3, 104
DBX12.7, 1159, 1161, 1634
DBX132.0, 1649
DBX132.1, 1649
DBX132.4, 1649
DBX132.5, 1650
DBX138.4, 1651
DBX138.5, 1651
DBX16.0 - DBX16.2, 1205, 1236, 1241, 1242,
1243, 1247, 1255, 1259, 1637
DBX16.3, 1201, 1205, 1236, 1241, 1242, 1243,
1253, 1255, 1259, 1263, 1638
DBX16.4, 1231
DBX16.4 - DBX16.5, 1638
DBX16.5, 1231
DBX16.7, 1286, 1639
DBX17.0, 1262
DBX17.4 - DBX17.5, 1258, 1639
DBX17.6, 1268, 1639
DBX18.4, 1252, 1253, 1258, 1640
DBX18.5, 1205, 1236, 1252, 1253, 1254, 1258,
1286, 1641
DBX18.6, 1253
DBX18.6 - DBX18.7, 1642
DBX18.7, 1253
DBX2.1, 41, 43, 45, 113, 115, 297, 1177, 1178,
1258, 1573, 1574
DBX2.2, 47, 86, 498, 1204, 1212, 1242, 1286,
1574, 1575, 1636
DBX2.3, 86, 92, 1589
DBX2.4 - DBX2.7, 1166, 1633, 1634
DBX20.1, 1243, 1576
DBX21.0 - DBX21.4, 1576, 1586
DBX21.0-4, 50, 51
DBX21.5, 50, 1577
DBX21.6, 50, 1577
DBX21.7, 45, 50, 301, 1577, 1578
DBX28.7, 470
DBX3.0, 769, 1629
DBX3.1, 296, 299, 300, 1595
DBX3.2, 1348
DBX3.2 - DBX3.5, 1667
DBX3.3, 1348
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
DBX3.4, 1348
DBX3.5, 1348
DBX3.6, 1590
DBX3.7, 522
DBX30.0, 1277
DBX30.1, 1277
DBX30.2, 1277
DBX30.3, 1277
DBX30.4, 1277
DBX39.0, 146
DBX4.3, 1253, 1286, 1667, 1668
DBX4.6, 1150
DBX4.7, 1150
DBX60.0, 1642
DBX60.2, 98, 1290
DBX60.2 - DBX60.3, 1591
DBX60.3, 98, 1290
DBX60.4, 44, 113, 1151, 1152, 1153, 1154, 1166,
1172, 1173, 1176, 1177, 1178, 1290, 1634
DBX60.4 - DBX60.5, 1248, 1254, 1255, 1258,
1259
DBX60.5, 44, 113, 808, 1151, 1152, 1153, 1154,
1166, 1172, 1173, 1176, 1177, 1178, 1290, 1635
DBX60.6, 44, 85, 92, 1208, 1215, 1219, 1220,
1593
DBX60.7, 44, 85, 92, 1215, 1219, 1220, 1262,
1593
DBX61.0, 40, 48, 1578
DBX61.3, 41, 49, 1177, 1178, 1579
DBX61.4, 48, 49, 1177, 1204, 1205, 1210, 1236,
1284, 1579
DBX61.5, 45, 46, 49, 1203, 1254, 1258, 1580
DBX61.6, 46, 49, 1580
DBX61.7, 49, 1581
DBX62.2, 1312, 1670
DBX62.4, 296, 299, 300, 1595
DBX62.5, 300, 304, 1596
DBX64.6, 85, 419
DBX64.7, 85, 419
DBX68.0 - DBX68.3, 1278
DBX69.0, 49, 71
DBX69.0 - DBX69.2, 1247, 1581
DBX69.1, 49, 71
DBX69.2, 49, 71
DBX7.7, 1286
DBX70.0, 502, 503, 504, 1627
DBX70.1, 502, 503, 504, 1627, 1628
DBX70.2, 502, 503, 1628
DBX71.4, 1231, 1635
DBX71.5, 1231, 1635
DBX72.0, 501, 1628
DBX76.0, 49, 1581
1709
Index
DBX76.4, 502, 505, 1629
DBX82.0 - DBX82.2, 1236, 1238, 1239, 1241,
1251, 1254, 1258, 1261, 1643
DBX82.3, 1236, 1238, 1239, 1251, 1254, 1255,
1258, 1261, 1643
DBX83.0, 1644
DBX83.1, 1204, 1238, 1240, 1285, 1286, 1644,
1645
DBX83.2, 1238, 1240, 1285, 1645, 1646
DBX83.5, 1204, 1205, 1209, 1210, 1211, 1284,
1646
DBX83.7, 1646, 1647
DBX84.0, 1280
DBX84.3, 1647
DBX84.5, 1258, 1262, 1647
DBX84.6, 1201, 1251, 1254, 1258, 1261, 1262,
1647
DBX84.7, 1203, 1236, 1259, 1648
DBX85.5, 1220, 1648
DBX9.0, 47, 49, 70
DBX9.0 - DBX9.2, 1575
DBX9.1, 47, 49, 70
DBX9.2, 47, 49, 70
DBX9.3, 48, 1575
DBX92.1, 51, 1582
DBX93.0 - DBX93.2, 1582
DBX93.5, 37, 45, 51, 1553, 1583
DBX93.6, 50, 51, 1583
DBX93.7, 51, 1583
DBX94.0, 51, 1584
DBX94.1, 52, 1584
DBX94.2, 52, 1585
DBX94.3, 52, 1585
DBX94.4, 52, 1585
DBX94.5, 53, 1585, 1586
DBX94.6, 53, 1586
DB31, ... DBX1.1, 297
DB31, ... DBX62.5, 297
DB31,
DBX9.3, 1357
DB4500, 1082
DB9000 - DB9063, 1082
DC, 1273
Debug mode for SBL2, 582
Decoding single block, 473
Default passwords, 63
Delete distance-to-go, 40
DELTOOLENV, 1518
Description of a rotation, 1454
DIACYCOFA, 818
DIAM90, 817
DIAM90/DIAM90A[AX], 813
1710
DIAM90A, 818
DIAMCHAN, 818
DIAMCHANA, 818
DIAMCYCOF, 817
DIAMCYCOF/DIACYCOFA[AX], 813
Diameter programming
Axis-specific, 818
Channel-specific, 817
DIAMOF, 817
DIAMOFA, 818
DIAMON, 817
DIAMON/DIAMONA[AX], 812
DIAMONA, 818
DILF, 1322
Direct keys
Address, 870
Alarms, 870
OPs at Ethernet bus, 870
Direction vector, 1485
DISABLE, 569
DISC, 1425
Display block, structure (DIN), 595
Display resolution, 320
DISPLOF, 584
DISPLON, 584
DITE, 1318
DITS, 1318
DL functions, 382
DRIVE, 280
Drive ready, 37
Drive test travel enable, 40
Drive test travel request, 48
DRIVEA, 280
Drives in cyclic operation, 37
Dry run feedrate, 475, 1340
Dynamic response
adaptation, 213
Dynamic response adaptation, 359
DYNFINISH, 222
DYNNORM, 222
DYNPOS, 222
DYNROUGH, 222
DYNSEMIFIN, 222
E
EES, 603
Emergency stop
Acknowledgement, 807
Interface, 805
Sequence, 805
Emergency stop control elements, 804
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
ENABLE, 569
Encoder directly at the tool, 344
Encoder monitoring functions, 97
Encoder frequency, 97
End-of-motion criterion
For single axes, 1356
Ethernet
-connection, 868
Evaluation of individual wear components, 1514
Event-controlled program sequences, 545
Exact stop, 180
Implicit, 185
Exact-stop criteria, 181, 182
Execute external subprogram, 599
External program memory, 599
External work offset, 698
F
F functions, 383
FA, 1275, 1333
FA functions, 383
FB, 1352
FB1 RUN_UP (basic program, startup section), 914
FB10 Safety relay, 979
FB11 Brake test, 981
FB2 GET (Read NC Variable), 922
FB29 Signal recorder and data trigger
diagnostics, 987
FB3 PUT (write NC variables), 930
FB4 PI_SERV (PI services), 937
Available PI services, 941
FB5 GETGUD (read GUD variable), 965
FB7 PI_SERV2 (PI services), 973
FB9 MzuN (operator panel switchover), 974
FC10 AL_MSG, 1010
FC1005 AG_SEND, 1061
FC1006 AG_RECV, 1062
FC12 AUXFU, 1012
FC13 BHGDisp, 1013
FC17 Star-delta, 1017
FC18 SpinCtrl, 1020
FC19 MCP_IFM, 1030
FC2 GP_HP (Basic program, cyclic section), 990
FC21 Transfer, 1037
FC22 TM_DIR, 1044
FC24 MCP_IFM2, 1046
FC25 MCP_IFT, 1049
FC3 GP_PRAL (Basic program, diagnostics), 994
FC3 GP_PRAL (Basic program, interruptdriven
section), 992
FC6 TM_TRANS2, 996
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
FC7 TM_REV, 997
FC8 TM_TRANS, 1000
FC9 ASUB, 1007
FCUB, 1349
Feedrate
for chamfer/rounding, 1350
Inverse-time (G93), 1310
Linear (G94), 1311
-override, 1335
Path feedrate F, 1308
Revolutional (G95), 1311
Tooth, 1311
-types, 1307
types (G93, G94, G95), 1310
Feedrate disable
Channel-specific, 1334
Feedrate override
Programmable, 1339
Feedrates
Dry run feedrate, 1340
Feedrate disable, 1334
Feedrate/spindle stop, 1334
FGROUP, 671, 674
FIFO Buffer, 599
Fine interpolation, 358
Fine offset, 664
Firmware, 1079
Fixed feedrates, 1347
FL, 1309
Flat D number structure, 1382
FLIN, 1349
FNORM, 1349
FOC, 294
FOCOF, 294
FOCON, 294
Follow up active, 49
FPO, 1349
FPRAOF, 1274
FPRAON, 1274
FRAME, 670
Frame change, 1445
Frame rotations, 666
in the direction of the tool, 775, 776
with solid angles, 773
FRC, 1350
FRCM, 1350
Free-form surface
mode, 178
Free-form surfaces, 225
mode, 224
Function interface, 837
1711
Index
Function overview of inch/metric switchover
Data backup, 332
Synchronized actions, 327
Function selection (via operator panel front or
PLC), 588
FXS, 294
FXS-REPOS, 305
FXST, 294
FXSW, 294
FZ, 1311
G
G groups, 527
G0 tolerance factor, 235
G25, 108, 1274
G26, 108, 1274
G33, 1317
G331, 1331
G332, 1331
G335, 1326
G336, 1326
G40, 1403
G41, 1403
G42, 1403
G450/G451, 1424
G451, 1426
G460, 1439
G461, 1365, 1440
G462, 1365, 1441
G58, 664
G59, 664
G60, 180
G601, 182
G602, 182
G603, 182
G63, 1332
G64, 187
G642, 192
G643, 192
G644, 195
G645, 199
G74, 1154
G9, 180
G91 extension, 1481
Zero point offset, 1483
G93, 1310
G94, 1311
G95, 1311
G96, 1312
G961, 1312
G97, 1314
1712
G971, 1314
Gear stage
in M70, 1264
Manual entry, 1241
Specification by PLC, 1240
Gear stage change
Automatic, 1293
Gear stages, 1232
Geometry axes, 670, 696
GETTCOR, 1521
Compatibility, 1526
Orientable toolholder, 1524
GETTENV, 1520
GOTOS, 540
Grouping together auxiliary functions, 400
H
H functions, 380
Hardware interrupt, 853
Hardware limit switch, 103
Helical interpolation, 674
Helix interpolation, 674
High-speed data channel, 57
HMI - CPU at OPI ready, 37
HMI monitor, 893
Holder angle, 1471
I
IC, 1273
ID check, 649
Implicit continuous-path mode, 187
Implicit exact stop, 185
Implicit preprocessing stop, 517
Incrementally programmed compensation
values, 1481
Input resolution, 320
Interface
MCP/PLC and HHU/PLC, 835
PLC/HMI, 835, 842
PLC/HMI messages, 843
PLC/MCP, 847
PLC/NCK, 836
Interface signals
Acknowledge emergency stop, 1630, 1631
Acknowledge fixed stop reached, 1594
Action block active, 1613, 1614
Activate associated M1, 1596
Activate channel-specific protection zone, 1587,
1588
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
Activate dry run feed, 1652
Activate fixed feedrate 1 - 4 for machine
axes, 1667
Activate fixed feedrate 1 - 4 for path/geometry
axes, 1662
Activate M01, 1609
Activate machine-specific protection zone, 1587
Activate program test, 1610
Activate referencing, 1632
Activate single block, 1609
Activate skip block, 1610
Activate travel to fixed stop, 1595
Active, 1563
Active G function of groups 1 to 60, 1621
Active JOG mode, 1607
Active machine function REF, 1609
Active machine function TEACH IN, 1608
Active mode AUTOMATIC, 1607
Active mode MDA, 1607
Active or passive file system, 1559, 1560
Active REPOS machine function, 1608, 1609
Active spindle control mode, 1648
Active spindle mode oscillation mode, 1647
Active spindle positioning mode, 1647
Actual direction of rotation clockwise, 1646, 1647
Actual gear stage A to C, 1637
Actual values in WCS, 1558
Air temperature alarm, 1555
All axes stationary, 1592
All axes that have to be referenced are
referenced, 1633
All channels in the reset state, 1608
Analog measured value of the clamping
system, 1651
Analog spindle 1, utilization in percent, 1558
Analog spindle 2, utilization in percent, 1558
Approach block active, 1614
Associated M01/M00 active, 1600
ASUB is active, 1626
ASUB is stopped, 1622, 1623
AT box ready, 1552
AUTOMATIC mode, 1601
Axis/spindle disable, 1567, 1568, 1569
Axis/spindle stationary, 1579
Block search active, 1616
Block search via program test is active, 1623
Cancel alarm deleted, 1561
Change gear, 1643
Channel is ready, 1620
Channel number of the machine control panel to
HMI, 1558
Channel status active, 1619
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Channel status interrupted, 1619
Channel status reset, 1620
Channel-specific NCK alarm is active, 1565
Channel-specific protection zone
preactivated, 1588
Channel-specific protection zone violated, 1589
Clamping in progress, 1589
Clear cancel alarms, 1557
Clear recall alarms, 1557
Control program branching, 1627
Controller enable, 1573, 1574
Controller parameter set switchover
(request), 1575
Current controller active, 1581
D function 1, 1598
Darken screen, 1556
Delete distance-to-go (axis-specific) / spindle
reset, 1574, 1575
Delete distance-to-go (channel-specific), 1565
Delete S value, 1639
Disable parameter set switchover commands from
NC, 1575
Displayed channel number from HMI, 1562
Drive ready, 1583
Drive test travel enable, 1566
Drive test travel request, 1578
Drives in cyclic operation, 1553
Drives ready, 1553
Dry run feedrate selected, 1661
Emergency stop, 1629, 1630
Emergency stop active, 1631
Enable protection zones, 1587
Enable travel to fixed stop, 1595
Encoder limit frequency exceeded, 1591
Error, 1563
Extended address F functions 1 to 6, 1599
Extended address H functions 1 to 3, 1599
Extended address M functions 1 to 5, 1597
Extended address S functions 1 to 3, 1598
External zero offset, 1629
F auxiliary function for positioning axis, 1600
F function for positioning axis, 1670
FC9 Out\ Active, 1561
FC9 Out\ Done, 1561
FC9 Out\ Error, 1561
FC9 Out\ StartError, 1561
Feed stop (Geometry axis 1 to 3), 1660
Feed stop / spindle stop (axis-specific), 1667,
1668
Feedrate disable, 1659
Feedrate override, 1653, 1654, 1655
1713
Index
Feedrate override (axis-specific), 1663, 1664,
1665
Feedrate override active, 1660
Feedrate override selected for rapid
traverse, 1661
Fixed stop reached, 1596
Follow up active, 1579
Follow-up mode, 1569, 1570
Gear is changed over, 1638
Hardware limit switches plus and minus, 1590
HMI battery alarm, 1552
HMI CPU1 Ready, 1553
HMI temperature limit, 1552
Interrupt processing active, 1620
Invert M3/M4, 1639
JOG mode, 1601
Key disable, 1557
Key-operated switch position, 1551
Last action block active, 1615
Load, 1564
Load part program, 1559
Lubrication pulse, 1581
M auxiliary function for spindle, 1600
M fct. 1-5 not decoded, 1597
M function for spindle, 1648
M(d) less than M(dx), 1585
M, S, T, D, H, F functions Additional info "Quick"
(quick acknowledgment), 1597
M, S, T, D, H, F functions Modification, 1596
M00/M01 active, 1614, 1615
M02/M30 active, 1616, 1617
Machine function REF, 1604
Machine function REPOS, 1604
Machine function TEACH IN, 1603
Machine-related protection zone
preactivated, 1588
Machine-related protection zone violated, 1589
MDA mode, 1601
Mode change disable, 1560, 1602
Mode group ready, 1607, 1608
Mode group reset, 1603
Mode group stop, 1602
Mode group stop axes plus spindles, 1603
Motor being selected, 1577
Motor/drive data set: Display interface, 1582
Motor/drive data set: Formatting interface, 1586
Motor/drive data set: Request interface, 1576
n(act) equals n(set), 1586
n(act) less than n(min), 1585
n(act) less than n(x), 1585, 1586
NC Ready, 1554
NC Start, 1611
1714
NC Start disable, 1611
NC Stop, 1612
NC Stop at block limit, 1612
NC Stop axes plus spindles, 1612
NCK alarm is active, 1554
NCK alarm with processing stop present, 1566
NCK battery alarm, 1555, 1556
NCK CPU Ready, 1552, 1553
NCU heat sink temperature alarm, 1555
OK, 1562, 1563
Oscillation controlled by the PLC, 1640
Oscillation enable, 1641
Override active, 1666
Part program selection, 1559
Path axis, 1629
PLC action completed, 1610
PLC hard keys, 1558
PLC index, 1559, 1560
PLC line offset, 1560
POS_RESTORED 1, 1635
POS_RESTORED2, 1635
Position controller active, 1580
Position measuring system 1/2 activated, 1592
Position measuring systems 1 and 2, 1570, 1571,
1572
Position reached with exact stop coarse, 1593
Position reached with exact stop fine, 1593
ProgEventDisplay, 1626
Program level abort, 1611
Program status aborted, 1619
Program status interrupted, 1619
Program status running, 1617, 1618
Program status stopped, 1618
Program status wait, 1618
Program test active, 1617
Pulse enable, 1577, 1578
Pulses enabled, 1583
Ramp-function generator disable, 1576
Ramp-function generator disable active, 1582
Rapid traverse override, 1656, 1657, 1658
Rapid traverse override active, 1659
Read-in disable, 1611
Read-in enable is ignored, 1620, 1621
Recall alarm deleted, 1562
Reference point approach delay, 1634
Reference point value 1 to 4, 1633, 1634
Referenced/synchronized 1, 1634
Referenced/synchronized 2, 1635
Referencing active, 1632
Remote diagnosis active, 1551
Repos DEFERAL Chan, 1626
REPOS Delay Ackn, 1628
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
REPOS offset, 1627
REPOS offset valid, 1627, 1628
Repos Path Mode Ackn0-2, 1624, 1625
REPOSDELAY, 1627, 1628
REPOSMODEEDGEACKN, 1624
Reset, 1613
Re-synchronizing spindle when positioning 1 and
2, 1639
Resynchronizing spindles 1 and 2, 1638
Revolutional feed rate active, 1670
Rigid tapping active, 1647
Run-up completed, 1585
S auxiliary function for spindle, 1600
S function for spindle, 1649
Screen bright, 1556
Screen is dark, 1561
Second software limit switch plus or minus, 1590,
1591
Selected JOG mode, 1606
Selected machine function REF, 1606, 1607
Selected mode AUTOMATIC, 1605
Selected mode MDA, 1605
Selected mode TEACH IN, 1606
Selection, 1564
Sensor for fixed stop, 1594
Sensor S1 available (clamped state), 1649
Sensor S4 available (piston position), 1649
Sensor S4, piston end position, 1651
Sensor S5 available (angular position of the motor
shaft), 1650
Sensor S5, angular position of the motor
shaft, 1651
Sensors available, 1649
Setpoint direction of rotation, counter.clockwise/
setpoint direction of rotation, clockwise, 1642
Setpoint gear stage A to C, 1643
Setpoint speed increased, 1645, 1646
Setpoint speed limited, 1644, 1645
Simulation active, 1562
Single block type A, 1605
Single block type B, 1604
Speed controller active, 1580
Speed controller integrator disable, 1577
Speed controller integrator disabled, 1583
Speed limit exceeded, 1644
Spindle in position, 1648
Spindle in setpoint range, 1646
Spindle override, 1668, 1669
Spindle reset/Delete distancetogo, 1636
Spindle/no axis, 1642
State value is generated, speed limitation p5043
is active, 1650
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Status of the clamping system, 1650
Still ASUB is active, 1626
Stop at the end of block with SBL is
suppressed, 1621
Switch over MCS/WCS, 1562
Synchronized Actions (S5, H2)|Signals for
dynamic M functions: M0 - M99, 1599, 1600
T function 1, 1598
Transformation active, 1617
Unload part program, 1558, 1559
Unloading, 1563
Velocity/spindle speed limitation, 1590
Workpiece setpoint reached, 1622
Intermediate gear, 343, 1249
Interpolator end, 181
Interpolatory axis grouping, 46
Interrupt
-lock, 569
routine, 559
signal, 559
Interrupt routine
End, 561
Inverse-time feedrate (G93), 1310
IR, 1326
J
Jerk
-increase, velocity-dependent jerk, 268
Jerk limitation, 197
Jogging
during interruption of a JOG ASUB, 565
in the mode type AUTOMATIC, 464
JR, 1326
K
Key disable, 39, 884
Key switch, 63
Kinematic transformation, 696
Kinematic type, 1446
KONT, 1404
KONTC, 1404
KONTT, 1404
KR, 1326
L
LENTOAX, 1531
LFOF, 1322
LFON, 1322
1715
Index
LFPOS, 1322
LFTXT, 1322
LFWP, 1322
LIFTFAST, 568
Limit
velocity, for path axes, 1309
Limited toolholder orientation, 1445
Limit-switch monitoring, 103
LIMS, 1274
Linear feedrate (G94), 1311
Linear signal distortions, 80
Loader axes, 671
Lockable data areas, 64
LookAhead, 200
Selection and deselection, 202
Lubrication pulse, 49
M
M decoding acc. to list, 860
M function replacement, 618
M1, 443
M17, 443
M19, 1207, 1273
M2, 443
M3, 1273
M30, 443
M4, 1273
M40, 1275, 1293
M41, 1275
M42, 1275
M43, 1275
M44, 1275
M45, 1275
M5, 1273
M70, 1273
Machine axes, 669
Machine coordinate system (MCS), 39, 663, 685
Machine kinematics, 1446
Machine tool axes, 671
Machine with rotary tool, 1450
Machine with rotary workpiece, 1451
Machine zero, 1149
Machine zero M, 678
Machines with extended kinematics, 1452
Machining in direction of tool orientation, 1483
Main axes, 672
Main run, 467
-axes, 1355
Manual switchover of the basic system
General, 329
1716
Input resolution and computational
resolution, 332
JOG and handwheel factor, 332
Reference point, 331
System data, 330
Tool data, 331
Master-slave changeover with G96, G961, 1316
MCP identification, 871
MCS, 39
Md < Mdx, 52
MD10000, 662
MD10010, 458
MD10050, 1189
MD10070, 1189
MD10125, 608
MD10131, 53
MD10192, 1250
MD10200, 318, 319, 321
MD10210, 318, 319, 321, 353, 355
MD10220, 323
MD10230, 323
MD10240, 325, 326, 330, 331, 332, 333, 1281, 1358
MD10260, 329, 332, 333
MD10270, 331
MD10290, 331
MD10292, 331
MD10366, 1084
MD10368, 1084
MD10600, 708, 775
MD10602, 740, 741, 743, 751, 755
MD10610, 666, 737
MD10612, 737
MD10615, 783
MD10618, 143
MD10651, 1326
MD10680, 226
MD10682, 226
MD10702, 475, 482, 567, 581
MD10704, 1341
MD10707, 494
MD10708, 494
MD10710, 110, 1315
MD10712, 223
MD10713, 417
MD10714, 396, 619
MD10715, 618
MD10716, 618
MD10719, 621
MD10735, 464
MD10804, 619
MD10806, 620
MD10814, 620
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
MD1103, 307
MD1104, 307
MD1105, 307
MD11100, 406
MD11110, 412
MD11220, 333
MD11300, 1150
MD11346, 1381
MD11410, 1236, 1318, 1431
MD11411, 471
MD11450, 423, 484, 485, 487, 496, 521
MD11470, 497, 498, 499, 523
MD11550, 1332
MD11600, 564
MD11602, 563, 566
MD11604, 521, 563, 566
MD11610, 571
MD11620, 549
MD11625, 608
MD11626, 608
MD12000, 1337
MD12010, 1338
MD12020, 1336
MD12030, 203, 204, 1336
MD12040, 1336
MD12050, 1336
MD12060, 1338
MD12070, 1339
MD12080, 1339
MD12082, 1337
MD12090, 1332
MD12100, 203, 204, 1339
MD12200, 1348
MD12202, 1348
MD12204, 1348
MD1230/1231, 307
MD14504, 864
MD14506, 864
MD14508, 864
MD15700, 630
MD15702, 630
MD17200, 593
MD18080, 1498
MD18088, 1447, 1461, 1465
MD18100, 1368, 1383
MD18102, 1375, 1382, 1383
MD18104, 1517
MD18105, 1373, 1374, 1375, 1376
MD18106, 1373, 1374
MD18108, 1502
MD18112, 1503, 1516
MD18114, 1485
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
MD18116, 1518, 1519, 1520, 1521, 1527
MD18150, 57
MD18190, 132, 144
MD18360, 229, 599
MD18362, 600
MD18600, 706
MD18601, 782
MD18602, 729, 731, 732, 734, 782
MD18960, 247, 262
MD20000, 468
MD20050, 613, 662, 761
MD20060, 662
MD20070, 662
MD20080, 662, 674
MD20090, 442, 1272, 1386
MD20092, 1270
MD20094, 395, 620
MD20095, 395, 620
MD20096, 1370, 1371, 1372
MD20100, 814, 1314, 1316, 1524
MD20105, 521, 565, 570
MD20106, 486, 550, 581
MD20107, 486, 551
MD20108, 549
MD20109, 550
MD20110, 329, 563, 783, 784, 785, 791, 816, 1366,
1385, 1386, 1467, 1482, 1507
MD20112, 495, 563, 613, 786, 787, 791, 816, 1385,
1467
MD20115, 521, 565, 570
MD20116, 566
MD20117, 567, 581
MD20118, 613
MD20120, 613, 1385, 1466
MD20121, 613, 1366, 1385
MD20124, 442
MD20125, 1476
MD20126, 1466, 1476
MD20127, 1476
MD20130, 613, 1385
MD20140, 613
MD20144, 615
MD20150, 110, 238, 247, 262, 280, 281, 325, 330,
468, 527, 613, 721, 785, 786, 816, 1358
MD20152, 613, 785, 816
MD20170, 228
MD20172, 228, 1349
MD20180, 1458
MD20184, 778, 779, 1460
MD20188, 1454
MD20190, 1454
MD20191, 567
1717
Index
MD20192, 551
MD20193, 552
MD20194, 563, 575
MD20200, 1351
MD20201, 1351
MD20202, 1420
MD20204, 1413
MD20210, 1426
MD20220, 1425
MD20230, 1427
MD20240, 1429, 1430
MD20250, 1404
MD20252, 1436
MD20256, 1438
MD20270, 382, 1367, 1378, 1383, 1385, 1507, 1508
MD20272, 382, 1502, 1507, 1508
MD20310, 508
MD20360, 815, 1381, 1516, 1524, 1530, 1546
MD20390, 1494, 1496, 1497
MD20392, 1495
MD20400, 203
MD20430, 204
MD20440, 204
MD20443, 207
MD20450, 205
MD20460, 211, 212
MD20462, 211
MD20465, 215
MD20480, 193, 195, 232
MD20482, 228, 232, 236
MD20484, 228
MD20485, 228
MD20486, 228
MD20487, 228
MD20488, 230
MD20490, 187, 229
MD20500, 248, 249
MD20550, 183
MD20552, 183
MD20560, 236
MD20600, 261
MD20602, 257, 258
MD20606, 225
MD20610, 251
MD20624, 816
MD20700, 1184
MD20750, 1314
MD20800, 379, 443, 444
MD20850, 1207
MD21015, 55
MD21016, 56
MD21020, 107
1718
MD21110, 776
MD21158, 283
MD21159, 283
MD21166, 282
MD21168, 283
MD21202, 567
MD21220, 1343
MD21230, 1343
MD21330, 613
MD22000, 406, 1207
MD22010, 407, 1207
MD22020, 407, 1207
MD22030, 407, 1207
MD22035, 408
MD22040, 399, 406
MD22050, 400
MD22060, 400
MD22070, 401
MD22080, 401, 631
MD22100, 416
MD22110, 381, 384
MD22200, 410
MD22210, 380, 410
MD22220, 381, 410
MD22230, 381, 410
MD22240, 383, 410, 1334
MD22250, 382, 410
MD22252, 383, 410
MD22254, 395, 408, 620
MD22256, 395, 408, 620
MD22410, 1334, 1340, 1358
MD22510, 527, 1065
MD22530, 438, 1467
MD22532, 438
MD22534, 438
MD22550, 621, 1366, 1378, 1379, 1383, 1385
MD22560, 395, 442, 620, 1366, 1385, 1386
MD22562, 1380, 1381
MD22600, 506
MD22620, 525
MD24004, 783
MD24006, 699, 721, 784
MD24007, 786
MD24008, 783
MD24010, 736
MD24020, 727
MD24040, 760, 761
MD24100, 1496
MD24110, 1496
MD24120, 1496
MD24550, 1525
MD24558, 1525
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
MD24560, 1525
MD24570, 1496
MD24572, 1497
MD24650, 1525
MD24658, 1525
MD24660, 1525
MD24805, 750
MD24855, 750, 751
MD24905, 744
MD24955, 744
MD25574, 1497
MD26008, 396, 620
MD26012, 620
MD27100, 816
MD27800, 469
MD27850, 645
MD27860, 539, 645
MD27880, 540, 648
MD27882, 649
MD28060, 229, 590, 593
MD28070, 229, 230
MD28082, 721, 738, 769, 770, 779, 781, 1460
MD28085, 1368, 1461, 1465
MD28150, 59
MD28200, 132, 144
MD28210, 144
MD28400, 593
MD28520, 229
MD28530, 57, 194, 229
MD28533, 207
MD28540, 229
MD28560, 787
MD28600, 111
MD28610, 225
MD30100, 339
MD30110, 339
MD30120, 339
MD30130, 338, 339
MD30200, 337, 347
MD30210, 339, 348
MD30220, 340, 348
MD30230, 340, 348
MD30240, 338, 340, 348
MD30242, 338, 341, 348, 1175
MD30244, 348
MD30250, 348, 1180
MD30260, 348
MD30270, 348
MD30300, 347, 349, 352, 355, 1358
MD30310, 104, 347
MD30320, 347
MD30330, 347, 1173
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
MD30340, 347, 1174
MD30350, 338
MD30455, 1174, 1274
MD30460, 814, 818
MD30550, 1151
MD31000, 349, 352, 355
MD31010, 349
MD31020, 349, 353, 355, 1189
MD31025, 353
MD31030, 159, 347, 349, 353
MD31040, 349, 353, 355, 370, 1217, 1258
MD31044, 344, 349, 1249
MD31046, 116
MD31050, 71, 159, 343, 349, 350, 353, 355, 1248,
1254
MD31060, 71, 159, 343, 349, 350, 353, 355, 1248
MD31064, 343, 347, 1249
MD31066, 343, 347, 1249
MD31070, 159, 349, 353, 355
MD31080, 159, 349, 353, 355
MD31090, 332
MD31122, 1230
MD31123, 1230
MD32000, 81, 279, 317, 347, 1290, 1309
MD32040, 1312
MD32050, 1312
MD32060, 523, 1354
MD32074, 783
MD32100, 345
MD32200, 48, 70, 81, 84, 358
MD32210, 372
MD32220, 372
MD32250, 159, 346
MD32260, 159
MD32300, 81, 246, 255, 256, 257, 258, 279, 1354
MD32301, 282
MD32310, 187, 229, 256, 257
MD32320, 1355
MD32400, 272, 366
MD32402, 273, 366
MD32410, 273, 366
MD32420, 248, 262, 263
MD32430, 262
MD32431, 261, 267
MD32432, 268
MD32433, 256
MD32434, 255, 256, 267
MD32435, 267
MD32436, 282
MD32439, 269
MD32440, 211, 215
MD32610, 81
1719
Index
MD32620, 363
MD32630, 363
MD32640, 365
MD32711, 331
MD32750, 1494, 1496, 1497
MD32800, 71, 81
MD32810, 71, 81, 159, 363
MD32890, 368, 369
MD32900, 359
MD32910, 71, 359, 364
MD32950, 370
MD33050, 49
MD33100, 193, 226, 228, 232
MD33120, 199, 232
MD34000, 1163, 1173
MD34010, 1150, 1159, 1161, 1162, 1171, 1182
MD34020, 1159, 1162
MD34040, 1161, 1162, 1163, 1171, 1230
MD34050, 1161
MD34060, 1164, 1172, 1173, 1218
MD34070, 1165, 1172
MD34080, 345, 1165
MD34090, 345, 348, 1165, 1168, 1169, 1181, 1183,
1184
MD34092, 1163
MD34093, 1164
MD34100, 1166, 1172, 1182, 1184
MD34102, 1174, 1175
MD34104, 1177
MD34110, 1152
MD34200, 1169, 1175, 1177, 1182, 1185, 1230
MD34210, 1179, 1180, 1181, 1182, 1183, 1184
MD34300, 1171
MD34320, 348, 349, 1168
MD34330, 1186
MD34990, 1309
MD35000, 662, 716, 1269, 1275
MD35010, 1233, 1237, 1251, 1254, 1258, 1263
MD35012, 1232, 1258, 1261
MD35014, 1264
MD35020, 1227
MD35030, 1227
MD35035, 1208, 1265, 1267
MD35040, 1204
MD35090, 1232
MD35092, 1237
MD3510, 1262
MD35100, 317, 1288
MD35110, 1232, 1293
MD35112, 1237
MD35120, 1232, 1293
MD35122, 1237
1720
MD35130, 71, 1232, 1238, 1240, 1286
MD35135, 1232
MD35140, 1232, 1238, 1240, 1285, 1315, 1317
MD35150, 1161, 1209, 1211, 1285, 1289
MD35200, 1203, 1211, 1214, 1218, 1232, 1262
MD35210, 1203, 1211, 1214, 1215, 1218, 1219,
1232, 1262
MD35212, 1237
MD35220, 276, 279
MD35230, 276, 279
MD35240, 195, 279
MD35242, 274
MD35300, 1189, 1211, 1213, 1214, 1218, 1219,
1232, 1262, 1275
MD35310, 1233, 1258, 1261
MD35350, 1218, 1261
MD35400, 1023, 1252, 1253
MD35410, 1251, 1254
MD35430, 1252
MD35440, 1252
MD35450, 1252
MD35500, 1205, 1209
MD35510, 1209, 1284
MD35550, 1233, 1238
MD35590, 48, 70, 1233, 1247
MD36000, 181, 1216, 1219, 1220, 1291, 1292
MD36010, 83, 84, 181, 1215, 1219, 1220, 1291,
1292
MD36012, 85, 182
MD36020, 84
MD36030, 85
MD36040, 85, 313
MD36042, 313
MD36050, 86, 92
MD36052, 86, 88, 89, 91
MD36060, 48, 49, 1204, 1210, 1284
MD36100, 104
MD36110, 104
MD36120, 104
MD36130, 104
MD36200, 94
MD36210, 93, 346
MD36220, 94
MD36300, 97, 1188, 1189
MD36302, 1213
MD36310, 96, 98
MD36312, 99
MD36400, 81
MD36500, 337
MD36510, 337
MD36600, 103
MD36610, 46, 82, 84, 85, 86, 94, 95, 98, 100, 805
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
MD36620, 46, 806
MD37002, 301
MD37010, 296
MD37012, 301
MD37020, 298, 308
MD37030, 297
MD37040, 297
MD37060, 296, 299, 300
MD37080, 312
MD51029, 589
MD9004, 321, 595
MD9006, 39, 1556
MD9010, 595
MD9011, 321, 595
MD9424, 595, 702
MD9440, 790
Measuring systems, 337, 1149
Memory requirements
of basic PLC program, 897
Message signals in DB2, 1066
Mirroring
Frames, 716
Retraction direction (lift fast), 567
Modal activation (FOCON/FOCOF), 312
Mode
AUTOMATIC, 461
JOG, 462
JOG in AUTOMATIC, 461
MDI, 462
Mode change
from/to the AUTOMATIC, JOG, MDA modes, 467
Mode group, 457, 851
Modes
change, 466
-change, 461
-cross-mode synchronized actions, 462
of the mode group, 461
Priorities, 462
Motor/load gear, 343
MTL, 620
Multiinstance DB, 1072
Multitool, 962
N
nact, 52
NC
- Languages, 527
-Failure, 855
NC Start, 529
-Read/write variables, 857
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
NC VAR selector, 903
Input options, 906
Startup, installation, 914
NC/PLC interface, 468
NCK alarm is active, 38
NCK alarm with processing stop, 38
NCK battery alarm, 38
NCK CPU ready, 37
Negative address extension, 444
Nonacknowledged gear stage change, 1250
Non-linear signal distortions, 80
NORM, 1404
O
Offset number, 1373
Operating modes
Interlocks, 466
monitoring functions, 466
Operating states, 463
Orientation, 132
tolerance, 232
Output
Behavior of an auxiliary function, 401
-counter, 427
Sequence, 427
Overload factor, 187
Override
in G331/332, 1331
OVR, 1340
OVRA, 1275, 1340
P
Package
-counter, 427
Parameter set
For axes, 362
Toolholder with orientation capability, 1446
Parking, 113, 1153
Part program
Channel enable, 530
Selection, 529
Skipping of specific part program blocks, 477
starting, 537
Password, 62
resetting, 62
setting, 62
Path
feedrate F, 1308
velocity, maximum, 1309
1721
Index
Path axes, 671
Path criterion, 190
Path feedrate, 318
PCOF, 1274
Phase filter, 368
Physical quantities, 322
PLC
- Read/write variable, 57
-axes, 672
Basic program functions, 823
HMI monitor, 893
Key disable, 884
Program list, 881
-Versions, 823
POINTER, 1067
POINTER in FB, 1069
POINTER in FC, 1068
POLF, 1322
POLFMASK, 1322
POLFMLIN, 1322
Polynomials, intersection process, 1437
POS, 671, 672
POSA, 671, 672
Position control loop, 357
Position controller active, 49
Position measuring system, 44
Position of coordinate systems and reference
points, 680
Positioning accuracy, 320
Positioning axes, 319, 671
Preprocessing, 467
PRESETON, 686, 1153
PRESETONS, 691
Processing time, 644
PROFIBUS
-connection, 872
PROFIBUS connection, 873
PROFIBUS diagnostics, 854
PROFINET
-connection, 875
Program
-action, 536
-display status, 533
Program test, 471
Runtimes, 641
-states, 533
Program control, interface signals, 588
Program display modes, 592
Program execution without setpoint outputs, 471
Program operation, 526
Initial setting, 527
Program section repetition, 540
1722
Programming device
Hardware requirements, 900
Protection level
for user ASUB, 572
Protection levels, 60
programmable, 64
Protection zones, 79, 130
Data storage, 139
Definition as per partprogram, 135
Definition with system variables, 138
Example, activation, 171
Example, definition, 162
Restrictions, 148
R
Radius-related data, 813
Rapid traverse
-override, 1336
Reaching simulated target point for LEAD with
JOG, 520
Recall alarms, 39
Reference axis
for G96 / G961 / G962, 811
Reference point R, 678
Reference points, 678
Referencing
in rotary absolute encoders, 1186
with incremental measurement system, 1157
Referencing methods, 1149
Relevant standards, 803
Remote diagnostics, 37
Replacement subprogram, 617
replacement zero mark, 1186
REPOS offset, 304
Repositioning neutral axes after SERUPRO, 499
Reset
behavior, 609
RESET
Command, 533
Residual time
For a workpiece, 643
Retraction
Direction for thread cutting, 1323
Revolutional feedrate (G95), 1311
Rotary axes, 671
Rotary axis parameters, 1446
Rotation component, 771
Rounding, 188
Runtimes
Program, 641
Run-up completed, 52
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
S
S functions, 380
S..., 1273
SAVE, 569
SBLOF, 582
SBLON, 582
SCC, 817
SCPARA, 1357
Screen bright, 38
SD41100, 1312
SD41200, 1268
SD42010, 1319
SD42100, 475, 1341
SD42101, 475, 1342
SD42200, 582
SD42440, 666, 1482
SD42442, 1482
SD42444, 481
SD42465, 193, 232
SD42466, 193, 232
SD42470, 228
SD42475, 228
SD42476, 228
SD42477, 228
SD42480, 1437
SD42496, 1433
SD42500, 251, 252
SD42502, 252
SD42510, 263, 264
SD42512, 264
SD42600, 1282, 1312
SD42676, 232
SD42678, 232
SD42700, 601
SD42750, 592
SD42800, 1269, 1270
SD42900, 1364, 1488, 1489, 1509, 1516, 1533
SD42910, 1486, 1488, 1489, 1509, 1514, 1515,
1516
SD42920, 1488, 1490, 1509, 1514, 1515, 1516
SD42930, 1488, 1490, 1509, 1514, 1516, 1545
SD42935, 1489, 1510, 1515, 1516, 1535, 1540
SD42940, 1478, 1486, 1488, 1491, 1509, 1514,
1517
SD42950, 1469, 1486, 1488, 1509, 1514, 1517
SD42960, 1364, 1489, 1495, 1496
SD42974, 1454
SD42980, 778
SD42984, 1478
SD42990, 590
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
SD43200, 1279
SD43202, 1279, 1280
SD43206, 1279, 1281
SD43210, 1315, 1317
SD43220, 1315
SD43230, 1315
SD43235, 1289
SD43240, 1207, 1273, 1281
SD43250, 1207, 1282
SD43300, 1282, 1312
SD43400, 109
SD43410, 109
SD43420, 108
SD43430, 108
SD43500, 307
SD43510, 307, 308
SD43520, 308
Secant error, 226
Selecting the cutting edge when changing tool, 1367
Selfacting SERUPRO, 511
SERUPRO
Automatic interrupt pointer, 514
-end ASUB, 431
Programmable interrupt pointer, 512
SERUPRO approach
control from the PLC, 501
SERUPRO ASUB, 304
Special features, 508
serurpoMasterChan, 511
Servo gain factor (Kv), 358
SETINT, 559, 568
SETMS, 1272
Setpoint output, 336
Setpoint system, 336
SETTCOR, 1526
Several transverse axes
Axis replacement, 818
Signal distortions, 80
Signal exchange
Cyclic, 821
Event-controlled, 821
Signals
Alarm signals, 37
Axis/spindle-specific (DB31, ...), 36
Channel-specific (DB21, ...), 36
Compile cycles, 838
NCK/PLC, 839
PLC / mode group, 839
PLC/axes, spindles, 841
PLC/NCK, 838
PLC/NCK channels, 840
Ready signals, 37
1723
Index
Simulation, 478
Simulation axes, 338
Single block
Channel classification, 587
Program operation mode, 473
SBL1, 581
SBL2, 581
SBL3, 581
Single-axis dynamic response, 1353
Skip levels, 589
Slotting saw, 1392
Smooth approach and retraction
Significance, 1409
Sub-movements, 1410
Smoothing
Path velocity, 210
SOFT, 261
SOFTA, 263
Software limit switch, 104
SPCOF, 1274
SPCON, 1274
Special axes, 670
Special points in the target block
STOPRRE block, 516
Specify gear stage, 1234
Speed
feedforward control, 362
Speed control loop, 357
Speed controller active, 49
Speed default, 1279
Speed setpoint adjustment, 346
Speed setpoint output, 345
SPI, 1275
spindle
modes, 1200
Spindle
-definitions, 1278
-gear stage 0, 1243
-interface, 1277
-job, 1277
-override, 1336, 1338
-setpoint speed, 1285
-speed limits, 1286
-speed, maximum, 1286
-speed, minimum, 1285
Spindle disable, 41, 1335
Spindle functions using a PLC, 469
Spindle speed, 319
Spindle speed limitation with G96, G961, 1315
Spline, 179
SPOS, 1205, 1273
SPOSA, 1273
1724
Star/delta switchover with FC17, 1243
Star-delta changeover, 1017
Startup and synchronization of NCK PLC, 850
STOLF, 237
Stop delay area, 556
Stop event, 556
Storing angles in the toolholder data, 1446
Strings, 1074
SVC, 1273
Symbolic programming, 858
Synchronized axes, 673
T
T function, 381, 1366
T function replacement, 620
TCARR, 1458
TCOABS, 1459
TCOFR, 1458, 1459
TCP Tool Center Position, 679
TEACH IN, 462
Thread
Cutting, 1322
Thread cutting G33, 1317
Tick, 427
TOA
-Data, 1392
-Unit, 1368
Tolerance
-factor for spindle speed, 1285
with G0, 235
Tool, 1365
Change, 1366
Change tool with M06, 1366
Cutting edge, 1388
DISC, 1425
-length, 1395
management, 457
-offset data, 1392
-parameters, 1388
-retraction, 614
Select, 1365
-shape, 1396
-shape, active, 1399
-size, active, 1398
T function, 1366
Tool base dimension/adapter dimension, 1399
Tool cutting edge, 1367
Tool radius compensation 2D (TRC), 1403
-type, 1389
-wear, 1398
Tool base dimension, 1399
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Index
Tool change
D function, 1367
Offset memory, 1368
Tool environments, 1516
Tool length compensation
calculate tool-specifically, example, 1539
Geometry, 1395
Wear, 1398
Workpiece-specific calculation, 1508
Tool offset
Offset in the NC, 1370
Types, 1445
Tool radius compensation
keep constant, 1434
Wear, 1398
Tool radius compensation, 2D, 1402
Approach and retraction behavior, 1404
Collision detection, 1430
Compensation and inner corners, 1428
Compensation at outside corners, 1424
Deselection, 1423
Geometry, 1396
Modified alarm response, 1437
Point of intersection G451, 1426
Selection, 1403
Smooth approach and retraction, 1409
Transition circle, 1424
variable compensation value, 1432
Tool revolver axes, 671
TOOLENV, 1516
Toolholder reference point T, 679
Toolholder selection, 1443
Toolholder with orientation capability, 1364, 1442
Calculation of active tool length, 1458
Create new, 1461
Examples, 1535
Kinematic chain, 1449
Toolholder, with orientation capability, 1442
Control system response on Reset, program start,
REPOS, 1466
Create new, 1461
Inclined machining, 1457
Programming, 1465
Supplementary conditions, 1466
swiveling working table, 1458
Tooth feedrate, 1311
Torsion, 224
TOWBCS, 1513
TOWKCS, 1514
TOWMCS, 1513
TOWSTD, 1512
TOWTCS, 1514
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
TOWWCS, 1513
TRANS, 664
TRANSMIT, 696
Transverse axis, 811
Dimensions, 817
Travel to fixed stop, 293
Block search, 302
Contour monitoring, 306
Deselection, 300
Fixed stop is reached, 297
Function abort, 306
Monitoring window, 298
Positioning axes, 306
Selection, 296
Traversing movement release, 1186
Traversing ranges, 319
U
UDT assignments, 859
Undercut angle, 1400
User-defined ASUB
after SERUPRO operation, 495
UTD-blocks, 858
V
Velocities, 317
VELOLIM, 1274
Vertical axes, 306
W
WAITENC, 615
WAITS, 1274
WALCS0, 112
WALIMOF, 110
WALIMON, 110
WCS, 39
Work offset
External work offset, 698
Working area limitation, 106
in BCS, 108
in WCS/SZS, 110
Working area limitation group, 111
Workpiece
-counter, 647
-simulation, 478
Workpiece coordinate system (WCS), 39, 663, 703
Workpiece zero W, 678
1725
Index
X
XE \* MERGEFORMAT, 378
Z
Zero mark diagnostics, 99
Zero points, 678
Zero vectors, 1449
1726
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
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