Page 1 S3: Synchronous spindle S7: Memory configuration T1: Indexing axes Valid for W3: Tool change Control W4: Grinding-specific tool SINUMERIK 840D sl / 840DE sl offset and tool monitoring SINUMERIK 828D Z2: NC/PLC interface signals Software Version CNC Software 4.7 SP2...
Page 2 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.
Page 3: Preface
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.
Page 4 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.
Page 5 The description of functions include as 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.
Page 6 Preface Quantity structure Explanations concerning the NC/PLC interface are based on the absolute maximum number of the following 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...
Page 7 Preface ELSE <> AXPOS ENDIF Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...
Page 8 Preface Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...
Page 9: Table Of Contents
Table of contents Preface.................................3 Fundamental safety instructions.........................27 General safety instructions.....................27 Industrial security........................27 A4: Digital and analog NC I/O for SINUMERIK 840D sl................29 Introduction..........................29 Indirect I/O access via PLC....................30 2.2.1 Brief description........................30 2.2.2 Parameterization........................31 2.2.3 System variables........................34 2.2.4 Comparator inputs........................34 2.2.5 Digital NC I/Os........................34...
Page 10 Table of contents 2.5.2 Setting data..........................72 2.5.2.1 General setting data.......................72 2.5.3 System variable........................72 2.5.4 Signals...........................73 2.5.4.1 Signals to NC.........................73 2.5.4.2 Signals from NC........................73 B3: Distributed systems - 840D sl only.......................75 Brief description........................75 3.1.1 Several operator panels on several NCUs (T:M:N)..............75 3.1.2 NCU link..........................78 3.1.2.1...
Page 11 Table of contents 3.2.5.2 Parameterization........................122 3.2.5.3 System variables to enter a leading value................124 3.2.5.4 Supplementary conditions....................124 3.2.5.5 Example..........................124 3.2.6 System of units within a link group..................124 Examples..........................125 3.3.1 Link axis..........................125 3.3.2 Axis container coordination....................126 3.3.2.1 Axis container rotation without a part program wait.............127 3.3.2.2 Axis container rotation with an implicit part program wait............127 3.3.2.3...
Page 12 Table of contents 4.6.3 Travel request........................178 Manual traversing of the spindle..................181 Manual traversing of geometry axes/orientation axes............183 Approaching a fixed point in JOG..................185 4.9.1 Function..........................185 4.9.2 Parameterization........................188 4.9.3 Programming........................190 4.9.4 Supplementary Conditions....................191 4.9.5 Application example......................191 4.10 Position travel in JOG......................192 4.10.1 Function..........................192 4.10.2...
Page 13 Table of contents 4.16 Data lists..........................241 4.16.1 Machine data........................241 4.16.1.1 General machine data......................241 4.16.1.2 Channel-specific machine data....................241 4.16.1.3 Axis/spindlespecific machine data..................242 4.16.2 Setting data..........................243 4.16.2.1 General setting data......................243 4.16.2.2 Channel-specific setting data....................243 4.16.2.3 Axis/spindle-specific setting data..................243 4.16.3 Signals..........................243 4.16.3.1 Signals from NC........................243 4.16.3.2 Signals to mode group......................244 4.16.3.3...
Page 14 Table of contents 5.4.5 Direction-dependent leadscrew error compensation............297 5.4.5.1 Description of functions......................297 5.4.5.2 Commissioning........................298 5.4.5.3 Example..........................301 5.4.6 Cylinder error compensation....................304 5.4.6.1 Function..........................304 5.4.6.2 Commissioning........................305 5.4.6.3 Examples..........................308 5.4.7 Supplementary conditions....................312 Dynamic feedforward control (following error compensation)..........313 5.5.1 General properties.......................313 5.5.2 Speed feedforward control....................315 5.5.3 Torque feedforward control....................317 5.5.4...
Page 15 Table of contents 5.11.3.4 Signals to axis/spindle......................350 5.11.3.5 Signals from axis/spindle.....................350 K5: Channel synchronization, axis interchange..................351 Channel synchronization......................351 6.1.1 Channel synchronization (program coordination)..............351 6.1.2 Channel synchronization: Conditional wait in path controlled operation......354 6.1.3 Running-in channel-by-channel...................358 6.1.4 Supplementary conditions....................363 Axis replacement........................363 6.2.1 Overview..........................363 6.2.2...
Page 16 Table of contents TRACYL cylinder surface transformation (option)..............406 7.2.1 Function..........................406 7.2.2 Parameter assignment......................410 7.2.2.1 Overview..........................410 7.2.2.2 Axis configuration.........................411 7.2.2.3 Specific settings........................413 7.2.3 Programming........................417 7.2.4 Boundary conditions......................420 7.2.5 Examples..........................423 7.2.5.1 Machining grooves on a cylinder surface with X-Y-Z-C kinematics........423 7.2.5.2 Machining grooves on a cylinder surface with X-Y-Z-A-C kinematics........428 TRAANG oblique angle transformation (option)..............431 7.3.1 Function..........................431...
Page 17 Table of contents 7.8.4 List of machine data affected....................487 7.8.5 Example..........................489 Data lists..........................490 7.9.1 Machine data........................490 7.9.1.1 TRANSMIT...........................490 7.9.1.2 TRACYL..........................491 7.9.1.3 TRAANG..........................493 7.9.1.4 Chained transformations......................494 7.9.1.5 Non transformation-specific machine data................494 7.9.2 Signals..........................495 7.9.2.1 Signals from channel......................495 M5: Measurement.............................497 Brief description........................497 Hardware requirements......................498 8.2.1 Probes that can be used......................498...
Page 18 Table of contents 8.5.4 Tool measuring........................559 8.5.5 Types of workpiece measurement..................559 8.5.5.1 Measurement of tool lengths (measurement type 10)............559 8.5.5.2 Measurement of tool diameter (measurement type 11)............562 8.5.5.3 Measurement of tool lengths with zoom-in function (measurement type 22).......563 8.5.5.4 Measuring a tool length with stored or current position (measurement type 23)....564 8.5.5.5 Measurement of a tool length of two tools with the following orientation:......565 Measurement accuracy and functional testing..............577...
Page 19 Table of contents 9.6.3.2 Signals from axis/spindle.....................609 N4: Own channel - only 840D sl.......................611 10.1 Brief Description........................611 10.2 Stroke control........................611 10.2.1 General information......................611 10.2.2 High-speed signals.......................612 10.2.3 Criteria for stroke initiation....................613 10.2.4 Axis start after punching.......................616 10.2.5 PLC signals specific to punching and nibbling..............617 10.2.6 Punching and nibbling-specific reactions to standard PLC signals........617 10.2.7...
Page 20 Table of contents 11.3.2 Interpolation response of path axis in G0................660 11.3.3 Autonomous singleaxis operations..................663 11.3.4 Autonomous single-axis functions with NC-controlled ESR..........667 11.4 Positioning axis dynamic response..................669 11.5 Programming........................671 11.5.1 General..........................671 11.5.2 Revolutional feed rate in external programming..............673 11.6 Block change........................674 11.6.1 Settable block change time....................676 11.6.2...
Page 21 Table of contents 12.3.9 External oscillation reversal....................714 12.4 Marginal conditions......................715 12.5 Examples..........................715 12.5.1 Example of asynchronous oscillation...................715 12.5.2 Example 1 of oscillation with synchronized actions.............717 12.5.3 Example 2 of oscillation with synchronized actions.............719 12.5.4 Examples for starting position....................721 12.5.4.1 Define starting position via language command..............721 12.5.4.2 Start oscillation via setting data....................722 12.5.4.3...
Page 22 Table of contents 14.1.2 Synchronous mode......................751 14.1.3 Prerequisites for synchronous mode..................757 14.1.4 Selecting synchronous mode for a part program..............758 14.1.5 Deselecting the synchronous mode for the part program............760 14.1.6 Controlling synchronous spindle coupling via PLC..............761 14.1.7 Monitoring of synchronous operation...................764 14.2 Programming........................766 14.2.1...
Page 23 Table of contents 15.5 Configuration of the dynamic user memory.................805 15.5.1 Division of the dynamic NC memory..................805 15.5.2 Commissioning........................807 15.6 Data lists..........................808 15.6.1 Machine data........................808 15.6.1.1 General machine data......................808 15.6.1.2 Channelspecific machine data.....................811 15.6.1.3 Axis/spindlespecific machine data..................813 T1: Indexing axes.............................815 16.1 Brief Description........................815 16.2...
Page 24 Table of contents 17.8 Examples..........................839 17.9 Data lists..........................842 17.9.1 Machine data........................842 17.9.1.1 General machine data......................842 17.9.1.2 Channelspecific machine data.....................842 17.9.1.3 Axis-/spindlespecific machine data..................842 17.9.2 Signals..........................842 17.9.2.1 Signals from channel......................842 W4: Grinding-specific tool offset and tool monitoring................843 18.1 Grinding-specific tool data....................843 18.1.1 Structure of tool data......................843 18.1.2...
Page 25 Table of contents 18.5.3.1 Switching constant grinding wheel peripheral speed (GWPSON, GWPSOF) on/off:..871 18.5.4 Example..........................872 18.6 Data lists..........................873 18.6.1 Machine data........................873 18.6.1.1 General machine data......................873 18.6.1.2 Channelspecific machine data.....................873 18.6.1.3 Axis/spindlespecific machine data..................873 18.6.2 Signals..........................874 18.6.2.1 Signals from axis/spindle.....................874 Z2: NC/PLC interface signals........................875 19.1 Digital and analog NCK I/Os (A4)..................875 19.1.1...
Page 26 Table of contents 19.11 Oscillation (P5)........................935 19.11.1 Signals to axis/spindle (DB31, ...)..................935 19.11.2 Signals from axis/spindle (DB31, ...)..................937 19.12 Rotary axes (R2)........................938 19.12.1 Signals to axis/spindle (DB31, ...)..................938 19.12.2 Signals from axis/spindle (DB31, ...)..................939 19.13 Synchronous Spindles (S3)....................939 19.13.1 Signals to axis/spindle (DB31, ...)..................939 19.13.2 Signals from axis/spindle (DB31, ...)..................939 19.14...
Page 27: Fundamental Safety Instructions
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.
Page 28 ● 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/...
Page 29: A4: Digital And Analog Nc I/O For Sinumerik 840D Sl
Normally, the PLC user program uses the appropriate digital or analog inputs and outputs for access. The "Digital and analog NC I/O for SINUMERIK 840D sl" function enables access to the inputs/outputs of the I/O modules via system variables of compile cycles directly from the NC (part programs, synchronized actions and compile cycles).
Page 30: Indirect I/O Access Via Plc
2.2.1 Brief description There are three I/O interfaces (X122, X132 and X142) on the SINUMERIK 840D sl NCU. Four digital inputs and outputs of the X142 interface are available as so-called fast NC I/O. They can be read or written via the first address byte and via the $A_IN[1...4] and $A_OUT[1...4] system variables.
Page 31: Parameterization
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC I/O modules can also be connected to the PROFIBUS DP/MPI interfaces X126 and X136. This enables the number of digital and analog NC inputs/outputs to be expanded by 32 digital and 8 analog inputs and outputs respectively.
Page 32 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Slot addresses Addressing of the digital I/Os: ● HW assignment for external digital inputs MD10366 $MN_HW_ASSIGN_DIG_FASTIN[ ] =
● HW assignment for external digital outputs MD10368 $MN_HW_ASSIGN_DIG_FASTOUT[ ...
Page 33 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC MD21220 $MC_MULTFEED_ASSIGN_FASTIN = Digital NC I/Os None 1 ... 4 Onboard I/O 5 ... 8 NC output without hardware 9 ... 16 External NC I/O 17 ...
Page 34: System Variables
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC 2.2.3 System variables Input data System variable Index or input number $A_IN[ ] 1 ... 4 and 9 ... 40, see Digital inputs (Page 34) $A_INA []...
Page 35 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC ● Programmed read-in disable ● Several feedrates in one block References: Function Manual, Synchronized Actions Signal flow The following figure illustrates the signal flow for the digital NC inputs.
Page 36: Digital Outputs
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC The actual value reflects the actual state of the signal at the hardware input. The influence of the PLC is ignored for the "actual value".
Page 37 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Signal flow The following figure illustrates the signal flow for the digital NC outputs. Overwrite mask Every output that can be set by the NC part program can be overwritten from the PLC using the overwrite mask.
Page 38 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Setting mask A PLC setting for each output can determine whether the current "NC value" (e.g. as specified by the NC part program) or the "PLC value" specified via the setting mask should be output at the hardware output.
Page 39: Connection And Logic Operations Of Fast Digital I/Os
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Digital NC outputs without hardware If digital NC outputs, as defined via MD10360, are written by the part program, but are not available as hardware, no alarm is output. The NC value can be read by the PLC (DB10 DBB64 or DBB186 ...
Page 40 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Special cases ● If several output bits are assigned to the same input bit, then the one with the highest MD index becomes effective.
Page 41: Analog Nc I/Os
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC MD10361 $MN_FASTIO_DIG_SHORT_CIRCUIT = '0103B502H' Output 1, byte 3 OR operation with Input 5, byte 2 2.2.6 Analog NC I/Os 2.2.6.1 Analog inputs Function The value of the analog NC input [] can be accessed directly in the part program using system variable $A_INA[].
Page 42 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Signal flow Read actual value The analog values that are actually present at the hardware inputs are sent to the PLC: DB10 DBW194 ... 208 (actual value of the NC analog input) The possible influence of the PLC is ignored for the "actual value".
Page 43 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Disable input Analog NC inputs can be disabled individually from the PLC user program: DB10 DBB146 (disable of the analog NC inputs) In this case, they are set to a defined "0" inside the control.
Page 44: Analog Outputs
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Analog NC input without hardware The following value is read in the case of part program access to analog NC inputs that are defined via MD10300, but are not available as hardware inputs: ●...
Page 45 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Signal flow The following figure illustrates the signal flow for the analog NC outputs. Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...
Page 46 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Overwrite mask Every NC analog value set by the part program can be overwritten from the PLC using the overwrite mask. The previous "NC value" is lost.
Page 47 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Weighting factor The weighting factor can be used to adapt each individual NC output to the various DA converters (depending on the I/O module) for programming in the part program: MD10330 $MN_FASTIO_ANA_OUTPUT_WEIGHT[]...
Page 48: Representation Of The Analog I/O Values
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC 2.2.6.3 Representation of the analog I/O values The digitized analog values are represented at the NC/PLC interface as fixed-point numbers (16 bits including sign) in the two's complement.
Page 49: Comparator Inputs
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Note The data (resolution, nominal range) of the analog input/output module used can be taken from the documentation of the particular module. Examples Digital representation of analog values at a resolution of 14 bits including sign and a nominal range of ±10 V.
Page 50 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC They are related as follows: For = 1 ... 8: Comparator input is equivalent to comparator input bit = - 1.

Page 51 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Byte = 0: No output via digital NCK outputs Byte = 1: Output via digital on-board-NCK outputs 9 … 16 Byte = 2: Output via external digital NCK outputs 17 … 24 Byte = 3: Output via external digital NCK outputs 25 …...

Page 52 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Functional sequence The functional sequence for comparator input byte 1 is represented schematically in the following figure. Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 53 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.2 Indirect I/O access via PLC Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 54: Direct I/O Access Via Plc
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.3 Direct I/O access via PLC Direct I/O access via PLC 2.3.1 Parameterization Machine data Length of the I/O ranges ● Number of PLC I/O input bytes that are read directly by the NC: MD10394 $MN_PLCIO_NUM_BYTES_IN ●...

Page 55 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.3 Direct I/O access via PLC Principle of the parameterization of the NC I/O in the input area Transfer times ● Transfer of the output data from the NC to the output modules –...

Page 56: Reading/Writing: System Variables
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.3 Direct I/O access via PLC MD10399 $MN_PLCIO_TYPE_REPRESENTATION = Little endian format (default setting) System variables are displayed in little endian format ⇒ least significant byte at least significant...

Page 57: Supplementary Conditions
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.3 Direct I/O access via PLC 2.3.3 Supplementary conditions Several slots If several slots form an input or output range of the PLC I/O used directly by the NC, the address range of the slots must be configured as a continuous range without gaps.

Page 58: Reading From Plc-I/Os
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.3 Direct I/O access via PLC ● Update cycle: I/O input data → system variables = 3 * interpolator cycle= 3 * 12 ms = 36 ms MD10398 $MN_PLCIO_OUT_UPDATE_TIME = 3 * 0.012 = 0.036 ●...

Page 59: Direct I/O Access Without Plc
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC Parameterization ● Length of the NC I/O input data area: 2 + 4 + 4 + 1 = 11 bytes MD10394 $MN_PLCIO_NUM_BYTES_IN = 11 ●...

Page 60 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC I/O range If slots are configured for a PROFIBUS/PROFINET slave used for the NC I/O in such a way that they are in ascending order without gaps, they are called the I/O range in the following.

Page 61: Parameter Assignment
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC 2.4.2 Parameter assignment Machine data Logical start addresses of the I/O ranges The logical start addresses of the I/O ranges used are set via the following machine data: ●...

Page 62: Reading/Writing
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC I/O range attributes ● Attribute of the input range 1, 2, ... m: MD10502 $MN_DPIO_RANGE_ATTRIBUTE_IN[ ] ; with = 0, 1, 2, ... (m - 1) Val‐...

Page 63 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC System variable Type Meaning $A_DPSD_IN[,] 32-bit signed Reads a data double word (32-bit) $A_DPR_IN[,] 32-bit REAL Reads input data (32-bit REAL) = input range 1, 2, ... m; = byte index within the input range: 0, 1, ... (length - 1)

Page 64: Bindings (Compile Cycles)
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC System variable Type Meaning = index of the I/O range State 0: I/O range has not been configured 1: I/O range could not be activated...

Page 65 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC To have write access to the data of the I/O range via the CC-bindings, the relevant I/O ranges must be activated during the NCK configuration for the programming via compile cycles: MD10512 $MN_DPIO_RANGE_ATTRIBUTE_OUT[], bit 1 = 1...

Page 66: Supplementary Conditions
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC 2.4.4 Supplementary conditions Parallel writing of the NC and PLC Parallel writing of I/O outputs by the NC via direct access and from the PLC user program results in a random, mutual overwriting of the output values.

Page 67 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC Examples Program code Comment $A_DPB_OUT[5,6]=128 ; Byte 8 bits, index=5, offset=6 $A_DPW_OUT[5,5]='B0110' ; Word 16 bits, index=5, offset=5 ; Caution: Data on offset 6 will be overwritten $A_DPSD_OUT[5,3]=’H8F’...

Page 68: Reading From The Nc I/O
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC 2.4.5.2 Reading from the NC I/O Requirement A valid configuration must already have been loaded to the PLC. Parameterization for part programs / synchronized actions Specifications ●...

Page 69: Writing Of The Nc I/O With Status Query
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC Program code Comment R1=$A_DPB_IN[16.6] Alarm 17020: Index 16 outside the value range Parameterization for programming via CompileCycles Specifications ● Parameterization of the 2nd data record: Machine data / system variable index = 1 ●...

Page 70 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.4 Direct I/O access without PLC Parameterization in the machine data ● MD10510 $MN_DPIO_LOGIC_ADDRESS_OUT[ 5 ] = 1200 (logical start address) ● MD10511 $MN_DPIO_LENGTH_OUT[ 5 ] = 0 (length of the I/O-range in bytes) ●...

Page 71: Data Lists
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.5 Data lists Data lists 2.5.1 Machine data 2.5.1.1 General machine data Number Identifier: $MN_ Description 10300 FASTIO_ANA_NUM_INPUTS Number of active analog NCK inputs 10310 FASTIO_ANA_NUM_OUTPUTS Number of active analog NCK outputs...

Page 72: Channelspecific Machine Data
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.5 Data lists 2.5.1.2 Channelspecific machine data Number Identifier: $MC_ Description 21220 MULTFEED_ASSIGN_FASTIN Assignment of input bytes of NCK I/Os for "multiple feedrates in one block" 2.5.2 Setting data 2.5.2.1...

Page 73: Signals
A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.5 Data lists 2.5.4 Signals 2.5.4.1 Signals to NC Signal name SINUMERIK 840D sl SINUMERIK 828D Disable digital NCK inputs DB10.DBB0/122/124/126/128 DB2800.DBB0/1000 Setting on PLC of digital NCK inputs DB10.DBB1/123/125/127/129 DB2800.DBB1/1001...

Page 74 A4: Digital and analog NC I/O for SINUMERIK 840D sl 2.5 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 75: B3: Distributed Systems - 840D Sl Only
B3: Distributed systems - 840D sl only Brief description 3.1.1 Several operator panels on several NCUs (T:M:N) Under certain circumstances, a single operator control and monitoring station may not be sufficient for complex plants and machines. Therefore, several operator control and monitoring stations in a SINUMERIK system network (Ethernet) can be connected to several numerical controls (NCU) via a PCU in such a way that they enable flexible and distributed operation and monitoring of the entire system.

Page 76 B3: Distributed systems - 840D sl only 3.1 Brief description IE switch "SCALANCE xxx " Figure 3-1 Example of a T:1:N network Quantity structure The following quantity structure must be observed for an operator control and monitoring system T:1:N: T: Thin Client Unit (TCU) or HT8 handheld unit The graphic information of the PCU 50.x user interface is transferred via the TCU to the operator panel front (OP) and displayed there.

Page 77 (function block FB 9). Installation and connection References ● TCU, MCP, PCU: SINUMERIK 840D sl Operator Components and Networking Manual ● NCU: SINUMERIK 840D sl NCU 7x0.3 PN Manual ● Machine control panel (MCP) FB 9: MtoN Control Unit Switchover ●...

Page 78: Ncu Link
B3: Distributed systems - 840D sl only 3.1 Brief description Configuration, commissioning and parameter assignment References ● Structure of the system network and commissioning of a TCU: Operator Components and Networking Commissioning Manual (IM5) ● Configuration of the channel menu SINUMERIK Operate Commissioning Manual (IM9), Section "Channel menu"...

Page 79: Link Variables
Quantity structure As standard, a maximum of three NCUs can be interconnected to form a link group. Note For a specific project, on request to your local regional Siemens representative, further NCUs can be integrated to form a link group. 3.1.2.2...

Page 80: Lead Link Axes
B3: Distributed systems - 840D sl only 3.1 Brief description 3.1.2.4 Lead link axes If in conjunction with the coupling functions of the generic coupling, all interpolators, i.e. the setpoint-creating/processing channels, the leading and following axes/spindles, are on the same NCU, the use of a lead link axis is not required. The machine axes of the leading and/ or following axes/spindles can also be connected link axes to different NCUs.

Page 81: Application Example: Rotary Indexing Machine
B3: Distributed systems - 840D sl only 3.1 Brief description 3.1.2.6 Application example: Rotary indexing machine On the basis of rotary cycle machine with two NCUs, the application of the "NCU Link" function is shown as example. The principal units of the rotary indexing machine are: ●...

Page 82 B3: Distributed systems - 840D sl only 3.1 Brief description Figure 3-3 Fig. 2: Location after rotation by one position Parameterization (schematic) General Programmed channel axes in the part programs of both NCUs: X, Z, S1 NCU1 Machine axes defined in the NCU: Local: X1, Z1 Axis container:...

Page 83: Ncu Link
B3: Distributed systems - 840D sl only 3.2 NCU link NCU link 3.2.1 Link communication 3.2.1.1 General information Figure 3-4 Link communication (principle) The NCU-link communication cycle allows an interpolator clock-synchronous cross-NCU data exchange for the following applications: ● Cross-NCU link variable $A_DLx All the NCUs involved with the NCU-link communication have a common view of the link variables because they are exchanged via the NCU link interpolator cycle clock- synchronous between the NCU of the link group.

Page 84 As standard, a maximum of three NCUs can be interconnected to form a link group. Note For a specific project, on request to your local regional Siemens representative an NCU-link group with more than three NCUs is possible. Without project-specific supplements, more than three NCUs are rejected with Alarm 380020.

Page 85 B3: Distributed systems - 840D sl only 3.2 NCU link NCU link and Safety Integrated The following figure shows a constellation with two NCUs and two machine axes, of which the MA2 machine axis of the NCU2 is traversed as link axis for NCU1. The Safety Integrated function monitors the safety-related aspects of both axes.

Page 86 B3: Distributed systems - 840D sl only 3.2 NCU link Safety Integrated acceptance test and NCU link The Acceptance Test wizard (ATW) is generally used to perform the acceptance test separately for each NCU. Only alarms on the home NCU of the axis are displayed for link axes. To make the ATW also check alarms for link axes, the ATW must be told the safety-relevant NCU connected via the NCU link.

Page 87: Link Module
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.1.2 Link module The NCU-link communication takes place via link modules A link module is an optional PROFINET module for isochronous real-time communication (IRT) via Ethernet. The link module can be used only for the NCU-link communication. It is not possible to use a link module for general PROFINET communication.

Page 88 Depending on the position control cycle clock For the SINUMERIK 840D sl, the ratio between the basic system cycle clock and the position control cycle clocks is fixed (1:1) and cannot be changed. Because only certain position control cycle clocks can be set for the NCU link, only these position control cycle clocks can be set as the basic system cycle clock or DP cycle time.

Page 89: Parameter Assignment: Link Communication
B3: Distributed systems - 840D sl only 3.2 NCU link Notes on setting Cycle clock settings It is recommended the following settings are made: ● The default 90% setting for the CPU time share of the NCK should be retained: MD10185 $MN_NCK_PCOS_TIME_RATIO ●...

Page 90: Configuration
● MD10061 $MN_POSCTRL_CYCLE_TIME (position controller cycle) Note For applications, in which the standard configurations that have been supplied cannot be used, please contact your local Siemens sales person. 3.2.1.6 Wiring the NCUs The numerical sequence of the NCUs within a link group is defined in the NCUs using the following machine data: MD12510 $MN_NCU_LINKNO = , with NCU number = 1 ...

Page 91: Link Variables
B3: Distributed systems - 840D sl only 3.2 NCU link MD18780 $MN_ MM_NCU_LINK_MASK, Bit 0 = 1 Note Activation time It is recommended to activate the link communication only after complete commissioning of the entire functionality on all participating NCUs has been done. 3.2.2 Link variables Complex systems with several NCUs require for the complete system coordination of the...

Page 92: Properties Of The Link Variables Memory
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.2.1 Properties of the link variables memory Parameterizing the memory size The size of the link variables memory in bytes is set with the following machine data: MD18700 $MN_MM_SIZEOF_LINKVAR_DATA (size of the link variables memory) The setting for the size of the link variables memory should be identical for all NCUs involved in the link group.

Page 93: Write Elements
B3: Distributed systems - 840D sl only 3.2 NCU link Read A preprocessing stop is initiated when a link variable is read. Checks The following checks are performed for the link variables and link variables memory: ● Observance of the value range limits ●...

Page 94: System Variable
B3: Distributed systems - 840D sl only 3.2 NCU link requests to the other NCUs in the link group (message delays). Causes for a message delay can be: ● Writing a large number of link variables in an interpolation cycle ●...

Page 95: Synchronization Of A Write Request
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.2.6 Synchronization of a write request If certain applications require the new value of a link variable to be transferred to the other NCUs in the link group in precisely two interpolation cycles, writing to the link variable must be made in a synchronized action.

Page 96 B3: Distributed systems - 840D sl only 3.2 NCU link Figure 3-8 Example: Structure of the link variables memory Note Memory structure The data in the link variables memory is always arranged randomly and may therefore appear different (although the data format limits will still be taken into account). Access via a link variable must be programmed as follows, in accordance with the memory structure defined: Program code...

Page 97: Example: Read Drive Data
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.2.8 Example: Read drive data Task A system contains two NCUs (NCU1/NCU2). The NCUs are connected via the NCU link. The MA2 machine axis of NCU1 (drive 2) travels in interpolation mode as link axis for NCU2. The actual current value of drive 2 should be transferred for evaluation from NCU1 to NCU2.

Page 98: Link Axes
B3: Distributed systems - 840D sl only 3.2 NCU link Programming NCU1 A static synchronized action is used to write cyclically in the interpolation cycle the actual current value $VA_CURR of axis 2 (NCU1/MA2) via the link variable $A_DLR[0] (REAL value) to the first 8 bytes of the link variables memory: Program code IDS=1 WHENEVER TRUE DO $A_DLR[0]=$VA_CURR[MA2]...

Page 99 B3: Distributed systems - 840D sl only 3.2 NCU link Figure 3-9 Link axes Requirement The use of link axes requires a link communication defined in accordance with "Section Link communication (Page 83)". Home NCU The home NCU of a link axis is the NCU on which it is physically connected as machine axis. The position control and the exchange of axial NC/PLC interface signals of a link axis always occurs on the home NCU.

Page 100: Name Of A Link Axis
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.3.2 Name of a link axis The name of a link axis is composed of the identifier for the home NCU on which the machine axis is physically connected and the general machine axis name AXn: NC_...

Page 101: Auxiliary Function Output For Spindles
B3: Distributed systems - 840D sl only 3.2 NCU link Example Figure 3-10 Example: Parameterization of link axes Channel 1 The local AX1/AX2 machine axes of the NCU1 are assigned to the X/Z geometry axes. Channel 2 The NC2_AX1/NC2_AX2 link axes of the NCU2 are assigned to the X/Z geometry axes. 3.2.3.4 Auxiliary function output for spindles During program execution and after block search with "search via program test"...

Page 102: Supplementary Conditions
B3: Distributed systems - 840D sl only 3.2 NCU link References Detailed information about the auxiliary function output can be found in: Function Manual, Basic Functions, "Help function outputs to the PLC (H2)" section 3.2.3.5 Supplementary conditions Maximum number of machine axes Even for the use of link axes, as previously, the maximum number of concurrently-usable geometry and special axes as well as machine axes are still available for each NCU type.

Page 103 B3: Distributed systems - 840D sl only 3.2 NCU link Alarm acknowledgement See alarm acknowledgement under "Alarms: Behavior for emergency stop" Alarms: Behavior for "Mode group not ready" alarm response If an error is detected within a mode group with several channels and the relevant alarm has "Mode group not ready"...

Page 104: Axis Container
B3: Distributed systems - 840D sl only 3.2 NCU link Frames A link axis is permitted in a Frame command only when it is a geometry axis. The Frame command changes only the geometry in the channel to which the link axis is currently assigned. Speed/torque coupling, master-slave The drives of all axes/spindles of a master-slave group must be connected to the same NCU.

Page 105 B3: Distributed systems - 840D sl only 3.2 NCU link Rules The following rules must be observed with regard to axis containers: ● All machine axes of an axis container may be assigned to just one channel axis at any one time.

Page 106 B3: Distributed systems - 840D sl only 3.2 NCU link The following names are possible: CT: The number of the axis container is attached to the CT letter combination. Example: CT3 Individual name of the axis container set using : MD12750 $MN_AXCT_NAME_TAB Example: A_CONT3...

Page 107: Parameterization
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.4.2 Parameterization Machine data NC-specific machine data Number Identifier $MN_ Meaning MD12750 AXCT_NAME_TAB Name of the axis container MD12760 AXCT_FUNCTION_MASK.Bit x Axis container-specific functions MD1270x AXCT_AXCONF_ASSIGN_TABx Assignment of machine axes to the slots of an axis container MD18720 MM_SERVO_FIFO_SIZE Size of the IPO/SERVO data buffer...

Page 108 B3: Distributed systems - 840D sl only 3.2 NCU link Setting data Increment of an axis container rotation SD41700 $SN_AXCT_SWWIDTH[]= Parameters Meaning : 0, 1, … max. axis container index : Number of slots through which the axis container rotates Illustration of the axis container rotation The axis container rotation is enabled by means of program commands.

Page 109 B3: Distributed systems - 840D sl only 3.2 NCU link Figure 3-13 Axis container rotation, Fig. 2 Axis container with container-link axes The parameterization of an axis container that contains container-link axes must be made on the master NCU of the link group (MD12510 $MN_NCU_LINKNO == 1). Alignment of axial machine data For container axes, all axial machine data marked with the "CTEQ"...

Page 110 B3: Distributed systems - 840D sl only 3.2 NCU link Slot change If a slot of an axis container is assigned another machine axis, (MD127xx AXCT_AXCONF_ASSIGN_TAB), the following message is displayed: "The machine data of the axes in axis container will be adapted at the next startup". Note Container-link axes For container-link axes, a machine data alignment is performed for all NCUs of the link group...

Page 111 B3: Distributed systems - 840D sl only 3.2 NCU link Parameter assignment: NCU1 Figure 3-14 Example: Parameter assignment of channel axes and axis containers Effect By programming the X and Z geometry axes in the 1st and 2nd channel of the NCU1, the following axes traverse in the current position of the container: ●...

Page 112 B3: Distributed systems - 840D sl only 3.2 NCU link Notes on the parameter assignment Container axis distribution and communications utilization In the case of a plant with several NCUs that traverse alternately axes of other NCUs (link axes) in conjunction with axis containers, the type and manner how the link axes are distributed within the axis container decide on the utilization of the link communication.

Page 113: Programming
B3: Distributed systems - 840D sl only 3.2 NCU link Drive distribution and communications utilization In a system with several NCUs that in conjunction with axis containers alternately traverse axes of another NCU (link axes), the distribution of the drives connected to the NCU decides the utilization of the link communication.

Page 114 B3: Distributed systems - 840D sl only 3.2 NCU link Syntax AXCTSWE() AXCTSWED() AXCTSWEC(

Page 115: System Variable
B3: Distributed systems - 840D sl only 3.2 NCU link Synchronized Actions Function Manual, Section "Detailed description" > "Actions in synchronized actions" > "Cancel release for axis container rotation (AXCTSWEC)" 3.2.4.4 System variable Container-specific system variable System variable Description $AC_AXCTSWA[] Channel-specific status of the axis container rotation $AN_AXCTSWA[] NCU-specific status of the axis container rotation...

Page 116: Machining With Axis Container (Schematic)
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.4.5 Machining with axis container (schematic) Figure 3-18 Example: Schematic machining sequence for a station of a rotary cycle machine 3.2.4.6 Behavior in different operating states Startup (Power On) In the startup the controller, with regard to the slot assignment, the initial state defined in the machine data is always assumed irrespective in which state of the axis container the control was switched off: Extended Functions...

Page 117: Behavior When Withdrawing The Release For Axis Container Rotation
B3: Distributed systems - 840D sl only 3.2 NCU link MD1270x $MN_AXCT_AXCONF_ASSIGN_TABx Note Alignment between setpoint and actual status After a controller startup, it is the sole responsibility of the user / machine manufacturer to detect any difference between the status of the axis container and the machine status and to compensate for this with a suitable axis container rotation.

Page 118 B3: Distributed systems - 840D sl only 3.2 NCU link ① NCU1, channel1: Enable issued using the AXCTSWE command ② NCU2, channel2: Enable issued using the AXCTSWE command ③ NCU1, channel2: Enable issued via AXCTSWE command → all enables of all channels are now present in the NCU1 →...

Page 119: Supplementary Conditions
B3: Distributed systems - 840D sl only 3.2 NCU link Withdrawal is no longer possible as soon as all enable signals are available from all channels ④ of all NCUs (instant in time ). In this case, the AXCTSWEC command has no effect. No feedback is sent to the user.

Page 120 B3: Distributed systems - 840D sl only 3.2 NCU link PLC axis If a container axis whose axis container has been enabled for rotation becomes a PLC axis, the status change occurs only after completion of the axis container rotation. Command axis If a container axis whose axis container has been enabled for rotation traverses as a command axis, the traversing movement is performed only after completion of the axis container rotation.

Page 121: Lead Link Axes
B3: Distributed systems - 840D sl only 3.2 NCU link Gantry axis A gantry axis cannot be a container axis. Travel to fixed limit If a container axis is at the limit stop, no axis container rotation can be performed. Drive alarms If a drive alarm is pending for a container axis, the axis container rotation is not performed.

Page 122: Parameterization
B3: Distributed systems - 840D sl only 3.2 NCU link Coupled axes Lead link axes can be used in conjunction with following axis couplings: ● Master value coupling ● Coupled motion ● Tangential tracking ● Electronic gear (ELG) ● Synchronous spindle Requirement The NCU must communicate via the NCU link.

Page 123 B3: Distributed systems - 840D sl only 3.2 NCU link Setpoint synchronization NC-specific machine data Number Identifier $MN_ Meaning MD18720 MM_SERVO_FIFO_SIZE Size of the IPO/SERVO data buffer The transfer of the setpoints of the leading axis via the NCU link to the NCU of the lead-link axis produces a deadtime of two interpolator cycles.

Page 124: System Variables To Enter A Leading Value
B3: Distributed systems - 840D sl only 3.2 NCU link 3.2.5.3 System variables to enter a leading value Leading values can be specified on the NCU of the leading axis using the following system variable: ● Position leading value: $AA_LEAD_SP[] ●...

Page 125: Examples
B3: Distributed systems - 840D sl only 3.3 Examples Common system of units changeover via HMI The following conditions must be fulfilled for all NCUs of the link group in order that a system of units changeover can be made from the HMI user interface of an NCU of the link group as well as on all other NCUs of the link group: ●...

Page 126: Axis Container Coordination
B3: Distributed systems - 840D sl only 3.3 Examples Machine data Note $MN_AXCONF_LOGIC_MACHAX_TAB[2] = "NC2_AX3" Link axis Machine axis name, unique system-wide as NCU identifier: $MN_AXCONF_MACHAX_NAME_TAB[0] = "NC1_A1" $MN_AXCONF_MACHAX_NAME_TAB[1] = "NC1_A2" $MN_AXCONF_MACHAX_NAME_TAB[2] = "NC1_A3" Assignment of channel axis to machine axis: $MC_AXCONF_MACHAX_USED[0] = 1 1.

Page 127: Axis Container Rotation Without A Part Program Wait
B3: Distributed systems - 840D sl only 3.3 Examples 3.3.2.1 Axis container rotation without a part program wait Channel 1 Channel 2 Comment AXCTWE(C1) Part program ... Channel 1 enables the axis container for rotation. Part program without movement of a Part program ...

Page 128: Static Synchronized Action With $An_Axctswa
B3: Distributed systems - 840D sl only 3.3 Examples 3.3.3.2 Static synchronized action with $AN_AXCTSWA Channel 1 Comment IDS =1 EVERY $AN_AXCTSWA[CT1] == 1 DO M99 Static synchronized action: Always output auxiliary function M99 at the beginning of an axis container rotation. References: Synchronized Actions Function Manual 3.3.3.3 Wait for certain completion of axis container rotation...

Page 129: Configuration Of A Multi-Spindle Turning Machine
B3: Distributed systems - 840D sl only 3.3 Examples Example 3.3 Use internal wait AXCTSWE(CTL) ; If an axis container is reenabled for rotation, ; an internal wait takes place for the end of the earlier ; axis container rotation. N2150 WHILE (rl == $AN_AXCTAS[ctl]) Note Programming in the NC program:...

Page 130 B3: Distributed systems - 840D sl only 3.3 Examples Machine description ● Over the circumference of a drum A (front-plane machining), the machine has distributed: – 4 main spindles, HS1 to HS4 Each main spindle has the possibility of material feed (bars, hydraulic bar feed, axes: STN1-STN4).

Page 131 B3: Distributed systems - 840D sl only 3.3 Examples Transfer axis: ZG Bar feed: STN For the master NCU, the two axes for rotating drums A and B are added to the above- mentioned axes. The list shows that it would not be possible to configure the axis number for a total of 4 positions via an NCU.

Page 132 B3: Distributed systems - 840D sl only 3.3 Examples Figure 3-22 Two slides per position can also work together on one spindle. Note The axes are given the following names in order to clarify the assignments of axes to slides and positions: Xij with i slide (1, 2), j position (A-D) Zij with i slide (1, 2), j position (A-D)

Page 133 B3: Distributed systems - 840D sl only 3.3 Examples Common axes Local axes Remark Slide 2 Slide 2 Slide 1 Slide 2 Axis container required Axis container required Axis container required STN1 Axis container required Axes of the NCUb to NCUd The NCUs that are not master NCUs have the same axes with the exception of the axes for the drive for drums TRV and TRH.

Page 134 B3: Distributed systems - 840D sl only 3.3 Examples Configuration options ● Main spindles or counterspindles must be flexibly assigned to the slide. ● The speed of the main spindle and the counterspindle can be defined independently in each position. Exceptions: During the parts change from front-plane machining in drum V to rear-plane machining in drum H, the speeds of the main spindle and the counterspindle must be synchronized...

Page 135 B3: Distributed systems - 840D sl only 3.3 Examples Channel axis name ..._MA‐ $MN_ Container, slot Machine axis name CHAX_USE AXCONF_LOGIC_MA‐ entry (string) CHAX_TAB AX5: CT4_SL1 NC1_AX5 AX6: WZ1A AX7: CT2_SL1 STN1 NC1_AX7 AX11: AX12: x2 * z2 * Table 3-3 NCUa, position: a, channel: 2, slide: 2 Channel axis name ..._MA‐...

Page 136 B3: Distributed systems - 840D sl only 3.3 Examples Further NCUs The above listed configuration data must be specified accordingly for NCUb to NCUd. The following must be observed: ● The axes TRA and TRB are only available for NCUa, channel 1. ●...

Page 137 B3: Distributed systems - 840D sl only 3.3 Examples Container Slot Initial Situation Switch 1 Switch 2 Switch 3 Switch 4 = (TRA 0°) (TRA 90°) (TRA 180°) (TRA 270°) (TRA 0°) NC1_AX7, STN1 NC2_AX7, STN2 NC3_AX7, STN3 NC4_AX7 STN4 NC1_AX7, STN1 NC2_AX7, STN2 NC3_AX7, STN3...

Page 138: Lead Link Axis
B3: Distributed systems - 840D sl only 3.3 Examples 3.3.5 Lead link axis 3.3.5.1 Configuration Figure 3-24 NCU2 to NCUn use a lead link axis to enable coupling to the machine axis on NCU1 (NCU1-AX3). The following example refers to the axis coupling section between Y(LAX2, AX2) as following axis on NCU2 and Z(LAX3, NC1_AX3) as lead link axis.

Page 139: Programming
B3: Distributed systems - 840D sl only 3.3 Examples Machine data Meaning $MN_MM_SERVO_FIFO_SIZE = 4 The size of the data buffer is increased to 4 between interpo‐ lation and position control $MN_AXCONF_LOGIC_MACHAX_TAB[0] = "AX1" $MN_AXCONF_LOGIC_MACHAX_TAB[1] = "AX2" $MN_AXCONF_LOGIC_MACHAX_TAB[2] = "AX3" $MN_AXCONF_MACHAX_NAME_TAB[0] = "XM1"...

Page 140 B3: Distributed systems - 840D sl only 3.3 Examples Identifier for NCU2, that the leading axis of NCU1 has been released: Link variable $A_DLB[0] Program code Comment N1000 R1 = 0 ; Initialize loop counter N1004 G1 Z0 F1000 ; Traverse axis Z to the starting position N1005 $A_DLB[0] = 1 ;...

Page 141: Data Lists
B3: Distributed systems - 840D sl only 3.4 Data lists Data lists 3.4.1 Machine data 3.4.1.1 General machine data Number Identifier: $MN_ Description 10002 AXCONF_LOGIC_MACHAX_TAB Logical NCU machine axis image 10065 POSCTRL_DESVAL_DELAY Position setpoint delay 10134 MM_NUM_MMC_UNITS Number of simultaneous MMC communication partners 12510 NCU_LINKNO NCU number in an NCU group...

Page 142: Setting Data
Description 43300 ASSIGN_FEED_PER_REV_SOURCE Rotational feedrate for positioning axes/spindles 3.4.3 Signals 3.4.3.1 Signals from NC Signal name SINUMERIK 840D sl MCP1 ready DB10.DBX104.0 MCP2 ready DB10.DBX104.1 HHU ready DB10.DBX104.2 NCU link active DB10.DBX107.6 HMI2-CPU ready (HMI connected to OPI or MPI) DB10.DBX108.1...

Page 143: General Online Interface
B3: Distributed systems - 840D sl only 3.4 Data lists Signal name SINUMERIK 840D sl PAR_MSTT_ADR DB19.DBB107 HMI writes address to the MCP to be activated PAR_STATUS DB19.DBB108 PLC writes the online enable for the HMI (connection state) PAR_Z_INFO DB19.DBB109...

Page 144: Signals From Axis/Spindle
B3: Distributed systems - 840D sl only 3.4 Data lists Signal name SINUMERIK 840D sl MMC2_TYP DB19.DBB132 PLC writes PAR_MMC_TYP to MMCx_TYP, if HMI goes online. MMC2_MSTT_ADR DB19.DBB133 PLC writes PAR_MSTT_ADR to MMCx_MSTT_ADR, if HMI goes online. MMC2_STATUS DB19.DBB134 Connection state, HMI and PLC write alternating, their re‐...

Page 145 B3: Distributed systems - 840D sl only 3.4 Data lists System variable Description $AN_LAI_AX_TO_MACHAX[axis] For the specified axis of the logical machine axis image, supplies the NCU- ID and the axis number of the associated machine axis $AN_LAI_AX_TO_IPO_NC_CHANAX[axis] For the specified axis of the logical machine axis image, supplies the chan‐ nel and channel axis number and/or the NCU and global axis number $AN_IPO_CHANAX[global axis number] For the specified global axis number, supplies the channel and channel...

Page 146 B3: Distributed systems - 840D sl only 3.4 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 147: H1: Manual And Handwheel Travel
H1: Manual and handwheel travel Overview Application Even on modern, numerically controlled machine tools, a facility must be provided that allows the user to traverse the axes manually. Examples: ● Setting up the machine Especially when setting up a new machining program, a manual traversing of the machine axes is required.

Page 148 H1: Manual and handwheel travel 4.1 Overview Manual traversing in the BCS and WCS The user has the option of traversing axes in the basic coordinate system (BCS) or workpiece coordinate system (WCS). ● Manual traversing in the BCS Each axis can be traversed manually. ●...

Page 149 H1: Manual and handwheel travel 4.1 Overview Special features to be observed during manual traversing of spindles can be found in Chapter "Manual traversing of the spindle (Page 181)". Manual traversing of geometry axes Manual traversing of geometry axes is used for traversing for which transformations and frames have to be active.

Page 150: Control Via The Plc Interface
H1: Manual and handwheel travel 4.2 Control via the PLC interface Switching from JOG mode to AUTOMATIC/MDI mode It is only possible to switch operating modes from JOG to AUTOMATIC or MDI if all axes in the channel have reached "coarse exact stop". References: Function Manual, Basic Functions;...

Page 151: Parameter Assignment (General)
Detailed information on the configuration and integration of machine control panels in the PLC user program can be found in the Basic Functions manual: ● SINUMERIK 840D sl: "P3: Basic PLC program for SINUMERIK 840D sl" ● SINUMERIK 828D: "P4: PLC for SINUMERIK 828D"...

Page 152 H1: Manual and handwheel travel 4.3 Parameter assignment (general) SD41100 $SN_JOG_REV_IS_ACTIVE (JOG: revolutional/linear feedrate) Value Meaning The behavior of the axis/spindle depends on the setting data: SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE (revolutional feedrate for positioning axes/spindles) The behavior of a geometry axis on which a frame with rotation acts, or of an orientation axis, depends on the channel-specific setting data: SD42600 $SC_JOG_FEED_PER_REV_SOURCE (control of the revolutional fee‐...

Page 153 H1: Manual and handwheel travel 4.3 Parameter assignment (general) Linear feedrate (G94) active ● Machine axes The velocity is determined by the following setting data: – For linear axes: SD41110 $SN_JOG_SET_VELO (axis velocity for JOG) – For rotary axes: SD41130 $SN_JOG_ROT_AX_SET_VELO (JOG speed for rotary axes) If "0"...

Page 154 H1: Manual and handwheel travel 4.3 Parameter assignment (general) Rapid traverse override If the traversing keys/manual wheel are also actuated together with the rapid traverse override key, the movement will be made with the configured rapid traverse velocity: ● Machine axes –...

Page 155 H1: Manual and handwheel travel 4.3 Parameter assignment (general) 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). Maximum axis-specific acceleration for JOG motion The maximum axis-specific acceleration for JOG motions can be specified for each machine axis via the machine data:...

Page 156 H1: Manual and handwheel travel 4.3 Parameter assignment (general) 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 [], there is no direct limitation to MD32300 $MA_MAX_AX_ACCEL.

Page 157: Continuous Manual Travel
H1: Manual and handwheel travel 4.4 Continuous manual travel Continuous manual travel 4.4.1 Function For continuous manual travel, the plus and minus traversing keys are selected to move the relevant axis in the appropriate direction. If both traversing keys are pressed simultaneously, there is no traversing movement, or, if an axis is in motion, it is stopped.

Page 158 H1: Manual and handwheel travel 4.4 Continuous manual travel Abort traversing movement The operator can cancel traversing via the operator controls of the machine control panel (MCP) in the following ways: ● Pressing the same traversing key again ● Pressing the traversing key for the opposite direction ●...

Page 159 H1: Manual and handwheel travel 4.4 Continuous manual travel Feedback Once the continuous procedure takes effect, a feedback is sent to the PLC: ● Machine axes: – DB31, ... DBX65.6 (active machine function: continuous traversing) ● Geometry axes: – DB21, ... DBX41.6 (geometry axis 1: active machine function: continuous traversing) –...

Page 160: Parameter Assignment
H1: Manual and handwheel travel 4.4 Continuous manual travel ● Orientation axis 2: – DB21, … DBX336.6 (orientation axis 2: travel command minus) or – DB21, … DBX336.7 (orientation axis 2: travel command plus) ● Orientation axis 3: – DB21, … DBX340.6 (orientation axis 3: travel command minus) or –...

Page 161: Incremental Manual Travel
H1: Manual and handwheel travel 4.5 Incremental manual travel Incremental manual travel 4.5.1 Function With incremental traversing, the operator specifies the number of increments to be traversed by the axis via the machine control panel. In addition to five fixed increment sizes (default setting: INC1, INC10, INC100, INC1000 and INC10000), a variable increment size (INCvar) that can be set via the setting data is also available.

Page 162 H1: Manual and handwheel travel 4.5 Incremental manual travel ● When the first valid limit is reached CAUTION Traversing range limit inactive Software limit switches and working-area limitations are only activated after reference point approach. ● Deselection or change of the current increment (e.g. change from INC100 to INC10) ●...

Page 163 H1: Manual and handwheel travel 4.5 Incremental manual travel Feedback Once the incremental procedure takes effect, a feedback is sent to the PLC: ● Machine axes: – DB31, ... DBX65.0 - 65.5 (active machine function: INC1 to INCvar) ● Geometry axes: –...

Page 164: Parameter Assignment
H1: Manual and handwheel travel 4.5 Incremental manual travel ● Orientation axis 2: – DB21, … DBX336.6 (orientation axis 2: travel command minus) or – DB21, … DBX336.7 (orientation axis 2: travel command plus) ● Orientation axis 3: – DB21, … DBX340.6 (orientation axis 3: travel command minus) or –...

Page 165: Supplementary Conditions
H1: Manual and handwheel travel 4.6 Handwheel travel Jog or continuous mode The selection of jog or continuous mode is performed for the incremental procedure NC- specifically for all axes via the machine data: MD11300 $MN_JOG_INC_MODE_LEVELTRIGGRD (INC and REF in jog mode) Jogging mode is the default setting.

Page 166 H1: Manual and handwheel travel 4.6 Handwheel travel Traversing When the electronic handwheel is turned, the associated axis is traversed either in the positive or negative direction depending on the direction of rotation. Note If the axis is already being moved using the traversing keys, the handwheel cannot be used. Traversing distance The traversing distance produced by rotating the handwheel is dependent on the following factors:...

Page 167 H1: Manual and handwheel travel 4.6 Handwheel travel Setting via the PLC user interface The assignment is made using one of the following interface signals: ● Machine axes: – DB31, ... DBX4.0-2 (activate handwheel (1, 2, 3)) ● Geometry axes: –...

Page 168 H1: Manual and handwheel travel 4.6 Handwheel travel Handwheel selection by HMI A separate user interface is provided between the HMI and PLC to allow activation of the handwheel from the user interface. This interface supplied by the basic PLC program for handwheels 1, 2 and 3 contains the following information: ●...

Page 169 H1: Manual and handwheel travel 4.6 Handwheel travel Travel request The following NC/PLC interface signal informs the PLC that an axis wants to travel or is travelling: ● Machine axes: – DB31, ... DBX64.4 (minus travel request) or – DB31, ... DBX64.5 (plus travel request) ●...

Page 170 H1: Manual and handwheel travel 4.6 Handwheel travel Travel command Depending on the setting in machine data MD11324 $MN_HANDWH_VDI_REPRESENTATION (see Section "Parameter assignment (Page 173)"), the following interface signal is output to the PC already when a travel request is present or not until the axis moves: ●...

Page 171 H1: Manual and handwheel travel 4.6 Handwheel travel In addition to configuring the particular MD, handwheel direction of rotation inversion can be activated by setting the IS "Invert the handwheel direction of rotation" belonging to the particular axis: ● Machine axes: –...

Page 172 H1: Manual and handwheel travel 4.6 Handwheel travel Note It is only permissible to change the inversion signal at standstill. If the change is made while motion setpoints are being output by the interpolator, then the signal change is rejected and an alarm is output;...

Page 173: Parameter Assignment
H1: Manual and handwheel travel 4.6 Handwheel travel 4.6.2 Parameter assignment Distance or velocity specification Either the distance or the velocity can be entered via the handwheel: ● Distance specification (default setting) The distance specified by the handwheel is traversed and No pulses are lost. Limiting the velocity to the maximum permissible value causes the axes to overtravel.

Page 174 H1: Manual and handwheel travel 4.6 Handwheel travel Distance evaluation of one increment The distance evaluation of one increment for fixed and variable increment sizes is performed via the axis-specific machine data: MD31090 $MA_JOG_INCR_WEIGHT = Note Input of a negative value results in a reversal of the handwheel direction of rotation. Limitation of the increment size The machine operator can limit the size of the selected increment: ●...

Page 175 H1: Manual and handwheel travel 4.6 Handwheel travel Velocity In handwheel travel the following axis velocities, effective during JOG mode, are used: ● SD41110 $SN_JOG_SET_VELO (axis velocity for JOG) ● SD41130 $SN_JOG_ROT_AX_SET_VELO (axis velocity for rotary axes for JOG mode) ●...

Page 176 H1: Manual and handwheel travel 4.6 Handwheel travel the behavior is then as follows (as long as the axis has still not arrived at the end point from the setpoint side): ● The distance resulting from the handwheel pulses forms a fictitious end point which is used for subsequent calculations.

Page 177 H1: Manual and handwheel travel 4.6 Handwheel travel NC/PLC interface signal Scope MD20624 $MC_HANDWH_CHAN_STOP_COND Bit == 0 Bit == 1 DB21, ... DBX7.3 (NC Stop) Geometry axis / machine axis Interruption until NC start Abort DB21, ... DBX7.4 (NC stop, Geometry axis / machine axis Interruption until NC start Abort...

Page 178: Travel Request
H1: Manual and handwheel travel 4.6 Handwheel travel Behavior in the event of a safe operating stop Analog to the NC/PLC interface stop signals, the behavior in the event of a stop can also be adjusted by activating the safe operating stop (SBH): Stop condition Scope MD20624 $MC_HANDWH_CHAN_STOP_COND...

Page 179 H1: Manual and handwheel travel 4.6 Handwheel travel Example 1: Handwheel travel with distance specification, stop condition is not an abort criterion If a stop condition that is present is not an abort criterion (see MD32084 $MA_HANDWH_STOP_COND or MD20624 $MC_HANDWH_CHAN_STOP_COND) during handwheel travel with distance specification (MD11346 $MN_HANDWH_TRUE_DISTANCE == 1 or == 3), then the output of the NC/PLC interface signals "Travel request"...

Page 180 H1: Manual and handwheel travel 4.6 Handwheel travel Example 2: Handwheel travel, stop condition is an abort criterion If a stop condition is selected as an abort criterion via machine data MD32084 $MA_HANDWH_STOP_COND or MD20624 $MC_HANDWH_CHAN_STOP_COND during handwheel travel, no travel command is output, but the corresponding travel request is output.

Page 181: Manual Traversing Of The Spindle
H1: Manual and handwheel travel 4.7 Manual traversing of the spindle Figure 4-4 Signal-time diagram:Handwheel travel with velocity specification, stop condition is an abort criterion Supplementary conditions NC stop With NC stop present, no travel command and, therefore, no travel request is output. There is an exception with DRF travel: If DRF travel is permitted in the NC stop state via machine data MD20624 $MC_HANDWH_CHAN_STOP_COND (bit 13 == 1), the behavior corresponds to that of handwheel travel.

Page 182 H1: Manual and handwheel travel 4.7 Manual traversing of the spindle References: Function Manual Basic Functions; Spindles (S1) Spindle override The velocity during manual traversing of the spindle can be influenced by the spindle compensation switch. Acceleration As a spindle often uses many gear stages in speed-control and position-control modes, the acceleration associated with the current gear stage is always applied to the spindle in JOG mode.

Page 183: Manual Traversing Of Geometry Axes/Orientation Axes
Manual traversing of geometry axes/orientation axes Note Transformation package, handling In the JOG mode, using the "Handling transformation package" for SINUMERIK 840D sl, the translation of geometry axes in several valid references systems can be set separately from one another.

Page 184 H1: Manual and handwheel travel 4.8 Manual traversing of geometry axes/orientation axes Velocity ● Geometry axes The velocity applied for the manual traversing of geometry axes is defined by the channel- specific machine data: MD21165 $MC_JOG_VELO_GEO (conventional velocity for geometry axes) ●...

Page 185: Approaching A Fixed Point In Jog
H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG MD21158 $MC_JOG_JERK_ORI [] 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 Alarms Alarm 20060...

Page 186 H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG Requirements ● The "Approaching fixed point in JOG" can be activated only in the JOG mode. The function cannot be activated if the machine function JOG-REPOS or JOG-REF is active and in JOG in AUTOMATIC.

Page 187 H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG action on the setpoint side and comes to a standstill on the actual value side within the "Exact stop fine" tolerance window (MD36010 $MA_STOP_LIMIT_FINE). Movement in the opposite direction The response while traversing in the opposite direction, i.e.

Page 188: Parameterization
H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG "JOG: position reached " To withdraw from the fixed position, you must deactivate the "Approaching fixed point in JOG" function. Special features of incremental travel If, during incremental travel, the fixed point is reached before the increment is completed, then the increment is considered to have been completed fully.

Page 189 H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG Number of valid fixed point positions The number of fixed point positions entered in MD30600 $MA_FIX_POINT_POS that are actually valid, can be defined using: MD30610 $MA_NUM_FIX_POINT_POS = Note Exception: G75 For compatibility reasons, the following parameter assignment is also possible for G75:...

Page 190: Programming
H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG Axis dynamics The axis-specific acceleration and the axis-specific jerk for "Approaching fixed point in JOG" are determined by the following machine data: ● When traversing with traverse keys or handwheel: –...

Page 191: Supplementary Conditions
H1: Manual and handwheel travel 4.9 Approaching a fixed point in JOG 4.9.4 Supplementary Conditions Axis is indexing axis The axis is not traversed and an alarm is output if the axis to be traversed is an indexing axis and the fixed point position to be approached does not match an indexing position. Frames active All active frames are ignored.

Page 192: Position Travel In Jog
H1: Manual and handwheel travel 4.10 Position travel in JOG Initial situation Machine axis 4 is referred and is in Position 0 degree. This corresponds to the 1st fixed position and is output through the NC/PLC interface signal: DB31 DBX75.0 = 1 (Bit 0-2 = 1) Approaching fixed point 2 The control is switched in the JOG mode.

Page 193 H1: Manual and handwheel travel 4.10 Position travel in JOG Procedure Procedure for position travel in JOG: 1. Selection of JOG mode 2. Specification of the position to be approached 3. Enabling the "Position travel in JOG" function 4. Traversing of the machine axis with traverse keys or handwheel Specification of the position to be approached The position to be approached is entered in the setting data: SD43320 $SA_JOG_POSITION (JOG position)

Page 194 H1: Manual and handwheel travel 4.10 Position travel in JOG Alarm 17822 "Channel %1 Axis %2 jogging to position: position changed" The JOG traverse must be triggered again to approach the new position. Note To avoid the alarm message, the machine user should proceed as follows: 1.

Page 195: Parameter Setting
H1: Manual and handwheel travel 4.10 Position travel in JOG Special features of modulo rotary axes Modulo rotary axes can approach the position in both directions. The shortest path (DC) is not observed during the travel. Features of spindles A spindle changes to the positioning mode on actuating the "Position travel in JOG" function. The closed loop position control is active and the axis can be traversed to the position.

Page 196: Supplementary Conditions
H1: Manual and handwheel travel 4.10 Position travel in JOG SD43320 $SA_JOG_POSITION (JOG position) 4.10.3 Supplementary Conditions Axis is indexing axis The axis is not traversed and an alarm is output if the axis to be traversed is an indexing axis and the position to be approached does not match an indexing position.

Page 197: Circular Travel In Jog
H1: Manual and handwheel travel 4.11 Circular travel in JOG Initial situation Axis 4 [AX4] is referred and is at Position 0 degree. Approaching the position The control is switched to JOG mode and machine axis 4 is selected. The function "Position travel in JOG" is activated: DB34 DBX13.3 = 1 The NC confirms the activation as soon as the function is effective: DB34 DBX75.6 = 1...

Page 198 H1: Manual and handwheel travel 4.11 Circular travel in JOG Procedure Procedure for circular travel in JOG: 1. Plane selection 2. Selection of JOG mode 3. Specification of circle parameters 4. Activation of the function "Circular travel in JOG" 5. Traversing of the geometry axes with traverse keys or handwheel Plane selection The geometry axes of the active plane are selected by programming one of the following G commands:...

Page 199 H1: Manual and handwheel travel 4.11 Circular travel in JOG DB21, ... DBX377.6 (circular travel in JOG active) Note Activation is not possible: ● during an NCK reset ● In case of impending emergency stop ● During processing of an ASUP ●...

Page 200 H1: Manual and handwheel travel 4.11 Circular travel in JOG Internal or external machining Depending on the specification in the setting data SD42692 $SC_JOG_CIRCLE_MODE, internal or external machining takes place: ● Internal machining – Traversing is only possible within the defined circle. –...

Page 201 H1: Manual and handwheel travel 4.11 Circular travel in JOG SD42692 $SC_JOG_CIRCLE_MODE, bit 0 This bit also specifies the traversing direction along the circular path. Figure 4-6 Circular travel in JOG: Circle segment machining Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 202 H1: Manual and handwheel travel 4.11 Circular travel in JOG Allowance for tool radius If bit 1 is set in the setting data SD42692 $SC_JOG_CIRCLE_MODE, then the tool radius is considered when monitoring the operating range limits (define circular arc; for circle segment machining also the limits that arise due to the start and end angle): Figure 4-7 Circular travel in JOG: Circle segment internal machining with tool radius compensation...

Page 203: Parameter Setting
H1: Manual and handwheel travel 4.11 Circular travel in JOG ● For active tool radius compensation: Positions too close to limiting circle ● For active tool radius compensation and internal machining: Positions too close to center of circle ● For active tool radius compensation and circle segment machining: Positions too close to segment borders Changes to the setting data Changes in the function-relevant setting data SD42690 to SD42694 that are made during an...

Page 204 H1: Manual and handwheel travel 4.11 Circular travel in JOG Value Meaning Traversing of the 2nd geometry axis of the active plane to plus always takes place in the direction of the limiting circle. I.e. the radius is increased for internal machining and decreased for external machining.

Page 205 H1: Manual and handwheel travel 4.11 Circular travel in JOG SD42692 $SC_JOG_CIRCLE_MODE (jog circle mode) Value Meaning Internal machining takes place. The circle radius in SD42691 is the maximum possible radius. External machining takes place. The circle radius in SD42691 is the minimum possible radius. Circle segment machining The start and end angles for defining a circle segment that limits the operating range are set in the setting data:...

Page 206: Supplementary Conditions
H1: Manual and handwheel travel 4.11 Circular travel in JOG 4.11.3 Supplementary Conditions Diameter programming active During incremental traversing and handwheel traversing of the geometry axes of the active plane, traversing always takes place in the radius programming, even if diameter programming is active for one of the two involved geometry axes.

Page 207: Retraction In The Tool Direction (Jog Retract)
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) ● The current axis positions are: – X axis: 10 – Y axis: 10 ● The axes are homed. Parameter assignment SD42690 $SC_JOG_CIRCLE_CENTRE[AX1] = 10Center of circle X axis to position 10 mm SD42690 $SC_JOG_CIRCLE_CENTRE[AX2] = 20Center of circle Y axis to position 20 mm SD42691 $SC_JOG_CIRCLE_RADIUS = 20 Circle radius 20 mm...

Page 208 H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) In particular, the specific features of the following functions are taken into account: ● Tapping with compensating chuck and speed-controlled spindle with encoder (G33) ● Tapping without compensating chuck and position-controlled spindle (G331, G332) ●...

Page 209: Parameterization
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) 4.12.2 Parameterization 4.12.2.1 Automatic selection of JOG retract after Power On After the control has run up (Power On), the channels of a BAG are as standard in the parameterized default mode: MD10720 $MN_OPERATING_MODE_DEFAULT[] = ...

Page 210: Selection
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) 4.12.3 Selection Function Requirement The selection of JOG retract is only possible, if valid retraction data is available for the relevant channel, the channel is in JOG mode and in the "Reset" state: ●...

Page 211: Tool Retraction
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) "Machine operating area" > "ETC key (">")" > "Retract" Note The softkey "Retract" is only displayed if there is retraction data and an active tool. Selection by PLC user program The following actions must be performed to select JOG retract by the PLC user program: ●...

Page 212 H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) The axes and spindles not involved in the tool retraction can be manually traversed as required. Switching the coordinates systems is possible (MCS ⇔ WCS). Traversing direction The retraction movement is only enabled for the positive traversing direction by default.

Page 213: Deselection
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) ● Changing a spindle or axis involved in the retraction to another channel ● Using a spindle or axis involved in the retraction as main run axis (command axis, oscillating axis, FC18 / concurrent axis) 4.12.5 Deselection...

Page 214: Continuing Machining
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) 4.12.7 Continuing machining AUTOMATIC mode Before the aborted part program is continued with NC start in AUTOMATIC mode, all machine axes with active measuring systems in the state "restored" or "not referenced" must be referenced.

Page 215: State Diagram
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) 4.12.8 State diagram Operating mode OMC Operating mode change Figure 4-8 State diagram: JOG retract 4.12.9 System data The following system data is available for JOG retract: Meaning System variable $VA_ NC/PLC interface...

Page 216: Supplementary Conditions
H1: Manual and handwheel travel 4.12 Retraction in the tool direction (JOG retract) 4.12.10 Supplementary conditions Incremental measuring systems The user must ensure that machine axes with incremental measuring systems are clamped with sufficient speed in the event of a power failure to prevent a change to the last position, known and saved by the control.

Page 217: Use Of Handwheels In Automatic Mode
H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode 4.13 Use of handwheels in automatic mode 4.13.1 Handwheel override in automatic mode 4.13.1.1 General functionality Function With this function it is possible to traverse axes or to change their velocities directly with the handwheel in automatic mode (Automatic, MDA).

Page 218 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode Path definition With axis feedrate = 0 (e.g. FDA[AXi] = 0), the traversing movement of the positioning axis towards the programmed target position is controlled entirely by the user rotating the assigned handwheel.

Page 219 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode Application example The "Handwheel override in automatic mode" function is frequently used on grinding machines. For example, the user can position the reciprocating grinding wheel on the workpiece using the handwheel (path default).

Page 220 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode Handwheel weighting The traverse path of the axis that is generated by rotating the handwheel by one detent position is dependent on several factors (see Section "Handwheel travel (Page 165)"): ●...

Page 221: Programming And Activating Handwheel Override
H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode Limitations The axial limitations (software limit switch, hardware limit switch, working-area limitation) are effective in conjunction with handwheel override. With path default, the axis can be traversed with the handwheel in the programmed traversing direction only as far as the programmed target position.

Page 222 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode N10 POS[U]=10 FDA[U]=100 POSA[V]=20 FDA[V]=150 . . . Target position of positioning axis U POS[U]=10 Activate velocity override for positioning axis U; axis velocity of U = 100 mm/ FDA[U]=100 Target position of positioning axis V (modally) POSA[V]=20...

Page 223: Special Features Of Handwheel Override In Automatic Mode
H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode DB31, ... DBX62.1 (handwheel override active) If the velocity parameter (F_Value) is transferred with the value 0, then the activated handwheel override acts as distance input, i.e. in this case, the feed is not derived from the axial machine data (see also Chapter "P2: Positioning axes (Page 653)"): MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity) References:...

Page 224: Contour Handwheel/Path Input Using Handwheel (Option)
When the function is activated, the feedrate of path and synchronized axes can be controlled via a handwheel in AUTOMATIC and MDI modes. Availability For the SINUMERIK 840D sl and SINUMERIK 828D systems, the "contour handwheel" function is available as an option that is under license. Input mode (path or velocity input) Either the distance or the velocity can be entered via the handwheel: ●...

Page 225 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode The feedrate is not dependent on: ● The programmed feedrate mode (mm/min, mm/rev.) ● The programmed feedrate (resultant velocity can be higher) ● The rapid traverse velocity for G0 blocks ●...

Page 226: Drf Offset
H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode When the simulation is deselected or the direction is changed, the current movement is decelerated using a braking ramp. Note The override is effective as for NC-program execution. Supplementary conditions ●...

Page 227 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode Applications The DRF offset can be used, for example, in the following application cases: ● Offsetting tool wear within an NC block Where NC blocks have very long processing times, it becomes necessary to offset tool wear manually within the NC block (e.g.

Page 228 H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode PLC user program: ● Reading the DRF offset (axis-specific) References: Function Manual, Basic Machine; PLC Basic Program (P3) HMI user interface: ● Display of the DRF offset (axis-specific) Note If DRF offset is deleted, the axis is not traversed! Figure 4-9...

Page 229: Double Use Of The Handwheel
H1: Manual and handwheel travel 4.13 Use of handwheels in automatic mode Reference point approach In phase 1 of the machine-axis reference point approach, the DRF offset for the corresponding geometry or auxiliary axis is deleted. During the machine-axis reference point approach, a DRF offset for the corresponding geometry or auxiliary axis cannot be performed simultaneously.

Page 230: Monitoring Functions
H1: Manual and handwheel travel 4.14 Monitoring functions Example: Velocity override of positioning axis Assumption: Channel 1: Channel axis A corresponds to machine axis 4 and handwheel 1 is assigned to this axis. If block POS[A]=100 FDA[A]=0 is processed in the main run, machine axis 4 cannot be traversed with DRF.

Page 231: Start-Up: Handwheels
H1: Manual and handwheel travel 4.15 Start-up: Handwheels Alarms are triggered when the various limitations are reached (alarms 16016, 16017, 16020, 16021). The control automatically prevents further movement in this direction. The traversing keys and the handwheel have no effect in this direction. Note The software limit switches and working-area limitations are only active if the axis has first been referenced.

Page 232 Currently only six handwheels can be parameterized in a SINUMERIK control system. Connection options SINUMERIK 840D sl For SINUMERIK 840D sl, handwheels can be connected via the following components: ● PROFIBUS (Page 235) module ● Ethernet (Page 237) module Note Several handwheels, which are connected via different components, can be connected to one SINUMERIK 840D sl at the same time.

Page 233: Connection Via Ppu (Only 828D)
H1: Manual and handwheel travel 4.15 Start-up: Handwheels 4.15.2 Connection via PPU (only 828D) Parameter assignment Handwheels directly connected to terminal X143 of the PPU are parameterized using the following NCK machine data: Handwheel_No._in_NCK - 1 >] = 2 ● MD11350 $MN_HANDWHEEL_SEGMENT[< When directly connected to the PPU, a 2 (8xxD_HW) must always be entered as handwheel segment.

Page 234 H1: Manual and handwheel travel 4.15 Start-up: Handwheels The parameter assignment of the third handwheel is performed in the following NCK machine data: ● MD11350 $MN_HANDWHEEL_SEGMENT[ 2 ] = 5 ● MD11351 $MN_HANDWHEEL_MODULE[ 2 ] = 1 ● MD11352 $MN_HANDWHEEL_INPUT[ 2 ] = 1 Requirement Operation of the control with default data (machine data, STEP 7 configuration).

Page 235: Connection Via Profibus (840D Sl)
H1: Manual and handwheel travel 4.15 Start-up: Handwheels 4.15.4 Connection via PROFIBUS (840D sl) Parameterization The parameter assignment of handwheels connected via PROFIBUSmodules (e.g. "MCP 483" machine control table) is performed with the following NCK machine data: Handwheel_No._in_NCK - 1 >] = 5 ●...

Page 236 H1: Manual and handwheel travel 4.15 Start-up: Handwheels The 4th handwheel in the NCK is not used (gap in machine data). Note Machine data gaps are allowed when parameterizing handwheels in NCK machine data. Machine control tables have been configured in SIMATIC STEP 7, HW Config as follows: Slot DP ID Article No./designation...

Page 237: Connected Via Ethernet (Only 840D Sl)
H1: Manual and handwheel travel 4.15 Start-up: Handwheels Machine data Val‐ Meaning MD11350 $MN_HANDWHEEL_SEGMENT[3] No handwheel parameterized MD11351 $MN_HANDWHEEL_MODULE[3] No handwheel parameterized MD11352 $MN_HANDWHEEL_INPUT[3] No handwheel parameterized 5th handwheel in the NCK MD11350 $MN_HANDWHEEL_SEGMENT[4] Hardware segment: PROFIBUS MD11351 $MN_HANDWHEEL_MODULE[4] Reference to logical base address of the handwheel slot of the 3rd MCP MD11352 $MN_HANDWHEEL_INPUT[4] 1st handwheel in the handwheel slot...

Page 238 H1: Manual and handwheel travel 4.15 Start-up: Handwheels Handwheel interfaces at the Ethernet Bus The handwheel interfaces at the Ethernet bus are numbered on the basis of the following considerations: ● The sequence of the operator component interfaces is: MCP1, MCP2, BHG ●...

Page 239 H1: Manual and handwheel travel 4.15 Start-up: Handwheels Table 4-1 NCK machine data for the handwheel assignment Machine data Value Description HT 8: Handwheel number in the NC = 1 MD11350 $MN_HANDWHEEL_SEGMENT[ 0 ] Segment: Ethernet MD11350 $MN_HANDWHEEL_MODULE[ 0 ] Module: Ethernet MD11350 $MN_HANDWHEEL_INPUT[ 0 ] Handwheel interface at Ethernet bus...

Page 240 H1: Manual and handwheel travel 4.15 Start-up: Handwheels Filter time Since the handwheel pulses on the Ethernet bus are not transferred deterministically, filtering (smoothing) of the handwheel pulse transfer process may be necessary for highly dynamic drives. The parameter for the filter time is assigned using the following machine data: ●...

Page 241: Data Lists
H1: Manual and handwheel travel 4.16 Data lists 4.16 Data lists 4.16.1 Machine data 4.16.1.1 General machine data Number Identifier: $MN_ Description 10000 AXCONF_MACHAX_NAME_TAB[n] Machine axis name 10720 OPERATING_MODE_DEFAULT Setting of the operating mode after Power On 10721 OPERATING_MODE_EXTENDED Extended setting of the operating mode after Power On 10735 JOG_MODE_MASK Settings for JOG mode...

Page 242: Axis/Spindlespecific Machine Data
H1: Manual and handwheel travel 4.16 Data lists Number Identifier: $MC_ Description 21150 JOG_VELO_RAPID_ORI Conventional rapid traverse for orientation axes 21155 JOG_VELO_ORI Conventional velocity for orientation axes 21158 JOG_JERK_ORI Maximum jerk when manually traversing orientation ax‐ 21159 JOG_JERK_ORI_ENABLE Jerk limitation for manual traversing of orientation axes activated 21160 JOG_VELO_RAPID_GEO...

Page 243: Setting Data
Identifier: $SA_ Description 43320 JOG_POSITION JOG position 4.16.3 Signals 4.16.3.1 Signals from NC Signal name SINUMERIK 840D sl SINUMERIK 828D Handwheel 1 is operated DB10.DBB68 DB2700.DBB12 Handwheel 2 is operated DB10.DBB69 DB2700.DBB13 Handwheel 3 is operated DB10.DBB70 Handwheel 4 is operated DB10.DBB242...

Page 244: Signals To Mode Group
H1: Manual and handwheel travel 4.16 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D Handwheel 6 is operated DB10.DBB244 Ethernet handwheel is stationary DB10.DBB245 4.16.3.2 Signals to mode group Signal name SINUMERIK 840D sl SINUMERIK 828D Mode Group1: JOG mode DB11.DBX0.2...

Page 245: Signals To Channel
H1: Manual and handwheel travel 4.16 Data lists 4.16.3.4 Signals to channel Signal name SINUMERIK 840D sl SINUMERIK 828D Activate DRF DB21, ..DBX0.3 DB320x.DBX0.3 Geometry axis 1: Activate handwheel DB21, ..DBX12.0-2 DB320x.DBX1000.0-2 Traversing key lock DB21, ..DBX12.4 DB320x.DBX1000.4...

Page 246: Signals From Channel
H1: Manual and handwheel travel 4.16 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D Orientation axis 1: Activate handwheel DB21, ..DBX320.0-2 Traversing key lock DB21, ..DBX320.4 Rapid traverse override DB21, ..DBX320.5 Traversing keys minus/plus DB21, ..DBX320.6-7 machine function request: DB21, ...

Page 247 H1: Manual and handwheel travel 4.16 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D Geometry axis 1: Handwheel active DB21, ..DBX40.0-2 DB330x.DBX1000.0-1 Traversing requests minus/plus DB21, ..DBX40.4-5 DB330x.DBX1000.4-5 Traversing command minus/plus DB21, ..DBX40.6-7 DB330x.DBX1000.6-7 active machine function: 1 INC ...

Page 248: Signals To Axis/Spindle
H1: Manual and handwheel travel 4.16 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D Orientation axis 3: Handwheel active DB21, ..DBX340.0-2 Traversing request minus/plus DB21, ..DBX340.4-5 Traversing command minus/plus DB21, ..DBX340.6-7 active machine function: 1 INC ...

Page 249: System Variable
H1: Manual and handwheel travel 4.16 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D JOG approach fixed point active DB31, ..DBX75.0-2 DB390x.DBX1001.0-2 JOG approach fixed point reached DB31, ..DBX75.3-5 DB390x.DBX1001.3-5 JOG travel to position active DB31, ..DBX75.6 DB390x.DBX1001.6...

Page 250 H1: Manual and handwheel travel 4.16 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 251: K3: Compensations
K3: Compensations Introduction Accuracy errors The accuracy of machine tools is impaired as a result of deviations from the ideal geometry, power transmission faults and measuring system errors. Temperature differences and mechanical forces often result in great reductions in precision when large workpieces are machined.

Page 252: Temperature Compensation
K3: Compensations 5.2 Temperature compensation Temperature compensation 5.2.1 Description of functions Deformation due to temperature effects Heat generated by the drive equipment or high ambient temperatures (e.g. caused by sunlight, drafts) cause the machine base and parts of the machinery to expand. This expansion depends, among other things, on the temperature and on the thermal conductivity of the machine parts.

Page 253 K3: Compensations 5.2 Temperature compensation Compensation equation The compensation value ∆K is calculated on the basis of current actual position P of this axis and temperature T according to the following equation: ΔK (T) + tanβ (T) * (P The meaning is as follows: ΔK Temperature compensation value of axis at position P Position-independent temperature compensation value of axis...

Page 254 K3: Compensations 5.2 Temperature compensation Activation The following conditions must be fulfilled so that the temperature compensation can be activated: 1. The compensation type is selected (MD32750, see "Commissioning (Page 255)"). 2. The parameters for the compensation type are defined (see "Commissioning (Page 255)"). 3.

Page 255: Commissioning
K3: Compensations 5.2 Temperature compensation Smooth the compensation value To prevent overloading of the machine or tripping of monitoring functions in response to step changes in the temperature compensation parameters, the compensation values are distributed over several IPO cycles by an internal control function as soon as they exceed the maximum compensation value specified for each IPO cycle (MD32760, see "Commissioning (Page 255)").

Page 256: Example
K3: Compensations 5.2 Temperature compensation MD32760 $MA_COMP_ADD_VELO_FACTOR (velocity increase as a result of compensation) The specified value acts as a factor and is referred to the maximum axis velocity (MD32000 $MA_MAX_AX_VELO). MD32760 also limits the maximum gradient of the error line (tan ß) of the temperature compensation.

Page 257 K3: Compensations 5.2 Temperature compensation Figure 5-2 Error curves determined for the Z axis Specifying parameters The temperature compensation parameters must now be determined on the basis of the measurement results (see diagram above). Reference position P As the diagram above illustrates, there are basically two methods of parameterizing reference position P 1.

Page 258 K3: Compensations 5.2 Temperature compensation Figure 5-3 Characteristic of coefficient tanβ as a function of measured temperature T With the appropriate linearization, coefficient tanβ depends on T as follows: tanβ(T) = (T - T ) * TK * 10 / (T max - with = temperature at which position-dependent error = 0;...

Page 259: Backlash Compensation
K3: Compensations 5.3 Backlash compensation SD43910 $SA_TEMP_COMP_SLOPE = 0.000132 Backlash compensation 5.3.1 Mechanical backlash compensation 5.3.1.1 Description of functions Mechanical backlash can occur in a drive train involving moved machine parts (machine axes), e.g. at the ballscrew or in conjunction with the measuring system. Effects For a machine axis with indirect measuring system, mechanical backlash results in a difference between the actual position of the NC determined using the measuring system and the actual...

Page 260: Commissioning: Axis-Specific Machine Data
K3: Compensations 5.3 Backlash compensation Activation The mechanical backlash compensation of a machine axis is active in all operating modes. Precondition: ● Incremental measuring system: Encoder state == "referenced" ● Absolute encoder: Encoder state == "synchronized" Displaying the compensation values The compensation values active at the actual position of the machine axis are displayed on the user interface for each individual axis.

Page 261 K3: Compensations 5.3 Backlash compensation Second measuring system If an axis has a second measuring system, the compensation value must also be determined for this and entered in the machine data: MD32450 $MA_BACKLASH[ ] When the measuring system is switched over, the associated compensation value is automatically used.

Page 262: Dynamic Backlash Compensation
K3: Compensations 5.3 Backlash compensation 5.3.2 Dynamic backlash compensation 5.3.2.1 Description of functions Dynamic backlash A dynamic backlash can occur for machine types with sliding guides. Depending on the axial dynamic response (velocity, jerk, etc.) used to approach an end position, the machine slide reaches the programmed end position or stops earlier because of the static friction.

Page 263: Commissioning: Axis-Specific Machine Data
K3: Compensations 5.3 Backlash compensation 5.3.2.2 Commissioning: Axis-specific machine data Compensation value As precondition to commission the dynamic backlash compensation, the mechanical backlash compensation must have already been commissioned. See Section "Commissioning: Axis- specific machine data (Page 260)". To determine the compensation value for the dynamic backlash compensation, the measurement described there should be repeated with low traversing velocities.

Page 264: Commissioning: Axis-Specific Machine Data
K3: Compensations 5.3 Backlash compensation Preconditions The following preconditions must be satisfied for an axis to be compensated: ● Direct and indirect measuring system, mechanically coupled: – MD30200 $MA_NUM_ENCS = 2 – MD31040 $MA_ENC_IS_DIRECT[ 0 ] = 0 or 1 –...

Page 265: Interpolatory Compensation
K3: Compensations 5.4 Interpolatory compensation Interpolatory compensation 5.4.1 General properties Function With "interpolatory compensation," deviations between the desired and the actual position of an axis can be compensated by leadscrew, measuring system, sag and angularity errors. This is done by determining the deviation by measurement and storing the corresponding compensation values in one or more compensation tables in the NC.

Page 266 K3: Compensations 5.4 Interpolatory compensation The compensation values and additional table parameters are entered in the compensation tables using special system variables. Data can be loaded in two different ways: ● By starting an NC program with the parameter values. ●...

Page 267: Leadscrew Error And Measuring System Error Compensation
K3: Compensations 5.4 Interpolatory compensation Supplementary conditions Compensation value at reference point It is recommended that a compensation table be structured in such a way that the compensation value has the value "0" at the reference point of the axis. 5.4.2 Leadscrew error and measuring system error compensation 5.4.2.1...

Page 268: Commissioning
K3: Compensations 5.4 Interpolatory compensation Preconditions / activation The MSEC is only active until the following pre-conditions: ● The compensation values are stored in the static user memory and are active (after POWER ON). ● The function has been activated for the relevant machine axis: MD32700 $MA_ENC_COMP_ENABLE [] = 1 with: ...

Page 269 K3: Compensations 5.4 Interpolatory compensation System variables The position-related compensations as well as additional table parameters should be saved in the form of system variables for each machine axis as well as for each measuring system (if a 2nd measuring system is being used): ●...

Page 270 K3: Compensations 5.4 Interpolatory compensation ● $AA_ENC_COMP[,,] (correction value for interpolation point N of the compensation table) = interpolation point (axis position) For every individual interpolation point the compensation value must be entered in the table. is limited by the maximum number of interpolation points of the particular compensation table (MD38000 $MA_MM_ENC_COMP_MAX_POINTS): 0 ≤...

Page 271: Example
K3: Compensations 5.4 Interpolatory compensation Note Table parameters containing position information are automatically converted when the system of units is changed (change from MD10240 $MN_SCALING_SYSTEM_IS_METRIC). The position information is always interpreted in the current measuring system. Conversion must be implemented externally. Automatic conversion of the position data can be configured as follows: MD10260 $MN_CONVERT_SCALING_SYSTEM = 1 External conversion is no longer necessary.

Page 272: Sag And Angularity Error Compensation
K3: Compensations 5.4 Interpolatory compensation Program for writing system variables Program code Comment %_N_AX_EEC_INI CHANDATA(1) $AA_ENC_COMP[0,0,X1]=0.003 1st compensation value (interpolation point 0): +3μm $AA_ENC_COMP[0,1,X1]=0.01 2nd compensation value (interpolation point 1): +10μm $AA_ENC_COMP[0,2,X1]=0.012 3rd compensation value (interpolation point 2): +12μm $AA_ENC_COMP[0,800,X1]=-0.0 Last compensation value (interpolation point 800): 0μm $AA_ENC_COMP_STEP[0,X1]=1.0...

Page 273 K3: Compensations 5.4 Interpolatory compensation ① Position deviation in Z1 because of the sag at the current position of Y1 Figure 5-5 Example of sag caused by own weight The error must be recorded in the form of a compensation table that contains a compensation value for the Z1 axis for every actual position in the Y1 axis.

Page 274 K3: Compensations 5.4 Interpolatory compensation 7. A weighting factor can be taken into account for each compensation table, with which the table value is multiplied. 8. Every compensation table can be multiplied with any other compensation table in pairs (i.e. also with itself) using the "table multiplication"...

Page 275 K3: Compensations 5.4 Interpolatory compensation Figure 5-6 Generation of compensation value for sag compensation Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 276: Commissioning
K3: Compensations 5.4 Interpolatory compensation Complex compensations Since it is possible to use the position of an axis as the input quantity (base axis) for several tables, to derive the total compensation value of an axis from several compensation relationships (tables) and to multiply tables, it is also possible to implement sophisticated and complex beam sag and angularity error compensation systems.

Page 277 K3: Compensations 5.4 Interpolatory compensation Compensation table index For compensation functions, always refers to the index of a compensation relationship. Number of interpolation points per compensation table The number of interpolation points per compensation table is parameterized with: MD18342 $MN_MM_CEC_MAX_POINTS[ ] = ●...

Page 278 K3: Compensations 5.4 Interpolatory compensation ● End position The end position is the basic axis position at which the compensation table ends ⇒ interpolation point [k]. The compensation value of interpolation point [ k ] is used for all positions larger than the end position; exception: Table with modulo function, see below. $AN_CEC_MAX[] = ...

Page 279: Examples
K3: Compensations 5.4 Interpolatory compensation System of units Table parameters with position data are automatically converted if the system of units changes (MD10240 $MN_SCALING_SYSTEM_IS_METRIC). The position information is always interpreted in the current measuring system. Conversion must be implemented externally. Automatic conversion An automatic conversion of the position data is performed for the following settings: MD10260 $MN_CONVERT_SCALING_SYSTEM = 1...

Page 280 K3: Compensations 5.4 Interpolatory compensation Compensation parameters ● Starting position: -400.0 ● End position: 400.0 ● Distance between interpolation points: 8.0 Number of interpolation points MD18342 $MN_MM_CEC_MAX_POINTS[ 0 ] = (400.0 - (-400.0)) / 8.0 + 1 = 101 The memory required in the static user memory is at least 808 bytes (8 bytes per compensation value).

Page 281 K3: Compensations 5.4 Interpolatory compensation Example 2: Compensation with table multiplication Compensation of sag of the foundation of a drilling machine with table multiplication. Figure 5-7 Sag of the foundation On large machines, sagging of the foundation can cause inclination of the whole machine. The compensation in axis X1 depends on: ●...

Page 282 K3: Compensations 5.4 Interpolatory compensation Compensation table 2 (index = 1) ● Basic axis: Z1 ● Compensation axis: X1 ● Compensation values: Reaction of axis Z1 on axis X1 (linear). For compensation relationship 1 (index = 0), multiplication by the compensation values of the compensation relationship 2 must be set: $AN_CEC_MULT_BY_TABLE[ 0 ] = 2 Example 3: 2-dimensional array of compensation values...

Page 283 K3: Compensations 5.4 Interpolatory compensation Figure 5-9 Compensation values of z axis with chessboard-like distribution of x-y plane The application example can be realized with the following part program code: $MA_CEC_ENABLE[Z1]= FALSE ; Deactivate compensation ; by setting to FALSE. ;...

Page 284 K3: Compensations 5.4 Interpolatory compensation $AN_CEC[2,3]=1.4 $AN_CEC[2,4]=1.5 ;Function values f_4(x) for table with index [3] $AN_CEC[3,0]=1.6 $AN_CEC[3,1]=1.7 $AN_CEC[3,2]=1.8 $AN_CEC[3,3]=1.9 $AN_CEC[3,4]=2.0 ;Enable evaluation of f tables with compensation values $SN_CEC_TABLE_ENABLE[0]=TRUE $SN_CEC_TABLE_ENABLE[1]=TRUE $SN_CEC_TABLE_ENABLE[2]=TRUE $SN_CEC_TABLE_ENABLE[3]=TRUE ;Define weighting factor of f tables $SN_CEC_TABLE_WEIGHT[0]=1.0 $SN_CEC_TABLE_WEIGHT[1]=1.0 $SN_CEC_TABLE_WEIGHT[2]=1.0 $SN_CEC_TABLE_WEIGHT[3]=1.0 ;Changes to the following table parameters do not take effect until...

Page 285 K3: Compensations 5.4 Interpolatory compensation $AN_CEC_MIN[2]=0.0 $AN_CEC_MIN[3]=0.0 ;Compensation ends at X1=2000 $AN_CEC_MAX[0]=2000.0 $AN_CEC_MAX[1]=2000.0 $AN_CEC_MAX[2]=2000.0 $AN_CEC_MAX[3]=2000.0 ;Values of f tables with index [t1] are multiplied by values in g tables ;by the number [t2] ;in accordance with the rule of calculation specified above $AN_CEC_MULT_BY_TABLE[0] = 5 $AN_CEC_MULT_BY_TABLE[1] = 6 $AN_CEC_MULT_BY_TABLE[2] = 7...

Page 286 K3: Compensations 5.4 Interpolatory compensation $SN_CEC_TABLE_ENABLE[7]=TRUE ;Define weighting factor for g tables $SN_CEC_TABLE_WEIGHT[4]=1.0 $SN_CEC_TABLE_WEIGHT[5]=1.0 $SN_CEC_TABLE_WEIGHT[6]=1.0 $SN_CEC_TABLE_WEIGHT[7]=1.0 ;Changes to the following table parameters do not take effect until ;a Power On ;Define basic axis Y1 $AN_CEC_INPUT_AXIS[4]=(Y1) $AN_CEC_INPUT_AXIS[5]=(Y1) $AN_CEC_INPUT_AXIS[6]=(Y1) $AN_CEC_INPUT_AXIS[7]=(Y1) ;Define compensation axis Z1 $AN_CEC_OUTPUT_AXIS[4]=(Z1) $AN_CEC_OUTPUT_AXIS[5]=(Z1) $AN_CEC_OUTPUT_AXIS[6]=(Z1)

Page 287 K3: Compensations 5.4 Interpolatory compensation LOOP_Y: LOOP_X: STOPRE X=R1 Y=R2 ; Wait to check the CEC value R1=R1+500 IF R1 <=2000 GOTOB LOOP_X R1=0 R2=R2+300 IF R2<=900 GOTOB LOOP_Y Note You can read the compensation value under variable "Sag + temperature compensation" on the user interface.

Page 288: Extension Of The Sag Compensation With Ncu Link - Only 840D Sl
K3: Compensations 5.4 Interpolatory compensation compensation tables are referred to below as f tables and their values as f_i(x) (i=number of table). The compensation values of f tables are evaluated by multiplying them by other tables. The latter are referred to below as g tables and their values as g_i(y). The number of f tables and g tables is equal (four in the example).

Page 289 K3: Compensations 5.4 Interpolatory compensation Supplementary conditions ● The input and output axes have to be interpolated as channel axes on the same NCU. The corresponding machine axes can be connected to different NCUs. ● The system variables become effective only after a restart. ●...

Page 290 K3: Compensations 5.4 Interpolatory compensation Nxx4 $AN_CEC_OUTPUT_AXIS[0] = "AX2" See section "Configuration examples", configuration 1, below. Note The NCU number is to be written before the axis name. A sag compensation between NC1_AX1 and NC1_AX2 is not possible. Axis container The sag compensation can also be used in conjunction with axes, which are components of a axis container (Page 104).

Page 291 K3: Compensations 5.4 Interpolatory compensation Configuration examples The following pictures show the axis configuration of an NCU link with two NCUs: ● Configuration 1 The two channels of NCU 1 are shows in configuration 1. Here, the channel axis names that are defined via the machine data $MC_AXCONF_CHANAX_NAME_TAB are entered.

Page 292 K3: Compensations 5.4 Interpolatory compensation Part program TP1: Machine data of configuration 1 for NCU 1 ; ########## NCU1 ########## ; NC-specific machine data $MN_NCU_LINKNO = 1 $MN_MM_NCU_LINK_MASK = 1 $MN_MM_LINK_NUM_OF_MODULES = 2 $MN_MM_SERVO_FIFO_SIZE = 3 $MN_ASSIGN_CHAN_TO_MODE_GROUP[1]=1 $MN_AXCONF_LOGIC_MACHAX_TAB[0] = "NC1_AX1" $MN_AXCONF_LOGIC_MACHAX_TAB[1] = "NC1_AX3"...

Page 293 K3: Compensations 5.4 Interpolatory compensation $MC_AXCONF_CHANAX_NAME_TAB[1] = "YY" $MC_AXCONF_CHANAX_NAME_TAB[2] = "ZZ" Part program TP2: Machine data of configuration 1 for NCU 2 ; ########## NCU-2 ########## ; NC-specific machine data $MN_NCU_LINKNO = 2 $MN_MM_NCU_LINK_MASK = 1 $MN_MM_LINK_NUM_OF_MODULES = 2 $MN_MM_SERVO_FIFO_SIZE = 3 $MN_AXCONF_LOGIC_MACHAX_TAB[0] = "NC2_AX1"...

Page 294 K3: Compensations 5.4 Interpolatory compensation Configuration 2: NCU link with axis container ① MD20070 $MC_AXCONF_MACHAX_USED. ② MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB ③ MD10000 $MN_AXCONF_MACHAX_NAME_TAB Figure 5-11 Configuration 2, fig. 1: NCU link with axis container in output state Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 295 K3: Compensations 5.4 Interpolatory compensation ① MD20070 $MC_AXCONF_MACHAX_USED. ② MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB ③ MD10000 $MN_AXCONF_MACHAX_NAME_TAB Figure 5-12 Configuration 2, fig. 2: NCU link with rotated axis container Part program TP3: Machine data of configuration 2. NCU 1 ; ########## NCU1 ########## ;...

Page 296 K3: Compensations 5.4 Interpolatory compensation $MN_AXCT_AXCONF_ASSIGN_TAB1[3] = "NC2_AX2" $SN_AXCT_SWWIDTH[0] = 1 ; Channel-specific machine data: Channel 1 CHANDATA(1) $MC_AXCONF_MACHAX_USED[0]=1 $MC_AXCONF_MACHAX_USED[1]=5 $MC_AXCONF_MACHAX_USED[2]=4 $MC_AXCONF_MACHAX_USED[3]=0 $MC_AXCONF_MACHAX_USED[4]=0 $MC_AXCONF_MACHAX_USED[5]=0 $MC_AXCONF_CHANAX_NAME_TAB[0] = "XR" $MC_AXCONF_CHANAX_NAME_TAB[1] = "YR" $MC_AXCONF_CHANAX_NAME_TAB[2] = "ZR" ; Channel-specific machine data: Channel 1 CHANDATA(2) $MC_REFP_NC_START_LOCK=0 $MC_AXCONF_MACHAX_USED[0]=2 $MC_AXCONF_MACHAX_USED[1]=6...

Page 297: Direction-Dependent Leadscrew Error Compensation
K3: Compensations 5.4 Interpolatory compensation $MN_AXCONF_LOGIC_MACHAX_TAB[2] = "NC2_AX3" $MN_AXCONF_LOGIC_MACHAX_TAB[3] = "NC2_AX4" $MN_AXCONF_LOGIC_MACHAX_TAB[4] = "NC2_AX5" $MN_AXCONF_LOGIC_MACHAX_TAB[5] = "NC2_AX6" CHANDATA(1) ; Channel-specific machine data: Channel 1 $MC_AXCONF_MACHAX_USED[0]=1 $MC_AXCONF_MACHAX_USED[1]=2 $MC_AXCONF_MACHAX_USED[2]=3 $MC_AXCONF_MACHAX_USED[3]=4 $MC_AXCONF_MACHAX_USED[4]=5 $MC_AXCONF_MACHAX_USED[5]=6 $MC_AXCONF_MACHAX_USED[6]=0 See also NCU link (Page 83) 5.4.5 Direction-dependent leadscrew error compensation 5.4.5.1 Description of functions If the direction-dependent differences at the compensation points are excessively high, for an...

Page 298: Commissioning
K3: Compensations 5.4 Interpolatory compensation Preconditions / activation The "direction-dependent LEC" is implemented in the SINUMERIK control as a special case of "sag compensation". This is the reason that the preconditions and conditions of "sag compensation" apply (see "Sag and angularity error compensation (Page 272)"). The activation of the compensation can be checked using a reference measurement, e.g.

Page 299 K3: Compensations 5.4 Interpolatory compensation Commissioning (principle) 1. Specify the number of compensation interpolation points (also see Section "Compensation for droop and angularity error: Commissioning (Page 276)") For the directional leadscrew error compensation, a compensation table for the positive and a compensation table for the negative traversing directions must be assigned to each axis.

Page 300 K3: Compensations 5.4 Interpolatory compensation Note Sequence for SINUMERIK 828D For SINUMERIK 828D, steps 2 and 3 are eliminated. This is because when the "sag compensation, multi-dimensional" option is enabled, 8 tables each with 200 interpolation points per table for the compensation immediately become available. This cannot be extended! NC_CEC.INI The "NC_CEC.INI"...

Page 301: Example
K3: Compensations 5.4 Interpolatory compensation System of units See Section "Compensation for droop and angularity error: Commissioning (Page 276)". Monitoring See Section "Compensation for droop and angularity error: Commissioning (Page 276)". 5.4.5.3 Example The following examples shows parameterization of the directional compensation tables for an axis (machine axis AX1).

Page 302 K3: Compensations 5.4 Interpolatory compensation Interpolation points Deviations or correction values Deviation with compensation Index Position pos. Traversing di‐ neg. Traversing di‐ pos. Traversing di‐ neg. Traversing di‐ [mm] rection rection rection rection [mm] [mm] [mm] [mm] -295 0.0004 0.0016 -0.0002 -0.0003 -237...

Page 303 K3: Compensations 5.4 Interpolatory compensation ; table 2 - negative traversing direction ;--- Deaktivierung der Kompensation und der Tabellen CHANDATA(1) $MA_CEC_ENABLE[AX1]=0 ; compensation OFF $SN_CEC_TABLE_ENABLE[0]=0 ; lock Table 1 $SN_CEC_TABLE_ENABLE[1]=0 ; lock Table 2 NEWCONF ;--- 1. Kompensationstabelle, positive Verfahrrichtung ;------ Kompensationswerte $AN_CEC[0,0]=0 ;...

Page 304: Cylinder Error Compensation
K3: Compensations 5.4 Interpolatory compensation $AN_CEC_OUTPUT_AXIS[1]=(AX1) ; compensation axis $AN_CEC_STEP[1]=58.0 ; distance between interpolation points $AN_CEC_MIN[1]=-585.0 ; starting position $AN_CEC_MAX[1]=-5.0 ; end position $AN_CEC_DIRECTION[1]=-1 ; table applies to negative traversing directions $AN_CEC_MULT_BY_TABLE[1]=0 ; no multiplication (not relevant here) $AN_CEC_IS_MODULO[1]=0 ; compensation without modulo function (for rotary axes only) ;--- Aktivierung der Kompensation und der Tabellen $MA_CEC_ENABLE[AX1]=1...

Page 305: Commissioning
K3: Compensations 5.4 Interpolatory compensation 5.4.6.2 Commissioning Note Table index All of the subsequently described machine data, setting data and system variables with the same index belong to the same compensation table. Compensation function The compensation function of the cylinder error compensation is a straight line with the form: ΔX = m*Z + b ΔX: Compensation value for the set position of the compensation axis...

Page 306 K3: Compensations 5.4 Interpolatory compensation ① Measuring point P1 ② Measuring point P2 $SN_CEC_BAS_0/_1 : Positions of the measuring points in the basic axis (Z) $SN_CEC_COMP_0/_1: Cylinder error at the measuring points in the compensation axis (X) ∅ D == ∅ D Figure 5-14 Measuring points of the cylinder error compensation The measuring points must meet the following condition:...

Page 307 K3: Compensations 5.4 Interpolatory compensation Program code Comment $AN_CEC_MULT_BY_TABLE[] = 0 ; no multiplication with another table $AN_CEC_TYPE = 1 ; compensation type = cylinder error com- pensation Distance between interpolation points ($AN_CEC_STEP[t]) Because the compensation function is a straight line, only two interpolation points are required for the cylinder error compensation.

Page 308: Examples
K3: Compensations 5.4 Interpolatory compensation 6. The control calculates the compensation values for the starting and end points of the compensation straight lines, absolute or relative, depending on setting data SD41356 $SN_CEC_CALC_ADD[]: Absolute: – SD41320 $SN_CEC_0[] = –...

Page 309 K3: Compensations 5.4 Interpolatory compensation Example 1: Cylinder error compensation with absolute compensation values Overview of the compensation parameters determining the characteristic For the example, the compensation parameters shown in the following figure are used. General compensation data Setting data $SN_... Value Meaning SD41300...

Page 310 K3: Compensations 5.4 Interpolatory compensation System variable $AN_... Value Meaning CEC_IS_MODULO[0] FALSE No modulo function is active CEC_MULT_BY_TABLE[0] No table multiplication is active Measuring points Setting data $SN_... Value Meaning SD41330 CEC_BAS_0[0] 110.0 mm Measuring point P1: Base value SD41331 CEC_BAS_1[0] 210.0 mm Measuring point P2: Base value SD41340...

Page 311 K3: Compensations 5.4 Interpolatory compensation Setting data $SN_... Value Meaning SD41341 CEC_COMP_1[0] 0.0 mm Measuring point P2: Cylinder error (deleted) SD41350 CEC_COMP_STORE_0[0] 0.001 mm Bit memories for measuring point P1: Cylinder error SD41351 CEC_COMP_STORE_1[0] 0.002 mm Bit memories for measuring point P2: Cylinder error Example 2: Cylinder error compensation with relative compensation values Example 2 based on the compensation data of example 1.

Page 312: Supplementary Conditions
K3: Compensations 5.4 Interpolatory compensation Setting data $SN_CEC_... Value Meaning SD41320 CEC_0[0] -1.000025 Compensation value at the starting position SD41321 CEC_1[0] 0.999975 Compensation value at the end position SD41330 CEC_BAS_0[0] 0.0 mm Measuring point P1: Base value (deleted) SD41331 CEC_BAS_1[0] 0.0 mm Measuring point P2: Base value (deleted) SD41335...

Page 313: Dynamic Feedforward Control (Following Error Compensation)
K3: Compensations 5.5 Dynamic feedforward control (following error compensation) Loss of the referenced status of the basic axis If the referenced status of the active measuring system of the basic axis changes from "Referenced/synchronized" to "Not referenced/synchronized" (DB31, ... DBX60.4 or .5: 1→0), then the MSEC and/or sag compensation is deactivated in the corresponding axis (basic/ compensation axis).

Page 314 K3: Compensations 5.5 Dynamic feedforward control (following error compensation) Methods There are two "dynamic feedforward control" methods: ● Speed feedforward control (velocity-dependent) ● Torque feedforward control (acceleration-dependent) Activation The feedforward control method is selected and activated using the machine data: MD32620 $MA_FFW_MODE (feedforward control mode) Value Meaning...

Page 315: Speed Feedforward Control
K3: Compensations 5.5 Dynamic feedforward control (following error compensation) The feedforward control should only be activated or deactivated while the axis/spindle is stationary in the axis mode, in order to prevent jerky motion. Hence the switchover is delayed automatically up to the next standstill through block search stop. Note A preprocessing stop has no effect for command or PLC axes traversing asynchronously to the part program processing.

Page 316 K3: Compensations 5.5 Dynamic feedforward control (following error compensation) MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop for feedforward control) Feedforward control factor for speed feedforward control (MD32610) The additional velocity setpoint can be weighted using a factor: MD32610 $MA_VELO_FFW_WEIGHT Range of values: 0 ...

Page 317: Torque Feedforward Control
K3: Compensations 5.5 Dynamic feedforward control (following error compensation) 5.5.3 Torque feedforward control Function In the case of torque feedforward control, an additional current setpoint proportional to the torque is applied directly to the current controller input. This value is formed using the acceleration and moment of inertia.

Page 318: Dynamic Response Adaptation
K3: Compensations 5.5 Dynamic feedforward control (following error compensation) Fine adjustment The torque feedforward control for the particular axis/spindle can be optimized by making slight changes (fine tuning) to the values in MD32800 and MD32650. To make a check, the following error should be recorded via the trace functionality. In addition to traversing at a constant velocity, the following error should be monitored especially when the axis/spindle accelerates.

Page 319: Forward Feed Control For Command- And Plc Axes
K3: Compensations 5.5 Dynamic feedforward control (following error compensation) This means that the following values are obtained for the time constant of the dynamic response adaptation MD32910: ● Axis 1: 2 ms ● Axis 2: 0 ms ● Axis 3: 3 ms Activation (MD32900) The dynamic response adaptation is only active if the following machine data is set: MD32900 $MA_DYN_MATCH_ENABLE= 1...

Page 320: Secondary Conditions
K3: Compensations 5.5 Dynamic feedforward control (following error compensation) 5. Execute FFWON during the axis motion. 6. The K factor and following error displayed in the service display "Axis/spindle" must not jump. 7. A higher K factor and a lower following error are only obtained for traversing motion following standstill.

Page 321: Friction Compensation Overview
K3: Compensations 5.6 Friction compensation overview Check contour monitoring As the two equivalent time constants: ● MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop for feedforward control) ● MD32800 $MA_EQUIV_CURRCTRL_TIME) (equivalent time constant current control loop for feedforward control) also influence the contour monitoring, this should be subsequently checked. References: Function Manual, Basic Functions;...

Page 322: Friction Compensation With A Constant Compensation Value
K3: Compensations 5.7 Friction compensation with a constant compensation value Friction compensation functions The following functions are available for friction compensation: ● Friction compensation with a constant compensation value (Page 322) Depending on the acceleration of the machine axis, the same pulse is always applied to the velocity setpoint.

Page 323: Commissioning
K3: Compensations 5.7 Friction compensation with a constant compensation value Δn Amplitude of the velocity setpoint pulse Acceleration at the quadrant transition 5.7.2 Commissioning To determine the axis-specific compensation value Δn , the Circularity test (Page 324) must be used to determine the optimum amplitude of the velocity setpoint pulse Δn for each of opt_a a number of acceleration values.

Page 324: Circularity Test
K3: Compensations 5.7 Friction compensation with a constant compensation value Axis-specific machine data Activating friction compensation Friction compensation is activated with: ● MD32500 $MA_FRICT_COMP_ENABLE[ ] = TRUE (1) Activating friction compensation with a constant compensation value Friction compensation with constant compensation value is activated with: ●...

Page 325 K3: Compensations 5.7 Friction compensation with a constant compensation value 5. The optimized parameter values are applied graphically, e.g. amplitude = f(a 6. Setting of the next acceleration a and continuation with point 2. Performing the circularity test without friction compensation A circularity test without friction compensation should be performed to determine the initial quality of the circular contour at the quadrant transitions.

Page 326 K3: Compensations 5.7 Friction compensation with a constant compensation value Figure 5-17 Amplitude too small Amplitude too large Too large an amplitude value (MD32520) is revealed in the circularity test by overcompensation of the contour deviations at the quadrant transitions. Figure 5-18 Amplitude too large Decay time too short...

Page 327 K3: Compensations 5.7 Friction compensation with a constant compensation value Decay time too long Too long a decay time (MD32540) is revealed in the circularity test when the contour deviation at the quadrant transitions is compensated for at first. This assumes that the optimum amplitude values has already been set.

Page 328: Supplementary Conditions
K3: Compensations 5.8 Friction compensation with adaptive characteristic 5.7.3 Supplementary conditions Reaction of setpoint-related compensation functions The following setpoint-related compensation functions affect the position setpoint and must therefore be deactivated for the axes that perform a circularity test: ● Sag and angularity compensation (CEC) MD32710 $MA_CEC_ENABLE[ ...

Page 329: Commissioning
K3: Compensations 5.8 Friction compensation with adaptive characteristic Δn Maximum amplitude of the velocity setpoint pulse Δn Minimum amplitude of the velocity setpoint pulse Acceleration interpolation points 1, 2, and 3 B1 ... Acceleration range 1 ... 4 The amplitude of the velocity setpoint pulse Δn is calculated in the relevant acceleration range B1 to B4 to form: Range Acceleration a...

Page 330 K3: Compensations 5.8 Friction compensation with adaptive characteristic Evaluation of the value pairs determined (a, Δn opt_a To determine the acceleration interpolation points a , and a and the minimum and maximum amplitude of the velocity setpoint pulse Δn and Δn , we recommend graphically applying the value pairs determined in the circularity test comprising the acceleration a and the associated optimum amplitude of the velocity setpoint pulse Δn...

Page 331: Supplementary Conditions
K3: Compensations 5.9 Friction compensation with adaptive characteristics Characteristic parameters: Amplitude Δn and Δn The maximum and minimum amplitude of the velocity setpoint pulse (Δn , Δn ) must be entered in the following machine data: ● MD32520 $MA_FRICT_COMP_CONST_MAX[ ] = <Δn >...

Page 332 K3: Compensations 5.9 Friction compensation with adaptive characteristics ● In relation to the set position (compensation mode (Page 333) = 3), better results are achieved by early application of the compensation value. ● If the velocity setpoint pulse is insufficient to achieve the desired result, e.g. for gearless drives, a pulse can additionally be applied to the torque setpoint.

Page 333: Commissioning
K3: Compensations 5.9 Friction compensation with adaptive characteristics Examples of adapted characteristics ① ② ③ Velocity setpoint pulse: ● Red: Lower reversal point ● Blue: Upper reversal point ④ Torque setpoint pulse Compensation values for acceleration between the parameterized interpolation points are interpolated linearly.

Page 334: Commissioning Functions Of The Sinumerik Operate User Interface
K3: Compensations 5.9 Friction compensation with adaptive characteristics Activating friction compensation with adaptive characteristics Friction compensation with adaptive characteristics can be applied to the set or actual position of the machine axis, depending on the dynamics of the axis. The function is activated axis- specifically with: MD32490 $MA_FRICT_COMP_MODE = ...

Page 335 K3: Compensations 5.9 Friction compensation with adaptive characteristics The characteristic parameters for the torque setpoint pulse required only in exceptional cases must be determined manually. Note Friction compensation - axis selection dialog For the selection of an axis on an NCU other than the currently selected NCU, a switchover is no longer possible once the "Friction compensation"...

Page 336: Parameterization Of The Acceleration At The Characteristic Interpolation Points
K3: Compensations 5.9 Friction compensation with adaptive characteristics Completion After optimization of the compensation parameters for the entire measurement series has been completed, the maximum values, characteristics interpolation points, and weighting factors are calculated by the control and written into the following machine data: Maximum value Machine data Amplitude...

Page 337 K3: Compensations 5.9 Friction compensation with adaptive characteristics Circle radius A circle is traversed with the parameterized radius in the automatically generated circularity tests program: ● Linear axes SD55820 $SCS_FRICT_OPT_RADIUS = ● Rotary axes SD55821 $SCS_FRICT_OPT_RADIUS_ROT = Traversing velocities In the circularity test, the machine axes are traversed in each of the up to nine measurement sections with the velocity parameterized in the setting data: ●...

Page 338: Velocity Setpoint Pulse
K3: Compensations 5.9 Friction compensation with adaptive characteristics 5.9.2.4 Velocity setpoint pulse Determination of the characteristic parameters for the velocity setpoint pulses and calculation of the corresponding machine data is fully supported by the user interface (Page 334). We therefore advise against determining the characteristic parameters or writing the machine data manually.

Page 339 K3: Compensations 5.9 Friction compensation with adaptive characteristics Weighting factors for acceleration-dependent adaptation of the maximum values Table 5-1 Lower reversal point Machine data Description MD32582 Weighting factor for the amplitude $MA_FRICT_ADAPT_V_STEP_PLUS[ 0 ... 9 ] MD32584 Weighting factor for the action time $MA_FRICT_ADAPT_V_CONST_PLUS[ 0 ...

Page 340: Torque Setpoint Pulse
K3: Compensations 5.9 Friction compensation with adaptive characteristics Example: Amplitude characteristic for the lower reversal point ● Maximum value ● Weighting factors ● Effective interpolation points The effective interpolation points of the amplitude characteristics are the interpolation points to which the following applies: –...

Page 341 K3: Compensations 5.9 Friction compensation with adaptive characteristics Axis-specific machine data Torque setpoint pulse Figure 5-24 Basic pulse shape ① ② The numbers ( , ...) stated in the following tables refer to the figure above. Acceleration-independent parameters No. Machine data Description ①...

Page 342 K3: Compensations 5.9 Friction compensation with adaptive characteristics Commissioning (manual) Requirement The circularity test (Page 334) for determining the characteristic parameter was already been successfully performed completely or at least for the current measuring step. Note Determining the characteristic parameters ●...

Page 343 K3: Compensations 5.9 Friction compensation with adaptive characteristics Optional Setting the parameters that are independent of acceleration: ● MD32577 $MA_FRICT_T_PULSE_DELAY_TIME ● MD32578 $MA_FRICT_T_PULSE_SMOOTH_TIME Effective interpolation points The effective interpolation points of the amplitude characteristics are the interpolation points to which the following applies: ●...

Page 344: Compensation Functions For Suspended Axes
K3: Compensations 5.10 Compensation functions for suspended axes 5.10 Compensation functions for suspended axes 5.10.1 Electronic counterweight Axis without counterweight For axes that have a weight load without counterweight, then after the brake is released, the hanging (suspended) axis drops and the following response is obtained: Figure 5-25 Drop of a hanging axis without counterweight "Electronic counterweight"...

Page 345: Special Function: Reboot Delay
K3: Compensations 5.10 Compensation functions for suspended axes Figure 5-26 Lowering of a vertical axis with electronic weight compensation Commissioning Note The "electronic counterweight" is commissioned through the drive! Reference For additional information, see the following: SINAMICS S120 Function Manual Drive Functions 5.10.2 Special function: Reboot delay Function...

Page 346 K3: Compensations 5.10 Compensation functions for suspended axes During this time, user-specific actions, such engaging the holding brakes of the suspended axes, are performed. Note The reboot delay is only effective on a request to reboot the NC (NC reset) via the user interface.

Page 347: Data Lists
K3: Compensations 5.11 Data lists If the parameterized reboot delay time is 0.0, the function is deactivated. System variables The time remaining until the NC is rebooted can be read in the system variable: $AN_REBOOT_DELAY_TIME While no request for a reboot of the NC (NC reset) has been triggered from the user interface, the system variable has the value 0.0.

Page 348: Axis/Spindlespecific Machine Data
K3: Compensations 5.11 Data lists 5.11.1.3 Axis/spindlespecific machine data Number Identifier: $MA_ Description 32450 BACKLASH Backlash 32452 BACKLASH_FACTOR Weighting factor for backlash 32456 BACKLASH_DYN Compensation value for the dynamic backlash com‐ pensation 32457 BACKLASH_DYN_MAX_VELO Limitation of the dynamic backlash compensation value change 32490 FRICT_COMP_MODE...

Page 349: Setting Data
43920 TEMP_COMP_REF_POSITION Reference position for position-dependent temperature compensation 5.11.3 Signals 5.11.3.1 Signals from NC Signal name SINUMERIK 840D sl SINUMERIK 828D NC Ready DB10.DBX108.7 DB2700.DBX2.7 5.11.3.2 Signals from mode group Signal name SINUMERIK 840D sl SINUMERIK 828D Mode group ready DB11.DBX6.3...

Page 350: Signals To Axis/Spindle
K3: Compensations 5.11 Data lists 5.11.3.4 Signals to axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Activate dynamic backlash compensation DB31, ..DBX25.0 DB380x.DBX5001.0 5.11.3.5 Signals from axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Referenced/synchronized 1 DB31, ..DBX60.4 DB390x.DBX0.4...

Page 351: K5: Channel Synchronization, Axis Interchange
K5: Channel synchronization, axis interchange Channel synchronization 6.1.1 Channel synchronization (program coordination) Function For example, for double-slide machining or real-time actions, the possibility for the synchronization of the machining between channels must be present. The channels affected shall perform certain processing procedures time-matched. To allow this machining, the relevant channels must be joined to form a synchronization group (mode group).

Page 352 K5: Channel synchronization, axis interchange 6.1 Channel synchronization Statement Meaning WAITM (, , , ...) Unconditional wait: When a WAITM() call is reached, the axes of the current channel are decelerated and a wait made in the other channels to be synchronized until the marker number specified in the call is reached.

Page 353 K5: Channel synchronization, axis interchange 6.1 Channel synchronization Program code Comment N11 START(2) ; Machining in channel 1 N80 WAITM(1,1,2) ; Wait until wait marker 1 is reached in channels 1 and 2. ; Additional machining in channel 1. N180 WAITM(2,1,2) ;...

Page 354: Channel Synchronization: Conditional Wait In Path Controlled Operation
K5: Channel synchronization, axis interchange 6.1 Channel synchronization 6.1.2 Channel synchronization: Conditional wait in path controlled operation Function For the conditional wait with WAITMC, deceleration and waiting is made only when not all channels to be coordinated have set their marker numbers for a synchronization. The instants in time for generating wait marks and the conditional wait calls are decoupled.

Page 355 K5: Channel synchronization, axis interchange 6.1 Channel synchronization If the wait marker for a channel to be synchronized is missing, braking will be started. During braking, a check is made in each interpolator clock cycle as to whether the still missing wait markers for the channels to be synchronized have arrived in the meantime.

Page 356 K5: Channel synchronization, axis interchange 6.1 Channel synchronization Channel 1: Program code Comment %100 N10 INIT(2, "_N_200_MPF","n") ; Select partner program channel 2. N11 INIT(3,"_N_300_MPF","n") ; Select partner program channel 3. N15 START(2,3) ; Start programs in channels 2, 3. ;...

Page 357 K5: Channel synchronization, axis interchange 6.1 Channel synchronization Figure 6-4 Conditional wait in path controlled operation with three involved channels (schematic) Example: WAITMC and read-in disable M555 is output in channel 3 while the axis is traversing and generates a read-in disabled (RID). Because the WAITMC is added to block N312, the wait marker is set and channel 2 continues to travel.

Page 358: Running-In Channel-By-Channel
K5: Channel synchronization, axis interchange 6.1 Channel synchronization Program code Comment N120 WAITMC(1,2,3) ; Wait conditionally for marker 1 from channels 2 and 3. ; Further machining in channel 2 because the WAITMC is added to block N312. ; Further machining in channel 2. N170 M30 ;...

Page 359 K5: Channel synchronization, axis interchange 6.1 Channel synchronization Sequence Normally, a channel moves a tool in the working area. If several channels are each moving a tool in the same working area, the tool movements must be synchronized. The following synchronizations are possible: ●...

Page 360 K5: Channel synchronization, axis interchange 6.1 Channel synchronization workpiece spindles or both workpiece spindle aggregates actually move in real terms (where relevant, including axes at the workpiece). Note The "program test" state can only be activated/deactivated in the stopped channel state. However, the axis-specific NC/PLC interface signal "suppress program test"...

Page 361 K5: Channel synchronization, axis interchange 6.1 Channel synchronization In conjunction with the functions "program test" and "channel-by-channel running-in", the following must be observed for an axis interchange: ● If only one of the channels is in the "program test" state, then the interchanged axis is taken from this channel and is inserted in a channel that is not in the "program test"...

Page 362 K5: Channel synchronization, axis interchange 6.1 Channel synchronization Example 2: Activating "suppress program test" A channel is in program test. In operation, "suppress program test" should be initiated for axis "Y" (at block N1010). Program code Comment N1000 G0 Y1000 N1010 G4 F10 N1020 G0 G91 Y=10 ;...

Page 363: Supplementary Conditions
K5: Channel synchronization, axis interchange 6.2 Axis replacement 6.1.4 Supplementary conditions MDI mode: Path control mode and WAITMC In the MDI mode, when starting to execute the MDI block buffer, it is not permissible that the WAITMC in conjunction with the path control mode (G64/G604), is located in the last block of the MDI block buffer.

Page 364: Commissioning
K5: Channel synchronization, axis interchange 6.2 Axis replacement ● "Neutral axis" A neutral axis is an axis that is not currently assigned to a channel or the PLC. Before traversing, it must first be requested by a channel or the PLC. ●...

Page 365: Programming: Releasing An Axis (Release)
K5: Channel synchronization, axis interchange 6.2 Axis replacement 6.2.3 Programming: Releasing an axis (RELEASE) Function An axis that is assigned to the current channel is released for an axis interchange via the predefined RELEASE() procedure and put into the "neutral axis" state for this purpose. Syntax RELEASE([, axis2 ...

Page 366 K5: Channel synchronization, axis interchange 6.2 Axis replacement Syntax GET([, axis2 ... axis15]) Meaning Request of an axis for the current channel GET: Preprocessing stop: Alone in the block: Axis: Channel axis name of the requested axis : Spindle: Channel axis name of the requested spindle or conversion of the spindle num‐ ber in the channel axis names by means of SPI() Type: AXIS...

Page 367: Automatic Axis Replacement
K5: Channel synchronization, axis interchange 6.2 Axis replacement To coordinate transfer of the axis between the channels with GETD(), we recommend using channel synchronization (Page 351) between the requesting and the relinquishing channel. NOTICE Preprocessing stop in the relinquishing channel If the axis in the relinquishing channel has "channel axis"...

Page 368 K5: Channel synchronization, axis interchange 6.2 Axis replacement MD30552 $MA_AUTO_GET_TYPE (Page 364) Supplementary conditions See Description (Page 365) of GETD(). Examples Example 1 Program code Comment N1 M3 S1000 ; Traversing the main spindle N2 RELEASE (SPI(1)) ; Release to neutral status N3 S3000 ;...

Page 369: Axis Replacement Via Plc
K5: Channel synchronization, axis interchange 6.2 Axis replacement 6.2.6 Axis replacement via PLC Function Axis replacement can be requested by the PLC user program via the NC/PLC interface: ● From an NC channel to the PLC ● From the PLC to an NC channel ●...

Page 370 K5: Channel synchronization, axis interchange 6.2 Axis replacement Examples Example 1 Axis replacement of an axis from channel 1 to channel 2 by means of RELEASE() and GET() in part programs that are executed in each channel: ● Channel 1: RELEASE() ●...

Page 371: Axis Interchange Via Axis Container Rotation
K5: Channel synchronization, axis interchange 6.2 Axis replacement 6.2.7 Axis interchange via axis container rotation Enabling axis container rotation When an axis container rotation is enabled, all container axes that can be allocated to a channel are allocated to this channel using implicitly generated GET or GETD. An axis can only be relinquished, e.g.

Page 372: Axis Replacement With And Without Preprocessing Stop
K5: Channel synchronization, axis interchange 6.2 Axis replacement Activation Axis interchange using axis container rotation and implicit GET/GETD is activated using machine data MD10722 $MN_AXCHANGE_MASK, bit 1=1. 6.2.8 Axis replacement with and without preprocessing stop Axis replacement extension without preprocessing stop Instead of a GET block with a preprocessing stop, this GET request only generates an intermediate block.

Page 373: Axis Exclusively Controlled From The Plc
K5: Channel synchronization, axis interchange 6.2 Axis replacement N031 X100 F500 N032 X200 N040 M3 S500 N041 G4 F2 N050 M5 N099 M30 If the spindle (axis B) is traversed immediately after block N023 as a PLC axis to 180° and back to 1°, and then again to the neutral axis, block N040 does not trigger a preprocessing stop nor a reorganization.

Page 374: Axis Permanently Assigned To The Plc
K5: Channel synchronization, axis interchange 6.2 Axis replacement Possible traversing functions The following traversing functions are possible for axes exclusively controlled from the PLC: 1. Traversing in the JOG mode using the traversing keys and handwheel 2. Referencing the axis 3.

Page 375: Geometry Axis In Rotated Frame And Axis Replacement
K5: Channel synchronization, axis interchange 6.2 Axis replacement NC channel: Channel-specific NC/PLC interface signals (selection) ● DB21, ... DBXDBX7.1 (NC start) ● DB21, ... DBXDBX7.3 (NC stop) ● DB21, ... DBXDBX7.7 (reset) PLC: Axial NC/PLC interface signals ● DB31, ... DBX28.1 (reset) ●...

Page 376: Axis Replacement From Synchronized Actions
K5: Channel synchronization, axis interchange 6.2 Axis replacement Prerequisite for changing from JOG to AUTOMATIC When changing from JOG mode to AUTOMATIC, the Condition program is interrupted and the end point of this geometry axis motion is only taken over if in MD 32074: FRAME_OR_CORRPOS_NOTALLOWED bit 11=1.

Page 377 K5: Channel synchronization, axis interchange 6.2 Axis replacement Current state and interpolation right of the axis With which axis type and interpolation right a possible axis replacement is to be performed, can be deducted from the system variable $AA_AXCHANGE_TYP[axis]. 0: The axis is assigned to the NC program 1: Axis assigned to PLC or active as command axis or oscillating axis 2: Another channel has the interpolation right.

Page 378 K5: Channel synchronization, axis interchange 6.2 Axis replacement State transitions GET, RELEASE from synchronous actions and when GET is completed Figure 6-7 Transitions from synchronized actions For more information, please refer to: References: Function Manual, Synchronized Actions; Section: Actions in synchronized actions Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 379: Axis Interchange For Leading Axes (Gantry)
K5: Channel synchronization, axis interchange 6.2 Axis replacement 6.2.13 Axis interchange for leading axes (gantry) Function A closed gantry grouping is treated regarding its axes always as a unit regarding axis interchange. This is the reason why for an axis interchange of the leading axis, an axis interchange is simultaneously made for all synchronous axes of the gantry grouping.

Page 380 K5: Channel synchronization, axis interchange 6.2 Axis replacement ① MD30550 $MA_AXCONF_ASSIGN_MASTER_CHAN[] Figure 6-8 State diagram: Axis replacement Axis replacement Synchronization with preprocessing stop On the transition of an axis from "PLC axis," "neutral axis," or "axis in another channel" status to "channel axis"...

Page 381: Example
K5: Channel synchronization, axis interchange 6.2 Axis replacement Axis replacement by PLC If the part program of the channel is in one of the following sections at the time the axis replacement (PLC → channel or channel → PLC) is requested by the PLC, axis replacement will only be performed after this machining section has been exited: ●...

Page 382 K5: Channel synchronization, axis interchange 6.2 Axis replacement Parameter assignment Channel 1 Axis names in the channel: MD20080 ● $MC_AXCONF_CHANAX_NAME_TAB[][ 0 ] = "X" ; 1st channel axis ● $MC_AXCONF_CHANAX_NAME_TAB[][ 1 ] = "Y" ; 1st channel axis ●...

Page 383: Data Lists
K5: Channel synchronization, axis interchange 6.3 Data lists Program in channel 1 Program in channel 2 ; Selection of program TAUSH2 in channel ; Traversing axis 4 (AX4) G0 U0 INIT (2,"_N_MPF_DIR\_N_TAUSH2_MPF","S") ; Start program TAUSH2 in channel 2 START(2) ;...

Page 384 K5: Channel synchronization, axis interchange 6.3 Data lists Number Identifier: $MC_ Description 20112 START_MODE_MASK Determination of basic control settings after NC start 20150 GCODE_RESET_VALUES[n] Reset G groups [G-Group No.]: 0...59 20160 CUBIC_SPLINE_BLOCKS Number of blocks for C spline 20170 COMPRESS_BLOCK_PATH_LIMIT Maximum traversing length of NC block for compression 20200 CHFRND_MAXNUM_DUMMY_BLOCKS...

Page 385: Axis/Spindlespecific Machine Data
K5: Channel synchronization, axis interchange 6.3 Data lists Number Identifier: $MC_ Description 22020 AUXFU_ASSIGN_EXTENSION[n] Auxiliary function extension [aux. func. no. in channel]: 0...49 22030 AUXFU_ASSIGN_VALUE[n] Auxiliary function value [aux. func. no. in channel]: 0...49 22200 AUXFU_M_SYNC_TYPE Output timing of M functions 22210 AUXFU_S_SYNC_TYPE Output timing of S functions...

Page 386: Setting Data
K5: Channel synchronization, axis interchange 6.3 Data lists Number Identifier: $MA_ Description 30552 AUTO_GET_TYPE Definition of automatic GET 30600 FIX_POINT_POS Fixed value positions of axes with G75 32074 FRAME_OR_CORRPOS_NOTALLOWED Frame or HL offset are not allowed 33100 COMPRESS_POS_TOL Maximum deviation with compensation 6.3.2 Setting data 6.3.2.1...

Page 387: M1: Kinematic Transformation
M1: Kinematic transformation TRANSMIT face end transformation (option) 7.1.1 Function 7.1.1.1 Introduction Note The "TRANSMIT and peripheral surface transformation" option that is under license is required for the function "End face transformation (TRANSMIT)." The TRANSMIT transformation permits end face machining (drill holes, contours) on turning machines.

Page 388: Machining Options
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) X, Y, Z Geometry axes Machine axis: Rotary axis Machine axis: Linear axis, perpendicular to rotary axis Machine axis: Linear axis, parallel to rotary axis Machine axis: Main spindle Other options: ●...

Page 389 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) radius compensations. Nevertheless, workpiece machining operations close to the pole are not recommended since these may require sharp feedrate reductions to prevent overloading of the rotary axis. New features A pole is said to exist if the line described by the tool center point intersects the turning center of the rotary axis.

Page 390 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Rotation in pole Figure 7-2 Traversal of x axis into pole (a), rotation (b), exit from pole (c) Selection of method The method must be selected according to the capabilities of the machine and the requirements of the part to be machined.

Page 391 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) System response: Table 7-1 Traversal of pole along the linear axis Mode State Response AUTOMATIC All axes involved in the transforma‐ High-speed pole traversal tion are moved synchronously. TRANSMIT active. Not all axes involved in the transfor‐ Traversal of pole at creep speed mation are traversed synchronous‐...

Page 392 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Tool center point path with corner in pole A tool center point path which includes a corner in the pole will not only cause a step change in axis velocities, but also a step change in the rotary axis position. These cannot be reduced by decelerating.

Page 393 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Corner without pole traversal Figure 7-4 Machining on one pole side Requirements: AUTOMATIC mode, MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 or 2 MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 or 2 The control system inserts a traversing block at the step change point. This block generates the necessary rotation so that machining of the contour can continue on the same side of the pole.

Page 394: Working Area Limitations
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 machining is done before the rotational center point (linear axis in positive traversing range), MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 2 MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 2 behind the rotational center point (linear axis in negative traversing range). Transformation selection outside pole The control system moves the axes involved in the transformation without evaluating machine data MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_.

Page 395: Overlaid Motions With Transmit
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Traverse into working area limitation Any motion that leads into the working area limitation is rejected with alarm 21619. Any corresponding parts program block is not processed. The control system stops processing at the end of the preceding block.

Page 396: Parameter Assignment
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) 7.1.2 Parameter assignment 7.1.2.1 Overview Machine data: Transformation data in general The following machine data is used to define transformation data sets in a channel: ● MD2xxxx $MC_TRAFO_TYPE_ (definition of the th transformation in the channel) ●...

Page 397: Axis Configuration
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) 7.1.2.2 Axis configuration The following shows an axis configuration that is typical of TRANSMIT. ① Effective if TRANSMIT is active. Machine axis name ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM" ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM" ●...

Page 398 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Geometry axis names ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis) Channel axis names ●...

Page 399: Specific Settings
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) 7.1.2.3 Specific settings One rotary and one linear axis: TRAFO_TYPE = 256 The transformation type 256 must be set for TRANSMIT with a rotary and a linear axis: $MC_TRAFO_TYPE_ = 256 where ...

Page 400 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Rotary axis offset: TRANSMIT_ROT_AX_OFFSET If the rotary axis zero point does not match the rotary axis zero position when the TRANSMIT transformation is active, the angular difference must be entered as an offset in the machine data: $MC_TRANSMIT_ROT_AX_OFFSET_...

Page 401: Programming
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Replaceable geometry axes When the GEOAX() geometry axes are switched, the parameterized M function is output to the NC/PLC interface: ● MD22534 $MC_TRAFO_CHANGE_M_CODE = Note The values 0 to 6, 17 and 30 are not output. References: Function Manual Basic Functions;...

Page 402 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Selection of method The user is responsible for making the optimum choice of "Traversal through pole" or "Rotation around pole". Several pole traversals A block can traverse the pole any number of times (e.g. programming of a helix with several turns).

Page 403: Example
M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) 7.1.5 Example The example refers to the axis configuration shown in the following figure. X, Y, Z Geometry axes 1st machine axis: Rotary axis 2nd machine axis: Linear axis, perpendicular to rotary axis 3rd machine axis: Linear axis, parallel to rotary axis 4th machine axis: Main spindle Parameter assignment...

Page 404 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) ● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 2 ] = "CC" (spindle/rotary axis) ● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "ASC" (spindle) Assignment of geometry axes to channel axes TRANSMIT not active: ● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 0 ] = 1 (1st geo. axis → 1st channel axis ●...

Page 405 M1: Kinematic transformation 7.1 TRANSMIT face end transformation (option) Basic offset of the tool zero relative to the geometry axes while TRANSMIT is active ● MD24920 $MC_TRANSMIT_BASE_TOOL_1 [ 0 ] = 0.0 (offset relative to 1st TrafoGeoAxis) ● MD24920 $MC_TRANSMIT_BASE_TOOL_1 [ 1 ] = 0.0 (offset relative to 2nd TrafoGeoAxis) ●...

Page 406: Tracyl Cylinder Surface Transformation (Option)
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Program code Comment N160 Y10 N170 X10 N180 Y–10 N190 Z20 G40 N200 TRANS ; deselect frame N210 TRAFOOF ; TRANSMIT OFF N220 G0 X20 Z10 SPOS=45 ; approach the start position N230 M30 TRACYL cylinder surface transformation (option) 7.2.1...

Page 407 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) The machine kinematics must correspond to the cylinder coordinate system: ● One, two or three linear axes and one rotary axis ● The linear axes must be oriented perpendicular to each other ●...

Page 408 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Infeed axis perpendicular to the turning center Linear axis parallel to the turning center Y / CM Transformatory Y axis / rotary axis Main spindle Figure 7-7 Machine kinematics with two linear axes Groove edges For a cylinder surface transformation without groove wall correction, the edges of the groove longitudinal to the rotary axis (longitudinal grooves) are only parallel if the groove width...

Page 409 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) TRACYL with groove wall offset The cylinder surface transformation with groove wall offset is used for machine kinematics with three linear axes (X, Y, and Z) (axis configuration 2). Infeed axis perpendicular to the turning center Supplementary axis perpendicular to the X-Z plane Linear axis parallel to the turning center Y / CM...

Page 410: Parameter Assignment
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) 7.2.2 Parameter assignment 7.2.2.1 Overview Machine data: Transformation data in general The following machine data is used to define transformation data sets in a channel: ● MD2xxxx $MC_TRAFO_TYPE_ (definition of the th transformation in the channel) ●...

Page 411: Axis Configuration
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) 7.2.2.2 Axis configuration The following shows an axis configuration that is typical of TRACYL. ① Effective if TRACYL is active. Machine axis name ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM" ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM" ●...

Page 412 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Geometry axis names ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis) Channel axis names ●...

Page 413: Specific Settings
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Identification of spindles ● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 0 ] = 1 (spindle) ● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 1 ] = 0 (axis) ● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 2 ] = 0 (axis) ● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 3 ] = 0 (axis) ●...

Page 414 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Transformation geometry axes For the transformation data set , three (or 4) channel axis numbers must be specified for TRACYL: ● MD24110 $MC_TRAFO_AXES_IN_1[0]=channel axis number of the axis radial to the rotary axis.

Page 415 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Rotational position The rotational position of the axis on the cylinder peripheral surface perpendicular to the rotary axis must be defined as follows: Figure 7-11 Center of axis rotation in the peripheral cylinder surface MD24800 TRACYL_ROT_AX_OFFSET_...

Page 416 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Replaceable geometry axes The PLC is informed when a geometry axis has been replaced using GEOAX( ) through the optional output of an M code that can be set in machine data. ●...

Page 417: Programming
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Where = number of TRACYL transformations defined in the transformation data records Figure 7-13 Cylinder coordinate system 7.2.3 Programming The cylinder surface transformation (TRACYL) is activated in the part program or synchronized action using the TRACYL statement.

Page 418 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) TRACYL data set number (optional) : Range of values: 1, 2 The parameter is only relevant for transformation type 514 : k = 0: without groove side correction k = 1: with groove side correction If the parameter is not specified, then the parameterized basic position applies:...

Page 419 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) 12.TRAFOOF. 13.Reselect original coordinate shift (frame). Contour offset (OFFN) In order to mill grooves using TRACYL transformation 513, the center line of the groove and half of the groove width via the OFFN address are programmed in the part program. To avoid damage to the groove side, OFFN acts only when the tool radius compensation is active.

Page 420: Boundary Conditions
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Tool radius compensation (TRC) For TRACYL transformation 513, the TRC is not taken into account relative to the groove side, but to the programmed center of the groove. In order that the tool travels to the left of the groove side, statement G42 must be programmed instead of G41 or the value of OFFN specified with a negative sign.

Page 421 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Frame A frame change with G91 (incremental dimension) is not specially treated for active transformation. The path to be traversed is evaluated in the workpiece coordinate system of the new frame - regardless of which frame was active in the previous block. A rotary axis offset can, for example, be entered by compensating the inclined position of a workpiece can be considered using a frame or as offset of the rotary axis.

Page 422 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Interrupt part program ● Mode change from AUTOMATIC to JOG If a part program machining is interrupted for active transformation and traversed manually in the JOG operating mode, ensure for continuation of the part program in the AUTOMATIC operating mode that the transformation is already active in the restart block from the current position to the interruption location.

Page 423: Examples
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) 7.2.5 Examples 7.2.5.1 Machining grooves on a cylinder surface with X-Y-Z-C kinematics The example refers to the turning machine with an additional Y axis drawn in the following figure. Infeed axis, perpendicular to rotary axis Additional axis Axis is parallel to rotary axis Rotary axis...

Page 424 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Channel axis names ● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 0 ] = "XC" ● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 1 ] = "YC" ● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 2 ] = "ZC" ● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "CC" ●...

Page 425 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Transformation type ● MD24100 $MC_TRAFO_TYPE_1 = 513 (TRACYL with groove side offset) Offset relative to the zero position of the rotary axis ● MD24800 $MC_TRACYL_ROT_AX_OFFSET_1 = 0 Sign of rotary axis ●...

Page 426 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Programming Producing a hook-shaped groove with groove side offset (TRACYL transformation type 513) Tool definition Program code Comment ; Tool parameters $TC_DP1[1,1]=120 ; Tool type: Milling tool $TC_DP2[1,1] = 0 ; Cutting edge position: For turning tools only Program code Comment ;...

Page 427 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Program code Comment $TC_DP10[1,1]=0 $TC_DP11[1,1]=0 ; Angle for tapered milling tools Program code Comment ; Wear: Length and radius compensation $TC_DP12[1,1] =0 ; Remaining parameters to $TC_DP24=0 (basis di- mension/adapter) Groove machining on the cylinder surface Program code Comment N10 T1 D1 G54 G90 F5000 G94...

Page 428: Machining Grooves On A Cylinder Surface With X-Y-Z-A-C Kinematics
M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) 7.2.5.2 Machining grooves on a cylinder surface with X-Y-Z-A-C kinematics The example refers to the 5-axis milling machine with an A- and a C-axis in the following figure. 1. axis of the machining plane 2.

Page 429 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) Geometry axis names ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis) Channel axis names ●...

Page 430 M1: Kinematic transformation 7.2 TRACYL cylinder surface transformation (option) ● MD20070 $MC_AXCONF_MACHAX_USED[ 4 ] = 5 (5th channel axis → 5th machine axis ● MD20070 $MC_AXCONF_MACHAX_USED[ 5 ] = 6 (6th channel axis → 6th machine axis Identification of spindles ●...

Page 431: Traang Oblique Angle Transformation (Option)
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) Program code Comment N30 T="NUTFRAESER" M6 D1 ; Tool selection N40 G0 G54 X0 Y-20 Z105 ; Positioning N50 CYCLE800(0,"TABLE",100000,57,0,0,0,-90,0,0,0,0,0,-1,100,1) ; Rotate A-axis with swivel cycle N60 G17 G90 ; Setting the machining plane N70 G0 Y-10 Z100 G40 ;...

Page 432: Parameter Assignment
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) Geometry axis Geometry axis Machine axis Machine axis α Angle of inclined axis Note For active transformation, the names of the involved machine, channel and geometry axes are different: ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name) ●...

Page 433 M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) where = 1, 2, 3, ... max. number of transformation data sets For TRAANG (type 1024), no more than two transformation data sets may be parameterized in a channel: ● MD2xxxx $MC_TRAFO_TYPE_ = ●...

Page 434: Axis Configuration
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) 7.3.2.2 Axis configuration The following shows an axis configuration that is typical of TRAANG. ① Effective if TRAANG is active. Machine axis name ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM" ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "UM" ●...

Page 435 M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) Geometry axis names ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis) Channel axis names ●...

Page 436: Specific Settings
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) 7.3.2.3 Specific settings Angle between longitudinal axis and inclined axis ● MD24700 $MC_TRAANG_ANGLE_ = with -90° < angle < 90° , without 0° The angle is counted positively in the clockwise direction starting at X (see Section "Function (Page 431)": Angle α).

Page 437: Programming
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) $MC_TRAANG_PARALLEL_ACCEL_RES_ = Meaning The acceleration margin is determined by the NC depending on the angle of the inclined axis and the acceleration capability of the inclined and the longitudinal axis so that the same acceleration limitation results in the direction of the longitudinal axis and of the associated perpendicular (virtual) axis.

Page 438: Oblique Plunge-Cutting On Grinding Machines (G5, G7)
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) <α>: Angle of the inclined axis (optional) Range of values: -90° < α < + 90° If the parameter is not specified, then the parameterized basic position applies: $MC_TRAANG_ANGLE_ With = TRAANG data set number TRAANG data set number (optional) : Range of values:...

Page 439: Boundary Conditions
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) Meaning Calculate the starting position for the oblique plunge-cutting and approach. Traverse the inclined axis to the programmed end position X axis end position : End position of the Z axis : Example ①...

Page 440 M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) Selection and deselection ● An intermediate motion block is not inserted (phases/radii). ● A spline block sequence must be terminated. ● Tool radius compensation must be deselected. ● The current frame is deselected by the control system. (corresponds to programmed G500).

Page 441: Example
M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) Velocity control The velocity monitoring function for TRAANG is implemented as standard during preprocessing. Monitoring and limitation in the main run are activated: ● In AUTOMATIC mode, if a positioning or oscillation axis has been programmed that is involved in the transformation.

Page 442 M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM" ● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ASM" Geometry axis names ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis) ● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis) ●...

Page 443 M1: Kinematic transformation 7.3 TRAANG oblique angle transformation (option) ● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 2 ] = 0 (axis) ● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 3 ] = 2 (spindle) Transformation type ● MD24100 $MC_TRAFO_TYPE_1 = 1024 (TRAANG) Angle between Cartesian axis and real (oblique) axis ●...

Page 444: Chained Transformations
M1: Kinematic transformation 7.4 Chained transformations Chained transformations 7.4.1 Function 7.4.1.1 Introduction Two transformations can be chained so that the motion components for the axes from the first transformation are used as input data for the chained second transformation. The motion components from the second transformation act on the machine axes.

Page 445 M1: Kinematic transformation 7.4 Chained transformations Axis configuration The following configuration measures are necessary for a chained transformation: ● Assignment of names to geometry axes ● Assignment of names to channel axes ● Assignment of geometry axes to channel axes –...

Page 446: System Variables
M1: Kinematic transformation 7.4 Chained transformations Supplementary conditions The supplementary conditions and special cases indicated in the individual transformation descriptions are also applicable for use in chained transformations. Tool data A tool is always assigned to the first transformation in a chain. The subsequent transformation then behaves as if the active tool length were zero.

Page 447 M1: Kinematic transformation 7.4 Chained transformations $AA_ITR[ , ] The $AA_ITR[ax,n] variable determines the setpoint position of an axis at the output of the nth chained transformation. Figure 7-14 Transformer layer Transformer layer The 2nd index of the variable corresponds to the transformer layer in which the positions are tapped: ●...

Page 448 M1: Kinematic transformation 7.4 Chained transformations $AA_IBC[ ] The variable $AA_IBC[ax] determines the setpoint position of a cartesian axis lying between BCS and MCS. If an axis is cartesian at the output of the nth transformation, then this output value is delivered. If the corresponding axis at the output of all transformations is not cartesian, then the BCS value including all BCS offsets of the axis are determined.

Page 449: Programming
M1: Kinematic transformation 7.4 Chained transformations 7.4.2 Programming The TRAANG transformation is activated in the part program or synchronized action using the TRACON statement. Syntax TRACON(,,

Page 450: Examples
M1: Kinematic transformation 7.4 Chained transformations Program code Comment N380 TRAFOOF ; Deactivate second concatenated transformation. 7.4.3 Examples 7.4.3.1 Application example of chained transformations The following example is intended to show: ● The general channel configuration ● Single transformations ● Chained transformations consisting of previously defined single transformations ●...

Page 451 M1: Kinematic transformation 7.4 Chained transformations MD20070 $MC_AXCONF_MACHAX_USED[7] = 0 MD20080 $MC_AXCONF_CHANAX_NAME_TAB[3]="A" MD20080 $MC_AXCONF_CHANAX_NAME_TAB[4]="B" MD20080 $MC_AXCONF_CHANAX_NAME_TAB[5] = "C" MD36902 $MA_IS_ROT_AX[ AX4 ] = TRUE MD36902 $MA_IS_ROT_AX[ AX5 ] = TRUE MD36902 $MA_IS_ROT_AX[ AX6 ] = TRUE MD36902 $MA_IS_ROT_AX[ AX7 ] = TRUE MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX5]= 0 MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX7] = 1 MD35000 $MA_ROT_IS_MODULO[AX7] = TRUE...

Page 452 M1: Kinematic transformation 7.4 Chained transformations ; 3. TRAANG MD24300 $MC_TRAFO_TYPE_3 = 1024 ; TRAANG MD24310 $MC_TRAFO_AXES_IN_3[0] = 1 MD24310 $MC_TRAFO_AXES_IN_3[1] = 3 MD24310 $MC_TRAFO_AXES_IN_3[2] = 2 MD24310 $MC_TRAFO_AXES_IN_3[3] = 0 MD24310 $MC_TRAFO_AXES_IN_3[4] = 0 MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] =1 MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] =3 MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] =2 MD24700 $MC_TRAANG_ANGLE_1 = 45.

Page 453 M1: Kinematic transformation 7.4 Chained transformations Programming example Note The following programming example assumes that the angle of the "inclined axis" can be set on the machine and is set to 0° when the single transformation is activated. Program code Comment ;...

Page 454: Determining The Axis Positions In The Transformation Chain
M1: Kinematic transformation 7.4 Chained transformations Program code Comment N1000 M30 7.4.3.2 Determining the axis positions in the transformation chain Two chained transformations are configured in the following example, and the system variables for determining the axis positions in the synchronous action are read cyclically in the part program.

Page 455 M1: Kinematic transformation 7.4 Chained transformations MD24200 $MC_TRAFO_TYPE_2=512 ; TRACYL MD24210 $MC_TRAFO_AXES_IN_2[0]=2 MD24210 $MC_TRAFO_AXES_IN_2[1]=1 MD24210 $MC_TRAFO_AXES_IN_2[2]=3 MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =2 MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] =1 MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] =3 MD24300 $MC_TRAFO_TYPE_3=1024 ; TRAANG MD24310 $MC_TRAFO_AXES_IN_3[0] = 2 MD24310 $MC_TRAFO_AXES_IN_3[1]=4 MD24310 $MC_TRAFO_AXES_IN_3[2] = 3 MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] =2 MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] =4 MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] =3 MD24700 $MC_TRAANG_ANGLE_1 = 45.

Page 456 M1: Kinematic transformation 7.4 Chained transformations MD24432 $MC_TRAFO_AXES_IN_5[1]=2 MD24432 $MC_TRAFO_AXES_IN_5[2]=3 MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[0] =2 MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[1] =1 MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[2] =3 Programming example Program code Comment N10 $TC_DP1[1,1]=120 N20 $TC_DP3[1,1]= 20 N30 $TC_DP4[1,1]=0 N40 $TC_DP5[1,1]=0 N60 X0 Y0 Z0 F20000 T1 D1 ;...

Page 457: Persistent Transformation
M1: Kinematic transformation 7.5 Persistent transformation Program code Comment N340 M30 Persistent transformation Function A persistent transformation is always active and has a relative effect to the other explicitly selected transformations. Other selected transformation are computed as the first chained transformation in relation to the persistent transformation.

Page 458 M1: Kinematic transformation 7.5 Persistent transformation TRACON on HMI Accordingly the HMI operator interface does not display TRACON, but the first chain transformation of TRACON e.g. TRANSMIT . Accordingly, the transformation type of the 1st chained transformation is returned by the corresponding system variable, i.e. $P_TRAFO and $AC_TRAFO.

Page 459 M1: Kinematic transformation 7.5 Persistent transformation Supplementary conditions The persistent transformation does not change the principle operating sequences in the NCK. All restrictions applying to an active transformation also apply to the persistent transformation. A RESET command still deselects any active transformation completely; the persistent transformation is selected again.

Page 460 M1: Kinematic transformation 7.5 Persistent transformation MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 = 0.2 MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.2 ; Definition of persistent transformation MD20144 $MC_TRAFO_MODE_MASK = 1 MD20140 $MC_TRAFO_RESET_VALVUE= 1 MD20110 $MC_RESET_MODE_MASK = 'H01' MD20112 $MC_START_MODE_MASK = 'H80' MD20140 $MC_TRAFO_RESET_VALUE MD20118 $MC_GEOAX_CHANGE_RESET= TRUE ; Data for TRANSMIT, TRACYL MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 ;...

Page 461 M1: Kinematic transformation 7.5 Persistent transformation MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[0] =1 MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[1] =4 MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[2] =3 ; TRACON chaining TRANSMIT 257/TRAANG(Y1 axis inclined in relation to X1) MD24430 $MC_TRAFO_TYP_5 = 8192 MD24996 $MC-TRACON_CHAIN_2[0] = 2 MD24996 $MC-TRACON_CHAIN_2[1] = 1 MD24996 $MC_TRACON_CHAIN_2[2] = 0 MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[0] =1 MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[1] =4 MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[2] =3...

Page 462: Cartesian Ptp Travel
M1: Kinematic transformation 7.6 Cartesian PTP travel Cartesian PTP travel 7.6.1 Function Precondition Cartesian point-to-point or PTP travel can only be activated if one of the following transformations is active: ● Orientation transformation (TRAORI) ● Face end transformation (TRANSMIT) ● Concatenated transformation (TRACON), provided that the first concatenated transformation supports PTP travel Without active transformation, alarm 14146 "CP or PTP motion without transformation not permitted"...

Page 463 M1: Kinematic transformation 7.6 Cartesian PTP travel traversing through the singularity (speed planning in preprocessing) or an overload of the axis if no speed planning is carried out in preprocessing. Note Cartesian PTP travel is only permissible in conjunction with the interpolation types G0 and G1. Versions Three versions are available for Cartesian PTP travel: ●...

Page 464: Commissioning
M1: Kinematic transformation 7.6 Cartesian PTP travel PTP/CP switchover in the NC program The switchover between the Cartesian path movement (CP) and the Cartesian PTP travel in the NC program is done via the commands of the G group 49 (see "Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) (Page 466)").

Page 465: Consideration Of The Sw Limits During Ptp Travel
M1: Kinematic transformation 7.6 Cartesian PTP travel MD20152 $MC_GCODE_RESET_MODE[48] (reset behavior of G group 49) Value Meaning The default command in MD20150 $MC_GCODE_RESET_VALUES[48] becomes ef‐ fective (default setting). The command that was active before the reset/part program end remains effective. 7.6.2.3 Consideration of the SW limits during PTP travel Function...

Page 466: Programming
M1: Kinematic transformation 7.6 Cartesian PTP travel If for axis 6, bit 14 in MD30455 $MA_MISC_FUNCTION_MASK is set to "1", axis 6 is traversed to -120°. 7.6.3 Programming 7.6.3.1 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) The Cartesian point-to-point or PTP travel is activated/deactivated in the NC program using G group 49 commands.

Page 467: Specify The Position Of The Joints (Stat)
M1: Kinematic transformation 7.6 Cartesian PTP travel Examples See: ● Example 1: PTP and TRAORI (Page 472) ● Example 2: PTPG0 and TRANSMIT (Page 473) 7.6.3.2 Specify the position of the joints (STAT) Position data with Cartesian coordinates and specification of the tool orientation is not sufficient in order to uniquely identify the machine position, as for the same tool orientation, several joint positions are possible.

Page 468 M1: Kinematic transformation 7.6 Cartesian PTP travel The meaning of the bits will be demonstrated using an example of a robot with a 6-axis joint kinematics: Bit 0 Position of the intersection points of the manual axes (A4, A5, A6) Basic range The robot is in the basic range if the X value of the intersection point of the manual axes is positive referred to the A1 coordinate system.

Page 469 M1: Kinematic transformation 7.6 Cartesian PTP travel Examples The following diagrams show examples for the ambiguity as a result of different joint positions for 6-axis joint kinematics. Joint positions only become clear and unique as a result of the STAT data. Position 1: X1 = 0°...

Page 470: Specify The Sign Of The Axis Angle (Tu)
M1: Kinematic transformation 7.6 Cartesian PTP travel 7.6.3.3 Specify the sign of the axis angle (TU) In order that rotary axes can also approach axis angles exceeding +180° or less than -180° without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis angle must be specified under the adjustable address TU.

Page 471 M1: Kinematic transformation 7.6 Cartesian PTP travel TU=19 (corresponds to TU='B010011) would therefore signify: Value Axis angle ① A1 < 0° ① A2 < 0° ① A3 ≥ 0° ① A4 ≥ 0° ① A5 < 0° ① A6 ≥ 0° Note In the case of axes with a traversing range >...

Page 472: Example 1: Ptp And Traori
M1: Kinematic transformation 7.6 Cartesian PTP travel 7.6.3.4 Example 1: PTP and TRAORI Example 1 A sequence from a program example for the following kinematics is listed below: Figure 7-15 Elbow up or down Program code Comment N10 G0 X0 Y-30 Z60 A-30 F10000 ;...

Page 473: Example 2: Ptpg0 And Transmit
M1: Kinematic transformation 7.6 Cartesian PTP travel In block N40, the rotary axes – as a result of the programming of STAT=1 – travel the longer distance from their start point (C=90, A=90) to the end point (C=270, A=–45). On the other hand, with STAT=0, the rotary axes would travel along the shortest path to the end point (C=90, A=45).

Page 474: Supplementary Conditions
M1: Kinematic transformation 7.6 Cartesian PTP travel Example 2 Traversing from the pole with PTPG0 and TRANSMIT N070 X20 Y2 N060 X0 Y0 N050 X10 Y0 Programming Comment N001 G0 X90 Z0 F10000 T1 D1 G90 ;Initial setting N002 SPOS=0 N003 TRANSMIT ;TRANSMIT transformation N010 PTPG0...

Page 475 M1: Kinematic transformation 7.6 Cartesian PTP travel The response is different for PTPG0. Here, with active TRC, an internal switchover to CP takes place so that the TRC is performed correctly. Smooth approach and retraction (SAR) If PTP/PTPWOC is active, SAR cannot be used, because SAR needs a contour to design the approach and retraction and to be able to approach or retract tangentially.

Page 476: Cartesian Manual Travel (Optional)
M1: Kinematic transformation 7.7 Cartesian manual travel (optional) Path feedrate An F value input with G1 refers to the fictitious path calculated from the machine axis coordinates. Mode change Cartesian PTP travel only makes sense in the modes AUTOMATIC and MDI. When changing the mode to JOG, the current setting is retained: ●...

Page 477 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG) Meaning Basic coordinate system Workpiece coordinate system Tool coordinate system Note The workpiece coordinate system has been shifted and rotated compared to the basic coordinate system via frames. Reference: Function Manual Basic Functions;...

Page 478 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) Translation in the BCS The basic coordinate system (BCS) describes the Cartesian zero of the machine. Figure 7-16 Cartesian manual travel in the basic coordinate system (translation) Translation in the WCS The workpiece coordinate system (WCS) lies in the workpiece zero. The workpiece coordinate system can be shifted and rotated relative to the reference system via frames.

Page 479 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) Translation in the TCS The tool coordinate system (TCS) lies in the tool tip. Its direction depends on the current setting of the machine, since the tool coordinate system moves during the motion. Figure 7-18 Cartesian manual travel in the tool coordinate system (translation) Translation and orientation in the TCS simultaneously...

Page 480 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) With ORIVIRT1, rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1. The orientation axes are assigned to the channel axes via machine data: MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1. The direction of rotation is determined according to the "right hand rule". The thumb points in the direction of the rotary axis.

Page 481 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) Figure 7-21 Cartesian manual travel in the basic coordinate system, orientation angle C Orientation in TCS The rotations are around the moving directions in the tool coordinate system. The current homing directions of the tool are always used as rotary axes. Figure 7-22 Cartesian manual travel in the tool coordinate system, orientation angle A Extended Functions...

Page 482 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) Figure 7-23 Cartesian manual travel in the tool coordinate system, orientation angle B Figure 7-24 Cartesian manual travel in the tool coordinate system, orientation angle C Supplementary conditions The "Cartesian manual travel" function can only be executed if the transformation is active in the NC: DB21, ...

Page 483 M1: Kinematic transformation 7.7 Cartesian manual travel (optional) Table 7-2 Conditions for Cartesian manual travel Transformation in pro‐ Prog. traversing type DB21, ... DBX29.4 DB21, ... DBX33.6 gram active (TRAORI..) "Activate PTP travel" "Transformation active" FALSE Not active Not active TRUE TRUE TRUE...

Page 484: Activating Transformation Machine Data Via Part Program/Softkey
M1: Kinematic transformation 7.8 Activating transformation machine data via part program/softkey SD42650 $SC_CART_JOG_MODE Reference system for Activating transformation machine data via part program/softkey 7.8.1 Function Transformation MD can now be activated by means of a program command softkey, i.e. these can, for example, be written from the parts program, thus altering the transformation configuration completely.

Page 485 M1: Kinematic transformation 7.8 Activating transformation machine data via part program/softkey These are generally all machine data assigned to a transformation via the associated transformation data group. Machine data that are included in the group of an active transformation, but not in use, can be altered (although this would hardly be meaningful). For example, it would be possible to change machine data MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_n for an active transformation with MD24100 $MC_ $MC_TRAFO_TYPE = 16 (5-axis transformation with rotatable tool and two mutually...

Page 486: Control Response To Power On, Mode Change, Reset, Block Search, Repos
M1: Kinematic transformation 7.8 Activating transformation machine data via part program/softkey Changing the assignment The assignment of a transformation data set to a transformation is determined by the sequence of entries in MD24100 $MC_TRAFO_TYPE_X. The first entry in the table is assigned to the first transformation data set, and accordingly the second entry to the second data set.

Page 487: List Of Machine Data Affected
M1: Kinematic transformation 7.8 Activating transformation machine data via part program/softkey Program code Comment N20$MC_TRAFO5_BASE_TOOL_1[0]=0 ; Enter machine data N30$MC_TRAFO5_BASE_TOOL_1[0]=3 N40$MC_TRAFO5_BASE_TOOL_1[0]=200 N130 NEWCONF Newly entered machine data Transfer N140 M30 7.8.4 List of machine data affected Machine data which can be made NEWCONFIG compatible are listed below. All transformations Machine data which are relevant for all transformations: ●...

Page 488 M1: Kinematic transformation 7.8 Activating transformation machine data via part program/softkey ● MD24574 $MC_TRAFO5_BASE_ORIENT_1 and MD24674 $MC_TRAFO5_BASE_ORIENT_2 ● MD24562 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_1 and MD24662 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_2 ● MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_1 and MD24664 $MC_TRAFO5_NUTATOR_AX_ANGLE_2 ● MD24566 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_1 and MD24666 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_2 Transmit transformations Machine data which are relevant for Transmit transformations: ●...

Page 489: Example
M1: Kinematic transformation 7.8 Activating transformation machine data via part program/softkey ● MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 and MD24770 $MC_TRAANG_PARALLEL_VELO_RES_2 ● MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 and MD24771 $MC_TRAANG_PARALLEL_ACCEL_RES_2 Chained transformations Machine data which are relevant for chained transformations: ● MD24995 $MC_TRACON_CHAIN_1 and MD24996 $MC_TRACON_CHAIN_2 ● MD24997 $MC_TRACON_CHAIN_3 and MD24998 $MC_TRACON_CHAIN_4 Persistent transformation Machine data which are relevant for persistent transformations:...

Page 490: Data Lists
M1: Kinematic transformation 7.9 Data lists Program code Comment N70 A0 B0 N80 X10 N90 $MC_TRAFO5_BASE_TOOL_1[2] = 50 ; Overwrite a machine data item of the 1st orientation transformation N100 A20 N110 X20 N120 X0 N130 NEWCONF ; Accept new machine data N140 TRAORI(1) ;...

Page 491: Tracyl
M1: Kinematic transformation 7.9 Data lists Number Identifier: $MC_ Description 24410 TRAFO_AXES_IN_4 Axis assignment for the 4th transformation 24420 TRAFO_GEOAX_ASSIGN_TAB_4 Geo-axis assignment for 4th transformation 24430 TRAFO_TYPE_5 Definition of the 5th transformation in channel 24432 TRAFO_AXES_IN_5 Axis assignment for the 5th transformation 24434 TRAFO_GEOAX_ASSIGN_TAB_5 Geo-axis assignment for 5th transformation...

Page 492 M1: Kinematic transformation 7.9 Data lists Number Identifier: $MC_ Description 24200 TRAFO_TYPE_2 Definition of the 2nd transformation in channel 24210 TRAFO_AXES_IN_2 Axis assignment for the 2nd transformation 24220 TRAFO_GEOAX_ASSIGN_TAB_2 Geo-axis assignment for 2nd transformation 24230 TRAFO_INCLUDES_TOOL_2 Tool handling with active transformation 2. 24300 TRAFO_TYPE_3 Definition of the 3rd transformation in channel...

Page 493: Traang
M1: Kinematic transformation 7.9 Data lists Number Identifier: $MC_ Description 24850 TRACYL_ROT_AX_OFFSET_2 Deviation of rotary axis from zero position in degrees (2nd TRACYL) 24858 TRACYL_DEFAULT_MODE_2 Selection of TRACYL mode (2nd TRACYL) 24860 TRACYL_ROT_SIGN_IS_PLUS_2 Sign of rotary axis for TRACYL (2nd TRACYL) 24870 TRACYL_BASE_TOOL_2 Distance of tool zero point from origin of geo-axes (2nd TRAC‐...

Page 494: Chained Transformations
M1: Kinematic transformation 7.9 Data lists Number Identifier: $MC_ Description 24464 TRAFO_GEOAX_ASSIGN_TAB_8 Geo-axis assignment for 8th transformation 24700 TRAANG_ANGLE_1 Angle of inclined axis in degrees (1st TRAANG) 24710 TRAANG_BASE_TOOL_1 Distance of tool zero point from origin of geometry axes (1st TRAANG) 24720 TRAANG_PARALLEL_VELO_RES_1...

Page 495: Signals
M1: Kinematic transformation 7.9 Data lists 7.9.2 Signals 7.9.2.1 Signals from channel Signal name SINUMERIK 840D sl SINUMERIK 828D Transformation active DB21, ..DBX33.6 DB330x.DBX1.6 Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 496 M1: Kinematic transformation 7.9 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 497: M5: Measurement
M5: Measurement Brief description Channel-specific measuring The trigger event programmed for channel-specific measuring in a part program block initiates the measuring operation and specifies the measurement method used for the measurement. The instructions apply to all axes programmed in this particular block. Axial measurement In the case of axial measuring, a measurement can be made from the part program and also from synchronized actions.

Page 498: Hardware Requirements
M5: Measurement 8.2 Hardware requirements Measuring cycles A description of how to handle measuring cycles can be found in: Literature: Programming Manual Measuring cycles Hardware requirements 8.2.1 Probes that can be used Overview A switching probe that supplies a constant bounce-free signal on deflection must be used for the "Measuring"...

Page 499: Channel-Specific Measuring
M5: Measurement 8.3 Channel-specific measuring Spindle position and monodirectional probe The use of monodirectional probes in milling machines and machining centers requires that the spindle can be positioned with the SPOS function and the switching signal of the probe transferred over 360°. The probe must be mechanically aligned in the spindle to permit measurements in the following directions at the 0°...

Page 500: Measurement Results
M5: Measurement 8.3 Channel-specific measuring The measuring job is aborted with RESET or when the program advances to a new block. Note If a geometry axis is programmed in a measuring block, the measured values are stored for all current geometry axes. If an axis participating in a transformation is programmed in a measurement block, the measured values for all axes participating in this transformation are recorded.

Page 501: Axial Measurement
M5: Measurement 8.4 Axial measurement The measuring signal can be checked at the end of the program in the diagnostic menu "PLC status". Table 8-1 Status display for measurement signal Status display Probe 1 deflected DB10, ...DBX107.0 Probe 2 deflected DB10, ...DBX107.1 The current measuring status of the axis is displayed by means of the interface signal DB31, ...

Page 502 M5: Measurement 8.4 Axial measurement A distinction is made between three measuring methods: ● MEASA: Measurement with deletion of distance-to-go Example: N10 MEASA[X]=(1,1,-1) G01 X100 F100 Measuring in mode 1 with active measuring system. Trigger events are the rising and falling edge of the first probe (1) on the travel path to X=100.

Page 503 M5: Measurement 8.4 Axial measurement Measuring mode The measuring mode specifies whether trigger events must be activated in parallel or sequentially in ascending sequence and defines the number of measurements to be taken. ● Units decade (measuring mode) 0 = abort measurement job (e.g. for synchronized actions) 1 = up to four different trigger events that can be activated at the same time.

Page 504 M5: Measurement 8.4 Axial measurement FIFO variables The axial measured values are available in the machine coordinate system (MCS). They are stored in the circular buffer (FIFO) specified by MEAC. The measured values are entered in FIFO variables in the FIFO using the circular principle, e.g. $AC_FIFO1. When two probes have been projected for the measurement, the measured values of the second probe are saved separately in the subsequent FIFO.

Page 505: Telegram Selection
M5: Measurement 8.4 Axial measurement 8.4.2 Telegram selection Telegram selection for the axial measurement with MEAC By default, the axial measurement is implemented with PROFIBUS telegram 391. PROFIBUS telegram 395 is used for measuring with several measured values per trigger event and the position control cycle.

Page 506 M5: Measurement 8.4 Axial measurement $AA_MM1[axis] = trigger event 1, measured value from encoder 1 $AA_MM2[axis] = trigger event 1, measured value from encoder 2 Two trigger events $AA_MM1[axis] = trigger event 1, measured value from encoder 1 $AA_MM2[axis] = trigger event 1, measured value from encoder 2 $AA_MM3[axis] = trigger event 2, measured value from encoder 1 $AA_MM4[axis] = trigger event 2, measured value from encoder 2 PLC service display...

Page 507: Setting Zeros, Workpiece Measuring And Tool Measuring
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Setting zeros, workpiece measuring and tool measuring 8.5.1 Preset actual value memory and scratching Preset actual value memory Preset actual value memory is initiated by means of an HMI operator action or via measuring cycles.

Page 508: Workpiece Measuring
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.2 Workpiece measuring Workpiece measuring For workpiece measurement, a probe is moved up to the clamped workpiece in the same way as a tool. Due to the variety of different measuring types available, the most common measurement jobs can be performed quite simply and easily on a turning or milling machine.

Page 509 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Table 8-2 Validity bits for the input values of the variables $AC_MEAS_VALID Input value Meaning $AA_MEAS_POINT1[axis] 1. Measuring point for all channel axes $AA_MEAS_POINT2[axis] 2. Measuring point for all channel axes $AA_MEAS_POINT3[axis] 3.

Page 510 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Measuring points A maximum of four measuring points are available for all channel axes for measurement: Type Input variable Meaning REAL $AA_MEAS_POINT1[axis] 1. Measuring point for all channel axes REAL $AA_MEAS_POINT2[axis] 2.

Page 511 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Setpoints The resultant frame is calculated so that the measurement complies with the setpoints specified by the user. Table 8-3 Input values for the user setpoint values Type System variable Meaning REAL $AA_MEAS_SETPOINT[ax]...

Page 512 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Calculated frame When a workpiece is measured, the calculated frame is entered in the specified frame. Table 8-4 Type System variable Meaning $AC_MEAS_FRAME_SELECT Frame selection during tool measurement The variable $AC_MEAS_FRAME_SELECT can assume the following values: Value Meaning $P_SETFRAME...

Page 513 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Value Meaning 3010..3025 $P_CHBFR[0..15] Channel-spec. Basic frames with active G500 in data management 3050..3065 $P_NCBFR[0..15] NCU-global basic frames with active G500 in data management The MEASURE( ) function calculates frame $AC_MEAS_FRAME according to the specified frame.

Page 514 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Array variable for workpiece and tool measurement The following array variable of length n is used for further input parameters that are used in the various measurement types Type System variable Meaning Values REAL...

Page 515: Measurement Selection
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Whether or not the radius of a milling tool is included in the calculation can be determined from the tool position and approach direction. If the approach direction is not specified explicitly, it is determined by the selected plane.

Page 516: Output Values
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Value Description Save Saving data management frames Restore Restoring data management frames Taper turning Additive rotation of the plane * Types of workpiece measurement The individual methods are listed under "Types of workpiece measurement" or "Types of tool measurement"and explained in more detail using an appropriate programming example.

Page 517 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Type Meaning Activate workpiece zero (write scratching) Activate external work offset Activate active tool carrier, TCOABS and PAROT The change becomes apparent immediately in the reset state. In the stop state, the frame is retracted at the next start.

Page 518 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring MEASURE() delivers a result frame that can be read via $AC_MEAS_FRAME: ● The result is the translation and rotation from the setpoint values recalculated on the selected frame. ● The result frame is calculated as follows: The concatenated total frame produces the concatenation of the total frame (prior to measurement) with the calculated translation and rotation.

Page 519 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The following return values are output via the pre-defined MEASURE() function: Table 8-6 Predefined error messages Return values Meaning MEAS_OK Correct calculation MEAS_NO_TYPE Type not specified MEAS_TOOL_ERROR Error determining the tool MEAS_NO_POINT1 Measuring point 1 does not exist MEAS_NO_POINT2...

Page 520: Units Of Measurement And Measurement Variables For The Calculation
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.2.5 Units of measurement and measurement variables for the calculation INCH or METRIC unit of measurement The following input and output variables are evaluated with inch or metric units of measurement: $AA_MEAS_POINT1[axis] Input variable for 1st measuring point...

Page 521: Diagnostics
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Diameter programming Diameter programming is set via machine data: MD20100 $MC_DIAMETER_AX_DEF = "X" ; Transverse axis is x MD20150 $MC_GCODE_RESET_VALUES[28] = 2 ; DIAMON MD20360 $MC_TOOL_PARAMETER_DEF_MASK ; Tool length, frames and = 'B1001010' ;...

Page 522: Types Of Workpiece Measurement
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3 Types of workpiece measurement 8.5.3.1 Measurement of an edge (measurement type 1, 2, 3) Measurement of an x edge ($AC_MEAS_TYPE = 1) The edge of a clamped workpiece is measured by approaching this edge with a known tool. Figure 8-1 x edge The values of the following variables are evaluated for measurement type 1:...

Page 523 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Example x edge measurement Program code Comment DEF INT RETVAL DEF FRAME TMP $TC_DP1[1,1]=120 ; Type $TC_DP2[1,1]=20 $TC_DP3[1,1]=10 ; (z) length compensation vector $TC_DP4[1,1]= 0 ; (y) $TC_DP5[1,1]=0 ; (x) $TC_DP6[1,1]=2 ;...

Page 524 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment setal(61000 + RETVAL) endif $P_IFRAME = $AC_MEAS_FRAME $P_UIFR[1] = $P_IFRAME ; Describe system frame in data management g1 x0 y0 ; Approach the edge Measurement of a y edge ($AC_MEAS_TYPE = 2) Figure 8-2 y edge The values of the following variables are evaluated for measurement type 2:...

Page 525 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The following output variables are written for measurement type 2: Output variable Meaning $AC_MEAS_FRAME Result frame with translation $AC_MEAS_RESULTS[0] Position of the measured edge Measurement of a z edge ($AC_MEAS_TYPE = 3) Figure 8-3 z edge The values of the following variables are evaluated for measurement type 3:...

Page 526: Measurement Of An Angle (Measurement Type 4, 5, 6, 7)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3.2 Measurement of an angle (measurement type 4, 5, 6, 7) Measurement of a corner C1 - C4 ($AC_MEAS_TYPE = 4, 5, 6, 7) A corner is uniquely defined by approaching four measuring points P1 to P4. Three measuring points suffice for a known angle of intersection ϕ.

Page 527 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Input variable Meaning $AA_MEAS_POINT3[axis] Measuring point 3 $AA_MEAS_POINT4[axis] Measuring point 4 irrelevant for $AC_MEAS_COR‐ NER_SETANGLE $AA_MEAS_WP_SETANGLE Setpoint workpiece position angle * $AA_MEAS_CORNER_SETANGLE Setpoint angle of intersection * $AA_MEAS_SETPOINT[axis] Setpoint position of corner * $AC_MEAS_ACT_PLANE Calculated as active plane unless otherwise specified $AC_MEAS_FINE_TRANS...

Page 528 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment $TC_DP6[1,1]=2 ; Radius T1 D1 g0 x0 y0 z0 f10000 $P_CHBFRAME[0] = crot(z,45) $P_IFRAME[x,tr] = -sin(45) $P_IFRAME[y,tr] = -sin(45) $P_PFRAME[z,tr] = -45 ; Measure corner with 3 measuring points $AC_MEAS_VALID = 0 ;...

Page 529: Measurement Of A Hole (Measurement Type 8)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment setal(61000 + $AC_MEAS_CORNER_ANGLE) endif $P_SETFRAME = $AC_MEAS_FRAME $P_SETFR = $P_SETFRAME ; Describe system frame in data management g1 x0 y0 ; Approach the corner g1 x10 ; Approach the rectangle 8.5.3.3 Measurement of a hole (measurement type 8) Measuring points for determining a hole ($AC_MEAS_TYPE = 8)

Page 530 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The values of the following variables are evaluated for measurement type 8: Input variable Meaning $AC_MEAS_VALID Validity bits for input variables $AA_MEAS_POINT1[axis] Measuring point 1 $AA_MEAS_POINT2[axis] Measuring point 2 $AA_MEAS_POINT3[axis] Measuring point 3 $AA_MEAS_POINT4[axis] When specified, the center is determined from four...

Page 531 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment T1 D1 g0 x0 y0 z0 f10000 : Measure hole $AC_MEAS_VALID = 0 ; Set all input values to invalid g1 x-3 y0 ; 1. Approach measuring point $AA_MEAS_POINT1[x] = $AA_IW[x] $AA_MEAS_POINT1[y] = $AA_IW[y] $AA_MEAS_POINT1[z] = $AA_IW[z]...

Page 532: Measurement Of A Shaft (Measurement Type 9)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment $P_SETFR = $P_SETFRAME ; Describe system frame in data management g1 x-3 y0 ; Approach P1 g2 I = $AC_MEAS_DIAMETER / 2 ; Approach hole in reference to the center of the circle 8.5.3.4 Measurement of a shaft (measurement type 9)

Page 533: Measurement Of A Groove (Measurement Type 12)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Input variable Meaning $AC_MEAS_FINE_TRANS 0: Coarse offset, 1: Fine offset * $AC_MEAS_FRAME_SELECT Calculated as additive frame unless otherwise specified * $AC_MEAS_T_NUMBER Calculated as active T unless otherwise specified (T0) * $AC_MEAS_D_NUMBER Calculated as active D unless otherwise specified (D0) * $AC_MEAS_TYPE...

Page 534 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Input variable Meaning $AC_MEAS_ACT_PLANE Calculated as active plane unless otherwise specified * $AC_MEAS_FINE_TRANS 0: Coarse offset, 1: Fine offset * $AC_MEAS_FRAME_SELECT Calculated as additive frame unless otherwise specified * $AC_MEAS_T_NUMBER Calculated as active T unless otherwise specified (T0) * $AC_MEAS_D_NUMBER Calculated as active D unless otherwise specified (D0) *...

Page 535 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment g1 x-2 ; 1. Approach measuring point $AA_MEAS_POINT1[x] = $AA_IW[x] $AA_MEAS_POINT1[y] = $AA_IW[y] $AA_MEAS_POINT1[z] = $AA_IW[z] g1 x4 ; 2. Approach measuring point $AA_MEAS_POINT2[x] = $AA_IW[x] $AA_MEAS_POINT2[y] = $AA_IW[y] $AA_MEAS_POINT2[z] = $AA_IW[z] $AA_MEAS_SETPOINT[x] = 0 ;...

Page 536: Measurement Of A Web (Measurement Type 13)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3.6 Measurement of a web (measurement type 13) Measuring points for determining the position of a web ($AC_MEAS_TYPE = 13) A web is measured by approaching the two outside corners or inner edges. The web center can be set to a setpoint position.

Page 537: Measurement Of Geo Axes And Special Axes (Measurement Type 14, 15)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3.7 Measurement of geo axes and special axes (measurement type 14, 15) Preset actual value memory for geo axes and special axes ($AC MEAS TYPE = 14) This measurement type is used on the HMI operator interface. Figure 8-10 Preset actual value memory The values of the following variables are evaluated for measurement type 14:...

Page 538 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment TRANS x=10 ; Offset between WCS and ENS G0 x0 f10000 ; WCS(x) = 0; ENS(x) = 10 $AC_MEAS_VALID = 0 ; Set all input variables to invalid $AC_MEAS_TYPE = 14 ;...

Page 539: Measurement Of An Oblique Edge (Measurement Type 16)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Input variable Meaning $AC_MEAS_FRAME_SELECT Calculated as additive frame unless otherwise specified * $AC_MEAS_TYPE * optional The following output variables are written for measurement type 15: Output variable Meaning $AC_MEAS_FRAME Result frame with translations 8.5.3.8 Measurement of an oblique edge (measurement type 16) Measurement of an oblique edge ($AC_MEAS_TYPE = 16)

Page 540: Measurement Of An Oblique Angle In A Plane (Measurement Type 17)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Input variable Meaning $AC_MEAS_INPUT[0] Unless otherwise specified, the reference coordinate for the align‐ ment of the workpiece is always the abscissa of the selected plane. * =0: Reference coordinate is the abscissa =1: Reference coordinate is the ordinate $AC_MEAS_INPUT[1] Unless otherwise specified, the workpiece position angle is en‐...

Page 541 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring $AC_MEAS_TYPE = 17 defines two resulting angles α and α for the skew of the plane; these are entered in $AC_MEAS_RESULTS[0..1]: ● $AC_MEAS_RESULTS[0] → Rotation at the abscissa ● $AC_MEAS_RESULTS[1] → Rotation at the ordinate These angles are calculated by means of the three measuring points P1, P2 and P3.

Page 542 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Output variable Meaning $AC_MEAS_RESULTS[2] Angles around applicate from which three measuring points are calculated $AC_MEAS_RESULTS[3] Angle around abscissa which is entered in the result frame $AC_MEAS_RESULTS[4] Angle around ordinate which is entered in the result frame $AC_MEAS_RESULTS[5] Angle around applicate which is entered in the result frame Example...

Page 543 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment ; Define setpoints for angle $AA_MEAS_SETANGLE[_xx] = 12 ; Rotation around the abscissa $AA_MEAS_SETANGLE[_yy] = 4 ; Rotation around the ordinate $AC_MEAS_FRAME_SELECT = 102 ; Select target frame - G55 $AC_MEAS_T_NUMBER = 1 ;...

Page 544: Redefine Measurement Around A Wcs Reference Frame (Measurement Type 18)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3.10 Redefine measurement around a WCS reference frame (measurement type 18) Redefine WCS coordinate system ($AC_MEAS_TYPE = 18) The zero point of the new WCS is determined by measuring point P1 at surface normal on the oblique plane.

Page 545 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Define the new WCS' zero After performing the calculation, the measuring cycle can write and activate the selected frame in the frame chain with the measuring frame. After activation, the new WCS is positioned at surface normal on the inclined plane, with measuring point P1 as the zero point of the new WCS.

Page 546 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Example Workpiece coordinate system on the inclined plane Program code Comment DEF INT RETVAL DEF AXIS _XX, _YY, _ZZ T1 D1 ; Activate probe ; Activate all frames and G54 $AC_MEAS_VALID = 0 ;...

Page 547: Measurement Of A 1-, 2- And 3-Dimensional Setpoint Selection (Measurement Type 19, 20, 21)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment $AC_MEAS_D_NUMBER = 1 RETVAL = MEASURE() ; Start measurement calculation if RETVAL <> 0 setal(61000 + RETVAL) endif ; Calculation results for the solid angles ; Angle around the … R0 = $AC_MEAS_RESULTS[0] ;...

Page 548 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The following output variables are written for measurement type 19: Output variable Meaning $AC_MEAS_FRAME Result frame with rotations and translation Example 1-dimensional setpoint selection Program code Comment DEF INT RETVAL DEF REAL _CORMW_XX, _CORMW_YY, _CORMW_ZZ...

Page 549 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The values of the following variables are evaluated for measurement type 20: Input variable Meaning $AC_MEAS_VALID Validity bits for input variables $AA_MEAS_POINT1[axis] Measuring point 1 for the abscissa $AA_MEAS_POINT1[axis] Measuring point 1 for the ordinate $AA_MEAS_POINT1[axis] Measuring point 1 for the applicate $AA_MEAS_SETPOINT[axis]...

Page 550 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment $AC_MEAS_FRAME_SELECT = 102 ; Select target frame - G55 RETVAL = MEASURE() ; Start measurement calculation if RETVAL <> 0 setal(61000 + RETVAL) endif $P_UIFR[2] = $AC_MEAS_FRAME ;...

Page 551: Measuring A Measuring Point In Any Coordinate System (Measurement Type 24)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment _CORMW_ZZ DEF AXIS _XX, _YY, _ZZ T1 D1 ; Activate probe ; Activate all frames and G54 $AC_MEAS_VALID = 0 ; Set all input values to invalid $AC_MEAS_TYPE = 21 ;...

Page 552 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Figure 8-15 Coordinate transformation of a position The values of the following variables are evaluated for measurement type 24: Input variable Meaning $AC_MEAS_VALID Validity bits for input variables $AA_MEAS_POINT1[axis] Position to be transformed $AC_MEAS_P1:COORD Default is 0: WCS, 1: BCS, 2: MCS * $AC_MEAS_P2_COORD...

Page 553 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Example WCS coordinate transformation of a measured position Program code Comment DEF INT RETVAL DEF INT LAUF DEF REAL_CORMW_xx, _CORMW_yy, _CORMW_zz DEF AXIS _XX, _YY, _ZZ $TC_DP1[1,1]=120 ; Tool type end mill $TC_DP2[1,1]=20 $TC_DP3[1,1]=0 ;...

Page 554 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Program code Comment $AC_MEAS_P2_COORD=0 ; Set WCS ; Entire frame results in CTRANS(_xx,0,_yy, 0,_zz,5,A,6,B,0) ; Stop cycle frame $AC_MEAS_CHSER=$MC_MM_SYSTEM_FRAME_MASK B_AND 'B1011111' $AC_MEAS__NCBFR='B0' ; Stop global basic frame $AC_MEAS__CHBFR='B1' ; Channel basic frame 1 from data management $AC_MEAS__UIFR=2 ;...

Page 555: Measurement Of A Rectangle (Measurement Type 25)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3.13 Measurement of a rectangle (measurement type 25) Measuring points for determining a rectangle ($AC_MEAS_TYPE = 25) To determine a rectangle, tool dimensions are required in the following working planes. ●...

Page 556: Measurement For Saving Data Management Frames (Measurement Type 26)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Input variable Meaning $AC_MEAS_INPUT[0] Without specification of outer corner * =0: Measurement for outer corner =1: Measurement for inner corner $AC_MEAS_TYPE * optional The following output variables are written for measurement type 25: Output variable Meaning $AC_MEAS_FRAME...

Page 557: Measurement For Restoring Backed-Up Data Management Frames (Measurement Type 27)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The values of the following variables are evaluated for measurement type 26: Input variable Meaning $AC_MEAS_VALID Validity bits for input variables $AC_MEAS_CHSFR Bit mask system frames from data management. * If this variable is not written, all system frames are backed up.

Page 558: Measurement For Defining An Additive Rotation For Taper Turning (Measurement Type 28)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.3.16 Measurement for defining an additive rotation for taper turning (measurement type 28) Additive rotation of the plane for taper turning ($AC_MEAS_TYPE = 28) Measuring type 28 can be used to specify an additive rotation through an angle in the range of α...

Page 559: Tool Measuring
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.4 Tool measuring The control calculates the distance between the tool tip and the tool carrier reference point T from the tool length specified by the user. The following measurement types can be used to measure a tool loaded on a turning or milling machine: Measurement types Tool measuring...

Page 560 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The plane selection depends on the position of the tool: ● G17 for tool position in the z direction ● G18 for tool position in the y direction ● G19 for tool position in the x direction Figure 8-18 Tool length measurement for the selected plane G17, G18 and G19 The values of the following variables are evaluated for measurement type 10:...

Page 561 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Output variable Meaning $AC_MEAS_RESULTS[4] Tool length L2 $AC_MEAS_RESULTS[5] Tool length L3 Example Measuring the tool length Program code Comment DEF INT RETVAL T0 D0 g0 x0 y0 z0 f10000 ; Measure tool length $AC_MEAS_VALID = 0 ;...

Page 562: Measurement Of Tool Diameter (Measurement Type 11)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.5.2 Measurement of tool diameter (measurement type 11) Tool diameter measurement on a reference part ($AC_MEAS_TYPE = 11) The tool diameter can be measured on a reference part that has already been measured. Depending on the position of the tool, it is possible to select plane G17 for tool position in the z direction, G18 for tool position in the y direction and G19 for tool position in the x direction.

Page 563: Measurement Of Tool Lengths With Zoom-In Function (Measurement Type 22)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.5.3 Measurement of tool lengths with zoom-in function (measurement type 22) Tool length with zoom-in function Tool length measurement with zoom-in function ($AC_MEAS_TYPE = 22) If a zoom-in function is available on the machine, it can be used to determine the tool dimensions.

Page 564: Measuring A Tool Length With Stored Or Current Position (Measurement Type 23)
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring 8.5.5.4 Measuring a tool length with stored or current position (measurement type 23) Tool length with stored / current position Tool length measurement with stored or current position ($AC_MEAS_TYPE = 23) In the case of manual measurement, the tool dimensions can be determined in the X and Z directions.

Page 565: Measurement Of A Tool Length Of Two Tools With The Following Orientation
M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring The following output variables are written for measurement type 23: Output variable Description $AC_MEAS_RESULT[0] Tool length in x $AC_MEAS_RESULT[1] Tool length in y $AC_MEAS_RESULT[2] Tool length in z $AC_MEAS_RESULT[3] Tool length L1 $AC_MEAS_RESULT[4] Tool length L2 $AC_MEAS_RESULT[5]...

Page 566 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Right-hand tool: Approach direction and tool orientation -x $AC_MEAS_TOOL_MASK = 0x40 Tool position in the -x direction $AC_MEAS_DIR_APPROACH = 1 Approach direction -x For both tools $AC_MEAS_Px_COORD = 1 Coordinate system of x-th measuring point = BCS $AC_MEAS_SET_COORD = 1 Coordinate system of the setpoint = BCS Two turning tools each with their own reference point with a tool counter-orientation in the approach...

Page 567 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring For both tools $AC_MEAS_Px_COORD = 1 Coordinate system of x-th measuring point = BCS $AC_MEAS_SET_COORD = 1 Coordinate system of the setpoint = BCS Settings in the system data: Left-hand tool: Approach direction and tool orientation +x System variable Meaning $AC_MEAS_TOOL_MASK = 0x2...

Page 568 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Two milling tools each with their own reference point, tool orientation perpendicular to the approach direction Settings in the system data: Left-hand tool: Approach direction +x and tool orientation -y System variable Meaning $AC_MEAS_TOOL_MASK = 0x80...

Page 569 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Two milling tools each with a reference point, tool orientation perpendicular to the approach direction Two milling tools with one reference point with a tool orientation in -y In the present layout, the tool position $AC_MEAS_TOOL_MASK and approach direction to the workpiece $AC_MEAS_DIR_APPROACH must be set as follows: Left-hand tool: Approach direction +x and tool orientation -y System variable...

Page 570 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring In the present layout, the tool position $AC_MEAS_TOOL_MASK and approach direction to the workpiece $AC_MEAS_DIR_APPROACH must be set as follows: Left-hand tool: Approach direction +x and tool orientation -y System variable Meaning $AC_MEAS_TOOL_MASK = 0x80 Tool position in -y direction...

Page 571 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Two milling tools each with their own reference point with tool counter-orientation in the approach direction Two milling tools each with their own reference point with a tool orientation in the approach direction In the present layout, the tool position $AC_MEAS_TOOL_MASK and approach direction to the workpiece $AC_MEAS_DIR_APPROACH must be set as follows:...

Page 572 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Two milling tools each with a reference point with tool counter-orientation in the approach direction Two milling tools with one reference point with a tool position opposite to the orientation In the present layout, the tool position $AC_MEAS_TOOL_MASK and approach direction to the workpiece $AC_MEAS_DIR_APPROACH must be set as follows: Left-hand tool: Approach direction and tool orientation +x...

Page 573 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring In the present layout, the tool position $AC_MEAS_TOOL_MASK and approach direction to the workpiece $AC_MEAS_DIR_APPROACH must be set as follows: Left-hand tool: Approach direction and tool orientation +x System variable Meaning $AC_MEAS_TOOL_MASK = 0x2 Tool position in x direction (G19)

Page 574 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Different tools in the WCS Figure 8-22 Two turning tools each with their own reference point Settings in the system data: Left-hand tool: Approach direction +x and tool orientation -y System variable Meaning $AC_MEAS_TOOL_MASK = 0x0...

Page 575 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Figure 8-23 Two milling tools each with its own reference point Settings in the system data: Left-hand tool: Approach direction +x and tool orientation -y System variable Meaning $AC_MEAS_TOOL_MASK = 0x80 Tool position in -y direction $AC_MEAS_DIR_APPROACH = 0 Approach direction +x...

Page 576 M5: Measurement 8.5 Setting zeros, workpiece measuring and tool measuring Figure 8-24 Two milling tools rotated at 90 degrees each with their own reference point Settings in the system data: Left-hand tool: Approach direction +x and tool orientation -y System variable Meaning $AC_MEAS_TOOL_MASK = 0x2 Tool position in x direction (G19)

Page 577: Measurement Accuracy And Functional Testing
M5: Measurement 8.6 Measurement accuracy and functional testing Measurement accuracy and functional testing 8.6.1 Measurement accuracy The measuring accuracy is affected by the following parameters: ● Delay time of the measuring signal (T Delay ● Traversal speed during the measurement (v Delay time compensation of the measuring signal (T Delay The delay time of the measuring signal, i.e.

Page 578: Simulated Measuring
M5: Measurement 8.7 Simulated measuring Program code Comment ;Testing program probe connection N05 DEF INT MTSIGNAL ;Flag for trigger status N10 DEF INT ME_NR=1 ; measurement input number N20 DEF REAL MESSWERT_IN_X N30 G17 T1 D1 ; tool compensation for ;...

Page 579: Position-Related Switch Request
M5: Measurement 8.7 Simulated measuring Preconditions For simulated measuring, all of the machine axes in the system must be parameterized as simulated axes: ● MD30130 $MA_CTRLOUT_TYPE[axis] = 0 (simulated setpoint) ● MD30240 $MA_ENC_TYPE[axis] = 0 (simulated encoder) 8.7.2 Position-related switch request Function "Position-related switch request"...

Page 580: External Switch Request
M5: Measurement 8.7 Simulated measuring If several axes are programmed in a measuring block, then a dedicated switching position is obtained for each axis by the position offset that is axially taken into consideration. The probe signal is generated at the first axial switching position that is reached. Note Probe signals The probe signals are always simultaneously generated for probes 1 and 2.

Page 581: System Variable
M5: Measurement 8.7 Simulated measuring The measured value is the actual value of the axis at the instant in time that the switching signal programmed in the measuring block occurs (rising / falling edge). Digital output: Configuration The following machine data must be set to be able to use digital outputs for simulated measuring: ●...

Page 582: Channels - Only 840D Sl
M5: Measurement 8.8 Channels - only 840D sl ● $AA_MW (acquired probe position (WCS)) ● $AA_MW1...4 (probe position 1st trigger (WCS)) The following system variable does not supply sensible values: ● $A_PROBE (probe state) Channels - only 840D sl 8.8.1 Measuring mode 1 Supplementary conditions ●...

Page 583: Measuring Mode 2
M5: Measurement 8.8 Channels - only 840D sl 8.8.2 Measuring mode 2 Supplementary conditions ● Two probes ● Trigger signals are the rising and falling edges ● Actual value from the current encoder Program code MEASA[X] = (2, 1, -1, 2, -2) G01 X100 F100 STOPRE IF $AC_MEA[1]==FALSE gotof MESSTASTER2 R10=$AA_MM1[X]...

Page 584: Functional Test And Repeat Accuracy
M5: Measurement 8.8 Channels - only 840D sl Continuous measurement with deletion of distance-to-go Delete distance-to-go after last measurement. Program code Comment DEF INT ANZAHL=100 DEF REAL MESSWERT[ANZAHL] DEF INT INDEX=0 WHEN $AC_FIFO1[4]==ANZAHL DO DELDTG (X) MEAC[X] =(0) MEAC[X]=(1, 1, -1) G01 X1000 F100 ;...

Page 585 M5: Measurement 8.8 Channels - only 840D sl Program code Comment N20 DEF REAL MESSWERT_IN_X N30 G17 T1 D1 ; tool compensation for ; preselect probe N40 _ANF: G0 G90 X0 F150 ; Starting position and ; measuring velocity N50 MEAS=ME_NR G1 X100 ;...

Page 586: Data Lists
M5: Measurement 8.9 Data lists Program code Comment N35 SIGNAL= $AC_MEA[1] ; read software switching signal at ; 1. Read measuring input N37 IF SIGNAL == 0 GOTOF_FEHL1 ; Check switching signal N40 MESSWERT_IN_X[II]=$AA_MW[X] ; Read measured value in workpiece coordi- nates N50 II=II+1 N60 IF II<10 GOTOB_ANF...

Page 587: System Variables
M5: Measurement 8.9 Data lists 8.9.2 System variables Table of all the input values Identifier Meaning $AC_FIFO1…10 FIFO variable 1 to 10 $AC_MEAS_SEMA Interface assignment $AC_MEAS_VALID Validity bits for input values $AA_MEAS_POINT1 1. Measuring point for all channel axes $AA_MEAS_POINT2 2.

Page 588 M5: Measurement 8.9 Data lists Table of all the output values Identifier Meaning $A_PROBE[1,2] Probe status $A_PROBE_LIMITED[1,2] Measuring velocity exceeded $AC_MEA[1,2] Probe has responded $AA_MM Acquired probe position (MCS) $AA_MM1...4 Probe position 1st to 4th trigger event (MCS) $AA_MW Acquired probe position (WCS) $AA_MW1...4 Probe position 1st to 4th trigger event (WCS) $AC_MEAS_FRAME...

Page 589: N3: Software Cams, Position Switching Cycles - Only 840D Sl
N3: Software cams, position switching cycles - only 840D sl Brief Description Function The "Software cams" function generates position-dependent switching signals for axes that supply an actual position value (machine axes) and for simulated axes. These cam signals can be output to the PLC and also to the NCK I/Os. The cam positions at which signal outputs are set can be defined and altered via setting data.

Page 590: Cam Signals And Cam Positions
N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Cam signals and cam positions 9.2.1 Generation of cam signals for separate output Separate output of the plus and minus cam signals makes it easy to detect whether the axis is within or outside the plus or minus cam range.

Page 591 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Linear axes The switching edges of the cam signals are generated as a function of the axis traversing direction: ● The minus cam signal switches from 1 to 0 when the axis traverses the minus cam in the positive axis direction.

Page 592 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Figure 9-2 Software cams for linear axis (plus cam < minus cam) Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 593 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Modulo rotary axes The switching edges of the cam signals are generated as a function of the rotary axis traversing direction: ● The plus cam signal switches from 0 to 1 when the axis traverses the minus cam in a positive axis direction and from 1 back to 0 when it traverses the plus cam.

Page 594: Generation Of Cam Signals With Gated Output
N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Figure 9-4 Software cams for modulo rotary axis (plus cam - minus cam > 180 degrees) 9.2.2 Generation of cam signals with gated output The plus and minus cam output signals are gated in the case of: ●...

Page 595 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Linear axes Figure 9-5 Position switching signals for linear axis (minus cam < plus cam) Figure 9-6 Position switching signals for linear axis (plus cam < minus cam) Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 596 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Modulo rotary axis The default signal response for modulo rotary axes is dependent on the cam width: Figure 9-7 Software cams for modulo rotary axis (plus cam - minus cam < 180 degrees) Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 597 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Figure 9-8 Software cams for modulo rotary axis (plus cam - minus cam > 180 degrees) Suppression of signal inversion With the following setting, selection of signal inversion for "plus cam - minus cam >...

Page 598: Cam Positions
N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Figure 9-9 Software cams for modulo rotary axis (plus cam - minus cam > 180 degrees) and suppression of signal inversion 9.2.3 Cam positions Setting cam positions The positions of the plus and minus cams are defined using general setting data: ●...

Page 599 N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions Note Owing to the grouping of cam pairs (eight in each group), it is possible to assign different access authorization levels (e.g. for machine-related and workpiece-related cam positions). The positions are entered in the machine coordinate system.

Page 600: Lead/Delay Times (Dynamic Cam)
N3: Software cams, position switching cycles - only 840D sl 9.2 Cam signals and cam positions MD10450 SW_CAM_ASSIGN_TAB[n] (assignment of software cams to machine axes) Note Changes to an axis assignment take effect after the next NCK power-up. Cam pairs to which no axis is assigned are not active. A cam pair can only be assigned to one machine axis at a time.

Page 601: Output Of Cam Signals
N3: Software cams, position switching cycles - only 840D sl 9.3 Output of cam signals Lead or delay time in setting data The second lead or delay time is entered into the following general setting data: ● SD41520 SW_CAM_MINUS_TIME_TAB_1[n] (lead or delay time at the minus cams 1 –...

Page 602: Output Of Cam Signals To Plc
N3: Software cams, position switching cycles - only 840D sl 9.3 Output of cam signals Note The activation can be linked with other conditions by the PLC user (e.g. axis referenced, reset active). 9.3.2 Output of cam signals to PLC Output to PLC The status of the cam signals for all machine axes with activated software cams is output to the PLC.

Page 603 The four onboard outputs on the NCU and a total of 32 optional external NCK outputs are available as the digital outputs of the NCK I/Os (see Section "A4: Digital and analog NC I/O for SINUMERIK 840D sl (Page 29)"). Hardware assignment...

Page 604: Timer-Controlled Cam Signal Output
N3: Software cams, position switching cycles - only 840D sl 9.3 Output of cam signals Example: = 20 m/min, PC cycle = 4 ms Delta pos = 1.33 mm = 2000 rpm, PC cycle = 2 ms Delta pos = 24 degrees 9.3.4 Timer-controlled cam signal output Timer-controlled output...

Page 605: Independent, Timer-Controlled Output Of Cam Signals
N3: Software cams, position switching cycles - only 840D sl 9.3 Output of cam signals PLC interface The NCK image of the onboard outputs and the status of the plus and minus cams is displayed on the PLC interface. However, these signals are irrelevant or correspondingly inaccurate for the timer-controlled cam output version, as described in the following paragraphs.

Page 606: Position-Time Cams
N3: Software cams, position switching cycles - only 840D sl 9.4 Position-time cams MD10485 SW_CAM_MODE (behavior of the software cams) Value Signal generation Inversion of the signal behavior of the plus cam when: plus cam - minus cam ≥ 180 degrees No inversion of the signal behavior of the plus cam when: plus cam - minus cam ≥...

Page 607: Supplementary Conditions
N3: Software cams, position switching cycles - only 840D sl 9.5 Supplementary Conditions ● Activation (ON edge) and pulse duration are independent of the travel direction. ● The cam is not deactivated if the cam position is crossed again when the cam is active (direction reversal).

Page 608: Data Lists
N3: Software cams, position switching cycles - only 840D sl 9.6 Data lists Data lists 9.6.1 Machine data 9.6.1.1 General machine data Number Identifier: $MN_ Description 10260 CONVERT_SCALING_SYSTEM Basic system switchover active 10270 POS_TAB_SCALING_SYSTEM System of measurement of position tables 10450 SW_CAM_ASSIGN_TAB[n] Assignment of software cams to machine axes...

Page 609: Signals
41527 SW_CAM_PLUS_TIME_TAB_4[n] Lead or delay time on plus cams 25 -32 9.6.3 Signals 9.6.3.1 Signals to axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Cam activation DB31, ..DBX2.0 9.6.3.2 Signals from axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Cams active DB31, ...

Page 610 N3: Software cams, position switching cycles - only 840D sl 9.6 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 611: N4: Own Channel - Only 840D Sl
N4: Own channel - only 840D sl 10.1 Brief Description Subfunctions The functions specific to punching and nibbling operations comprise the following: ● Stroke control ● Automatic path segmentation ● Rotatable punch and die ● Clamp protection They are activated and deactivated via language commands. 10.2 Stroke control 10.2.1...

Page 612: High-Speed Signals
N4: Own channel - only 840D sl 10.2 Stroke control 10.2.2 High-speed signals Functionality High-speed signals are used to synchronize the NC and punching unit. On the one hand, they are applied via a high-speed output to ensure that the punch stroke is not initiated until the metal sheet is stationary.

Page 613: Criteria For Stroke Initiation
N4: Own channel - only 840D sl 10.2 Stroke control The chronological sequence of events for punching and nibbling is controlled by the two signals and E Set by the NCK and identical to stroke initiation. Defines the status of the punching unit and identical to the "Stroke active" signal. The signal states characterize and define times t to t in the following way:...

Page 614 N4: Own channel - only 840D sl 10.2 Stroke control Figure 10-2 Signal chart: Criteria for stroke initiation The time interval between t and t is determined by the reaction of the punching unit to setting of output A . This cannot be altered, but can be utilized as a lead time for minimizing dead times.

Page 615 N4: Own channel - only 840D sl 10.2 Stroke control Note The initial setting of the G group with G601, G602 and G603 (G group 12) is defined via machine data: MD20150 $MC_GCODE_RESET_VALUES[11] The default setting is G601. G603 Depending on velocity and machine dynamics, approximately 3 - 5 interpolation cycles are processed at the end of interpolation before the axes reach zero speed.

Page 616: Axis Start After Punching
N4: Own channel - only 840D sl 10.2 Stroke control 10.2.4 Axis start after punching Input signal "Stroke ON" The start of an axis motion after stroke initiation is controlled via input signal "Stroke ON". Figure 10-3 Signal chart: Axis start after punching In this case, the time interval between t and t' acts as a switching-time-dependent reaction...

Page 617: Plc Signals Specific To Punching And Nibbling
N4: Own channel - only 840D sl 10.2 Stroke control 10.2.5 PLC signals specific to punching and nibbling Function In addition to the signals used for direct stroke control, channel-specific PLC interface signals are also available. These are used both to control the punching process and to display operational states.

Page 618: Signal Monitoring
N4: Own channel - only 840D sl 10.3 Activation and deactivation 10.2.7 Signal monitoring Oscillating signal Owing to aging of the punch hydraulics, overshooting of the punch may cause the "Stroke active" signal to oscillate at the end of a stroke. In this case, an alarm (22054 "undefined punching signal") can be generated as a function of machine data: MD26020 $MC_NIBBLE_SIGNAL_CHECK...

Page 619 N4: Own channel - only 840D sl 10.3 Activation and deactivation Group 36 This group includes the commands which have only a preparatory character and which determine the real nature of the punching function: = punching with delay ON PDELAYON = punching with delay OFF PDELAYOF Since the PLC normally needs to perform some preliminary tasks with respect to these preparatory...

Page 620 N4: Own channel - only 840D sl 10.3 Activation and deactivation In contrast to punching, the first stroke is made at the start point of the block with the activating command, i.e. before the first machine motion. SON has a modal action, i.e. it remains active until either SPOF or PON is programmed or until the program end is reached.

Page 621 N4: Own channel - only 840D sl 10.3 Activation and deactivation PONS Punching ON (in position control cycle) PONS behaves in the same way as PON. For explanation, please refer to SONS. PDELAYON Punching with delay ON PDELAYON is a preparatory function. This means that PDELAYON is generally programmed before PON.

Page 622: Functional Expansions
N4: Own channel - only 840D sl 10.3 Activation and deactivation SPIF1 activates the first punch interface, i.e. the stroke is controlled via the first pair of high- speed I/Os (see Section "Channelspecific machine data (Page 650)", MD26004 and MD26006). The first punch interface is always active after a reset or control system power up.

Page 623 N4: Own channel - only 840D sl 10.3 Activation and deactivation Define the high-speed byte in each case on the CPU as a high-speed punch interface: MD26000 $MC_PUNCHNIB_ASSIGN_FASTIN = 'H00030001' → Byte 1 MD26002 $MC_PUNCHNIB_ASSIGN_FASTOUT = 'H00000001' Remark: The first and second bits are inverted. Screen form for high-speed input and output bits: First interface output bit MD26004 $MC_NIBBLE_PUNCH_OUTMASK[0]...

Page 624 N4: Own channel - only 840D sl 10.3 Activation and deactivation Minimum period between two strokes A minimum time interval between two consecutive strokes can be programmed in setting data: SD42404 $SC_MINTIME_BETWEEN_STROKES Example: There must be a minimum delay of at least 1.3 seconds between two stroke initiations irrespective of physical distance: ⇒...

Page 625 N4: Own channel - only 840D sl 10.3 Activation and deactivation The characteristic defines the following acceleration rates: Distance be‐ Acceleration tween holes < 2 mm The axis accelerates at a rate corresponding to 50 % of maximum acceleration. 2 - 10 mm Acceleration is increased to 100 %, proportional to the spacing.

Page 626: Compatibility With Earlier Systems
N4: Own channel - only 840D sl 10.3 Activation and deactivation The characteristic defines the following acceleration rates: Distance be‐ Acceleration tween holes < 3 mm The axis accelerates at a rate corresponding to 75 % of maximum acceleration. 3 - 8 mm Acceleration is reduced to 25 %, proportional to the spacing.

Page 627 N4: Own channel - only 840D sl 10.3 Activation and deactivation ≙ ≙ PDELAYON Note M functions can be configured in machine data. When M functions are assigned to language commands, it must be noted that M functions are organized in auxiliary function groups. Examples Punching/nibbling OFF DEFINE M20 AS SPOF...

Page 628: Automatic Path Segmentation
N4: Own channel - only 840D sl 10.4 Automatic path segmentation Program code Comment 10.4 Automatic path segmentation 10.4.1 General information Function One of the following two methods can be applied to automatically segment a programmed traversing path: ● Path segmentation with maximum path segment programmed via language command SPP ●...

Page 629 N4: Own channel - only 840D sl 10.4 Automatic path segmentation The following conditions apply: ● Path segmentation is active only when SON or PON is active. (Exception: MD26014 $MC_PUNCH_PATH_SPLITTING = 1) ● SPP is modally active, i.e. the programmed segment remains valid until it is programmed again, but it can be suppressed on a block-by-block (non-modal) basis by means of SPN.

Page 630: Operating Characteristics With Path Axes
N4: Own channel - only 840D sl 10.4 Automatic path segmentation 10.4.2 Operating characteristics with path axes MD26010 All axes defined and programmed via machine data: MD26010 $MC_PUNCHNIB_AXIS_MASK are traversed along path sections of identical size with SPP and SPN until the programmed end point is reached.

Page 631 N4: Own channel - only 840D sl 10.4 Automatic path segmentation X2/Y2: Programmed traversing distance SPP: Programmed SPP value SPP': Automatically rounded-off offset distance Figure 10-4 Path segmentation Example of SPN The number of path segments per block is programmed via SPN. A value programmed via SPN takes effect on a non-modal basis for both punching and nibbling applications.

Page 632 N4: Own channel - only 840D sl 10.4 Automatic path segmentation Program code Comment N3 Y10 SPOF ; Position without punch initiation N4 X0 SPN=2 PON ; activate punching. The total path is divided into 2 ; path segments. Because punching has been activated, ;...

Page 633 N4: Own channel - only 840D sl 10.4 Automatic path segmentation Example Figure 10-5 Workpiece Extract from program Program code Comment N100 G90 X130 Y75 F60 SPOF ; Positioning to starting point (1) of the ; vertical nibbling path sections N110 G91 Y125 SPP=4 SON ;...

Page 634: Response In Connection With Single Axes
N4: Own channel - only 840D sl 10.4 Automatic path segmentation Program code Comment ; activating N180 G00 G90 Y300 SPOF ; Positioning 10.4.3 Response in connection with single axes MD26016 The path of single axes programmed in addition to path axes is distributed evenly among the generated intermediate blocks as standard.

Page 635 N4: Own channel - only 840D sl 10.4 Automatic path segmentation MD26016 $MC_PUNCH_PARTITION_TYPE=1 In contrast to the behavior described above, here the synchronous axis travels the entire programmed rotation path in the first sub-block of the selected path segmentation function. Applied to the example, the C axis already reaches the programmed end position C=45 when it reaches X position X=15.

Page 636 N4: Own channel - only 840D sl 10.4 Automatic path segmentation MD26016 $MC_PUNCH_PARTITION_TYPE=2 MD26016=2 is set in cases where the axis must behave as described above in linear interpolation mode, but according to the default setting in circular interpolation mode (see 1st case).

Page 637 N4: Own channel - only 840D sl 10.4 Automatic path segmentation The axis response illustrated in the diagram above can be particularly useful when applied to the axis of a rotatable tool in cases where it is used to place the tool in a defined direction (e.g. tangential) in relation to the contour, but where the tangential control function must not be applied.

Page 638 N4: Own channel - only 840D sl 10.4 Automatic path segmentation Supplementary conditions ● If the C axis is not defined as a "Punch-nibble axis", then the C axis motion path is not segmented in block N30 in the above example nor is a stroke initiated at the block end. ●...

Page 639: Rotatable Tool
N4: Own channel - only 840D sl 10.5 Rotatable tool 10.5 Rotatable tool 10.5.1 General information Function overview The following two functions are provided for nibbling/punching machines with rotatable punch and lower die: ● Coupled motion for synchronous rotation of punch and die ●...

Page 640: Coupled Motion Of Punch And Die
N4: Own channel - only 840D sl 10.5 Rotatable tool 10.5.2 Coupled motion of punch and die Function Using the standard function "Coupled motion", it is possible to assign the axis of the die as a coupled motion axis to the rotary axis of the punch. Activation The "Coupled motion"...

Page 641: Tangential Control
N4: Own channel - only 840D sl 10.5 Rotatable tool 10.5.3 Tangential control Function The "tangential control" function aligns the rotary axis used for positioning the punching/ nibbling tool so that it is tangential to the programmed path. In connection with tangential control, this axis is called the tangential axis.

Page 642 N4: Own channel - only 840D sl 10.5 Rotatable tool Program code Comment N25 X80 Y20 SPP=10 SON ; path segmentation: ON ; path segment: 10 mm → 4 lifts ; punch initiation: ON N30 X60 Y40 SPOF ; positioning ;...

Page 643 N4: Own channel - only 840D sl 10.5 Rotatable tool Example: Circular interpolation In circular interpolation mode, particularly when path segmentation is active, the tool axes rotate along a path tangentially aligned to the programmed path axes in each sub-block. Program code Comment N2 TANG (C, X, Y, 1, "B")

Page 644: Protection Zones
N4: Own channel - only 840D sl 10.7 Supplementary conditions ① Mounting position 0° ② Positioning ③ Stroke 10.6 Protection zones Clamping protection zone The "clamping protection zone" function is contained as a subset in the "Protection zones" function. Its purpose is to simply monitor whether clamps and tool could represent a mutual risk.

Page 645: Examples
N4: Own channel - only 840D sl 10.8 Examples 10.8 Examples 10.8.1 Examples of defined start of nibbling operation Example 1 Example of defined start of nibbling operation Program code Comment N10 G0 X20 Y120 SPP= 20 ; Position 1 is approached N20 X120 SON ;...

Page 646 N4: Own channel - only 840D sl 10.8 Examples Example 2 This example utilizes the "Tangential control" function. Z has been selected as the name of the tangential axis. Program code Comment N5 TANG (Z, X, Y, 1, "B") ; Define tangential axis N8 TANGON (Z, 0) ;...

Page 647 N4: Own channel - only 840D sl 10.8 Examples Examples 3 and 4 for defined start of nibbling Example 3: Programming of SPP Program code Comment N5 G0 X10 Y10 ; Positioning N10 X90 SPP=20 SON ; Defined start of nibbling, ;...

Page 648 N4: Own channel - only 840D sl 10.8 Examples Figure 10-7 Examples 3 and 4 for defined start of nibbling Examples 5 and 6 without defined start of nibbling Example 5 Programming of SPP Program code Comment N5 G0 X10 Y30 ;...

Page 649 N4: Own channel - only 840D sl 10.8 Examples Program code Comment N25 SPOF N30 M2 Example 7 Application example of SPP programming Figure 10-8 Workpiece Extract from program: Program code Comment N100 G90 X75 Y75 F60 PON ; Positioning to starting point (1) of the ;...

Page 650: Data Lists
N4: Own channel - only 840D sl 10.9 Data lists Program code Comment ; path segment: 37.39 mm N160 G00 Y300 SPOF ; Positioning 10.9 Data lists 10.9.1 Machine data 10.9.1.1 General machine data Number Identifier: $MN_ Description 11450 SEARCH_RUN_MODE Block search parameter settings 10.9.1.2 Channelspecific machine data...

Page 651: Setting Data
MINTIME_BETWEEN_STROKES Minimum time interval between two consecutive strokes 10.9.3 Signals 10.9.3.1 Signals to channel Signal name SINUMERIK 840D sl SINUMERIK 828D No stroke enable DB21, ..DBX3.0 Manual stroke initiation DB21, ..DBX3.1 Stroke suppression DB21, ..DBX3.2 Stroke inoperative DB21, ...

Page 652 N4: Own channel - only 840D sl 10.9 Data lists G group Language com‐ Meaning mand Punch with Delay ON Punching with delay ON PDELAYON Punch with Delay OFF Punching with delay OFF PDELAYOF Path segmentation Path per stroke, modal action Number of strokes per block, non-modal action Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 653: P2: Positioning Axes
P2: Positioning axes 11.1 Product brief Axes for auxiliary movements In addition to axes for machining a workpiece, modern machine tools can also be equipped with axes for auxiliary movements, e.g.: ● Axis for tool magazine ● Axis for tool turret ●...

Page 654 P2: Positioning axes 11.1 Product brief NC, the axis can be addressed by name in the part program and its actual position displayed on the screen. Note "Positioning axis/Auxiliary spindle" option Axes for auxiliary movements must not be interpolating ("full-value") NC axes. Auxiliary movements may also be carried out using special axes, which can be obtained using the "Positioning axis/Auxiliary spindle"...

Page 655: Own Channel, Positioning Axis Or Concurrent Positioning Axis
P2: Positioning axes 11.2 Own channel, positioning axis or concurrent positioning axis Motions and interpolations Each channel has one path interpolator and at least one axis interpolator with the following interpolation functions: ● for path interpolator: Linear interpolation (G1), circular interpolation (G2 / G3), spline interpolation, etc. ●...

Page 656: Positioning Axis
P2: Positioning axes 11.2 Own channel, positioning axis or concurrent positioning axis Non-dependence between channels Independence between channels is assured by means of the following provisions: ● An active part program per channel ● Channel-specific interface signals such as – DB21, ... DBX7.1 (NC Start) –...

Page 657 P2: Positioning axes 11.2 Own channel, positioning axis or concurrent positioning axis Positioning axis types and block change The block change time depends on the programmed positioning axis type (refer also to Chapter "Block change (Page 674)"): Type Description The block change occurs when all path and positioning axes have reached their programmed end point.

Page 658 P2: Positioning axes 11.2 Own channel, positioning axis or concurrent positioning axis ● Dedicated programmable feedrate ● Dedicated "axis-specific delete distance-to-go" interface signal Dependencies Positioning axes are dependent in the following respects: ● A shared part program ● Starting of positioning axes only at block boundaries in the part program ●...

Page 659: Concurrent Positioning Axis
– "RELEASE (axis)" or WAITP() is a channel axis that becomes a concurrent axis under PLC control. Activation from PLC For SINUMERIK 840D sl, the concurrent positioning axis is activated via FC 18 from the PLC. ● Feedrate For feedrate = 0, the feedrate is determined from the following machine data: MD32060 $MA_POS_AX_VELO (initial setting for positioning axis velocity) ●...

Page 660: Motion Behavior And Interpolation Functions
P2: Positioning axes 11.3 Motion behavior and interpolation functions ● Exact stop (G9) ● Settable zero offsets currently selected are valid Applications Typical applications for concurrent positioning axes include: ● Tool magazines with manual loading and unloading during machining ● Tool magazines with tool preparation during machining 11.3 Motion behavior and interpolation functions 11.3.1...

Page 661 P2: Positioning axes 11.3 Motion behavior and interpolation functions Linear interpolation Properties: ● The path axes are interpolated together. ● The tool movement programmed with G0 is executed at the highest possible speed (rapid traverse). ● The rapid traverse velocity is defined separately for each axis in the following machine data: MD32000 $MA_MAX_AX_VELO ●...

Page 662 P2: Positioning axes 11.3 Motion behavior and interpolation functions The existing system variables which refer to the distance-to-go ($AC_PATH, $AC_PLTBB and $AC_PLTEB) are supported. CAUTION Risk of collision As traversal of another contour is possible with non-linear interpolation, synchronized actions that refer to coordinates of the original path may not be active.

Page 663: Autonomous Singleaxis Operations
P2: Positioning axes 11.3 Motion behavior and interpolation functions 11.3.3 Autonomous singleaxis operations Functionality Single PLC axes, command axes started via static synchronized actions or asynchronous reciprocating axes can be interpolated independently of the NCK. An axis/spindle interpolated by the main run then reacts independently of the NC program with respect to: ●...

Page 664 P2: Positioning axes 11.3 Motion behavior and interpolation functions Alternatives Initial state: The axis is controlled by the PLC. As a result of a channel stop, the channel is in the "interrupted" state. ● Axis state "inactive" ⇒ – The stop state is canceled. –...

Page 665 P2: Positioning axes 11.3 Motion behavior and interpolation functions Boundary conditions The axis/spindle must be operating under PLC control. The NCK confirms acceptance of an axis/spindle only if an axial alarm is not active. Description of the sequence based on use cases Requirement The axis/spindle is controlled by the PLC Relevant NC/PLC interface signals...

Page 666 P2: Positioning axes 11.3 Motion behavior and interpolation functions Description of the sequence: ● PLC → NCK: Request to stop the axis/spindle DB31, ... DBX28.6 = 1 (stop along braking ramp) ● NCK: Brakes the axis along a ramp. ● NCK confirms the execution: –...

Page 667: Autonomous Single-Axis Functions With Nc-Controlled Esr
P2: Positioning axes 11.3 Motion behavior and interpolation functions Boundary conditions In the following cases, the request to continue is ignored: ● The axis/spindle is not controlled by the PLC. ● The axis/spindle is not in the stopped state. ● An alarm is pending for the axis/spindle. Use case 4: Reset axis/spindle (reset) Description of the sequence: ●...

Page 668 P2: Positioning axes 11.3 Motion behavior and interpolation functions The NC-controlled extended stop and retract is activated by the axial trigger $AA_ESR_TRIGGER[axis]. It works analogously to $AC_ESR_TRIGGER and applies exclusively to single axes. References: Function Manual, Special Functions; Coupled axes and ESR (M3) Extended retract numerically controlled For retracting single axes, the value must have been programmed via POLFA(axis, type, value) and the following conditions must be met:...

Page 669: Positioning Axis Dynamic Response
P2: Positioning axes 11.4 Positioning axis dynamic response $AA_ESR_ENABLE[AX1] = 1 POLFA(AX1, 1, 20.0); AX1 is assigned the axial retraction position 20.0 ; (absolute) $AA_ESR_TRIGGER[AX1]=1 ; AX1 begins to retract here POLFA(axis, type): permissible programming abbreviation POLFA(axis, 0/1/2) ; quick deactivation/activation WARNING No preprocessing limitation If abbreviated notation is used and only the type is changed, make sure that the value for the...

Page 670 P2: Positioning axes 11.4 Positioning axis dynamic response Rapid traverse override Rapid traverse override applies only to path axes. Positioning axes have no rapid traverse interpolation (only axial linear interpolation G01) and therefore no rapid traverse override. Revolutional feedrate In JOG mode the behavior of the axis/spindle also depends on the setting of SD41100 JOG_REV_IS_ACTIVE (revolutional feedrate when JOG active).

Page 671: Programming
P2: Positioning axes 11.5 Programming The machine data to be used is determined by the set positioning axis dynamic response mode: MD18960 $MN_POS_DYN_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] MD32431 $MA_MAX_AX_JERK[1] 11.5...

Page 672 P2: Positioning axes 11.5 Programming Note Within a part program, an axis can be a path axis or a positioning axis. Within a movement block, however, each axis must be assigned a unique axis type. Programming in synchronized action Axes can be positioned completely asynchronous to the part program from synchronized actions.

Page 673: Revolutional Feed Rate In External Programming
P2: Positioning axes 11.5 Programming Reprogram type 2 positioning axes With type 2 positioning axes (motion across block limits), you need to be able to detect in the part program whether the positioning axis has reached its end position. Only then is it possible to reprogram this positioning axis (otherwise an alarm is issued).

Page 674: Block Change
P2: Positioning axes 11.6 Block change SD43300 $SA_ASSIGN_FEED_PER_REV_SOURCE(revolutional feed rate for position axes/ spindles) SD42600 JOG_FEED_PER_REV_SOURCE (control of revolutional feed rate in JOG) The following settings are possible: Value Description No revolutional feed rate selected >0 The revolutional feed rate is derived from the round axis/spindle with the machine axis index specified here.

Page 675 P2: Positioning axes 11.6 Block change Figure 11-1 Block change for path axis and positioning axis type 1 Note Continuous path mode Continuous path mode across block limits (G64) is only possible if the positioning axes reach their end-of-motion criterion before the path axes (in the diagram above, this is not the case). Type 2: Modal positioning axis (across blocks) Properties: ●...

Page 676: Settable Block Change Time
P2: Positioning axes 11.6 Block change Figure 11-2 Block change for path axis and positioning axis type 2 11.6.1 Settable block change time Type 3: Conditional block-related positioning axis Properties: ● The block change is performed as soon as all path and positioning axes have reached their respective programmed end-of-motion criterion: –...

Page 677 P2: Positioning axes 11.6 Block change Figure 11-3 Block change for path axis and positioning axis type 3 Block change criterion: "Braking ramp" (IPOBRKA) If, when activating the block change criterion "brake ramp", a value is programmed for the optional parameter , then this becomes effective for the next positioning motion and is written into the setting data synchronized to the main run.

Page 678 P2: Positioning axes 11.6 Block change Time of the block change, referred to the braking ramp as a %: : ● 100% = start of the braking ramp ● 0% = end of the braking ramp, the same significance as IPOENDA Type: REAL...

Page 679 P2: Positioning axes 11.6 Block change References: Parameter Manual, Book 2 Note Information about other programmable end-of-motion criteria FINEA, COARESA, IPOENDA can be found in: References: Function Manual, Basic Functions ● Spindles (S1), Section "Spindle modes" ● Feedrates (V1), Programmable dynamic response of single axis section Supplementary conditions Premature block change A premature block change is not possible in the following cases:...

Page 680 P2: Positioning axes 11.6 Block change Program code Comment N10 POS[X]=100 Positioning motion from X to position 100. Block change criterion: "Exact stop fine" N20 IPOBRKA(X,100) ; Block change criterion: "Braking ramp", 100% = start of the braking ramp. N30 POS[X]=200 ;...

Page 681: End Of Motion Criterion With Block Search
P2: Positioning axes 11.6 Block change Program code Comment N50 POS[X]=0 ; Axis X brakes and returns to position 0, the block change is realized at position 0 and "exact stop fine". N60 X10 F100 N70 M30 Block change criterion "braking ramp" and "tolerance window" in synchronized action In the technology cycle: Program code Comment...

Page 682: Control By The Plc
PLC axes are traversed from the PLC and can move asynchronously to all other axes. The travel motions are executed separate from the path and synchronized actions. Reference: Function Manual, Basic Functions; Basic PLC Program for SINUMERIK 840D sl (P3) or PLC for SINUMERIK 828D (P4) Concurrent positioning axes Using function block FC18, for SINUMERIK 840D sl concurrent positioning axes can be started from the PLC.

Page 683 P2: Positioning axes 11.7 Control by the PLC Channel-specific signals All channel-specific signals act to the same extent on path and positioning axes. Only the following signals are an exception: ● IS DB21, ... DBB4 ("Feedrate override") ● IS DB21, ... DBX6.2 ("Delete distance to go") Axisspecific signals Positioning axes have the following additional signals: ●...

Page 684: Starting Concurrent Positioning Axes From The Plc
Since each axis is assigned to exactly one channel, the control can select the correct channel from the axis name/axis number and start the concurrent positioning axis on this channel. References Function Manual Basic Functions; Chapter "P3: Basic PLC program for SINUMERIK 840D sl" > Block descriptions" > "FC18: SpinCtrl Spindle control" 11.7.2...

Page 685 P2: Positioning axes 11.7 Control by the PLC ● Cancel or set controller enable for the machine axis ● Relinquish control of machine axis to NC Examples of NC responses PLC actions as response of the NC are listed in the table below. PLC actions NC response Machine axis AX1 is the channel axis in channel...

Page 686: Control Response Of Plc-Controlled Axes
P2: Positioning axes 11.7 Control by the PLC PLC actions NC response Initiate axial reset ● Stop AX1 DB31, ... DBX28.1 = 1 (reset) ● Read-in axial machine data ● DB31, ... DBX63.0 = 0 (reset) PLC relinquishes control of AX1 to the NC from ●...

Page 687: Response With Special Functions
P2: Positioning axes 11.8 Response with special functions Control response to PLC-controlled axis Bit 6 = 1 channel-specific IS DB 21, ... DBX6.0 ("feed disable") is not effec‐ tive. This axis is not stopped when feed disable is activated, but continues to move. Bit 7 = 1 the axis is not taken into account when IS DB 21, ...

Page 688: Examples
P2: Positioning axes 11.9 Examples 11.9 Examples 11.9.1 Motion behavior and interpolation functions In the following example, the two positioning axes Q1 and Q2 represent two separate units of movement. There is no interpolation relationship between the two axes. In the example, the positioning axes are programmed as type 1 (e.g.

Page 689: Traversing Path Axes Without Interpolation With G0
P2: Positioning axes 11.10 Data lists 11.9.1.1 Traversing path axes without interpolation with G0 Example in G0 for positioning axes Path axes traverse as positioning axes with no interpolation in rapid traverse mode (G0): Program code Comment ; Activation of nonlinear ;...

Page 690: Axis/Spindlespecific Machine Data
Braking ramp block change condition 43610 ADISPOSA_VALUE Braking ramp tolerance window 11.10.3 Signals 11.10.3.1 Signals to channel Signal name SINUMERIK 840D sl SINUMERIK 828D feed disable DB21, ..DBX6.0 DB320x.DBX6.0 NC Start DB21, ..DBX7.1 DB320x.DBX7.1 NC stop axes plus spindle DB21, ...

Page 691: Signals To Axis/Spindle
P2: Positioning axes 11.10 Data lists 11.10.3.3 Signals to axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Feedrate override, axis-specific DB31, ..DBB0 DB380x.DBB0 Controller enable DB31, ..DBX2.1 DB380x.DBX2.1 Delete distance-to-go spindle reset for specific axes DB31, ..DBX2.2 DB380x.DBX2.2...

Page 692 P2: Positioning axes 11.10 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 693: P5: Oscillation
P5: Oscillation 12.1 Brief description Definition When the "Oscillation" function is selected, an oscillation axis oscillates backwards and forwards at the programmed feedrate or a derived feedrate (revolutional feedrate) between two reversal points. Several oscillation axes can be active at the same time. Oscillation variants Oscillation functions can be classified according to the axis response at reversal points and with respect to infeed:...

Page 694: Asynchronous Oscillation
P5: Oscillation 12.2 Asynchronous oscillation ● The feedrate velocity of the oscillation axis can be altered through a value input in the NC program, PLC, HMI or via an override. The feedrate can be programmed to be dependent on a master spindle, rotary axis or spindle (revolutional feedrate). References: Function Manual, Basic Functions;...

Page 695: Influences On Asynchronous Oscillation
P5: Oscillation 12.2 Asynchronous oscillation ● The oscillation axis can act as the master axis for gantry and coupled motion axes. References: Function Manual, Special Functions; Gantry Axes (G1) ● It is possible to traverse the axis with jerk limitation (SOFT) and/or with kneeshaped acceleration characteristic (as for positioning axes).

Page 696 P5: Oscillation 12.2 Asynchronous oscillation Reversal feed The reversal feed can also be used for oscillation axes. Reversal points The positions of the reversal points can be entered via setting data before an oscillation movement is started or while one is in progress. ●...

Page 697 P5: Oscillation 12.2 Asynchronous oscillation Deactivate oscillation One of the following options can be set for termination of the oscillation movement when oscillation mode is deactivated: ● Termination of oscillation movement at the next reversal point ● Termination of oscillation movement at reversal point 1 ●...

Page 698 P5: Oscillation 12.2 Asynchronous oscillation NC language The NC programming language allows asynchronous oscillation to be controlled from the part program. The following functions allow asynchronous oscillation to be activated and controlled as a function of NC program execution. Note If the setting data is directly written in the part program, then the data change takes effect prematurely with respect to processing of the part program (at the preprocessing time).

Page 699 P5: Oscillation 12.2 Asynchronous oscillation 4) Stopping times at reversal points: ● OST1[oscillation axis] = stop time at reversal point 1 in [s] ● OST2[oscillation axis] = stop time at reversal point 2 in [s] A stop time is entered into the appropriate setting data in synchronism with the block in the main run and thus remains effective until the setting data is next changed.

Page 700 P5: Oscillation 12.2 Asynchronous oscillation Example: The oscillation movement for axis Z must stop at reversal point 1 on deactivation; an end position must then be approached and a newly programmed feedrate take immediate effect; the axis must stop immediately after deletion of distance-to-go. OSCTRL[Z] = (1+4, 16+32+64) The set/reset options are entered into the appropriate setting data in synchronism with the block in the main run and thus remain effective until the setting data is next changed.

Page 701: Asynchronous Oscillation Under Plc Control
P5: Oscillation 12.2 Asynchronous oscillation 12.2.2 Asynchronous oscillation under PLC control Activation The function can be selected from the PLC using the following setting data in all operating modes except for MDA Ref and JOG Ref.: SD43780 OSCILL_IS_ACTIVE (switch-on oscillation motion) Settings The following criteria can be controlled from the PLC via setting data: Activation and deactivation of oscillation movement, positions of reversal points, stop times at reversal points,...

Page 702 P5: Oscillation 12.2 Asynchronous oscillation Without PLC control If the PLC does not have control over the axis, then the axis is treated like a normal positioning axis (POSA) during asynchronous oscillation. Delete distance-to-go Channel-specific delete distance-to-go is ignored. Axial delete distance-to-go ●...

Page 703 P5: Oscillation 12.2 Asynchronous oscillation Follow-up mode There is no difference to positioning axes. End of program If the axis is not controlled by the PLC, then the program end is not reached until the oscillation movement is terminated (reaction as for POSA: Positioning across block boundaries).

Page 704: Oscillation Controlled By Synchronized Actions
P5: Oscillation 12.3 Oscillation controlled by synchronized actions Block search In Block Search the last valid oscillation function is registered and the machine data OSCILL_MODE_MASK is activated (default) accordingly, either directly after NC start (when approaching the start position after block search) or after reaching the start position after block search.

Page 705 P5: Oscillation 12.3 Oscillation controlled by synchronized actions 5. Enable oscillation movement (see Section "Oscillation movement restarting (Page 711)"). 6. Do not start partial infeed too early (see Section "Do not start partial infeed too early (Page 712)"). Reversal point 1 Reversal point 2 Reversal range 1 Reversal range 2...

Page 706 P5: Oscillation 12.3 Oscillation controlled by synchronized actions ● Motion-synchronous conditions WHEN, WHENEVER ● Activation through motion block – Assign oscillation axis and infeed axes to one another OSCILL – Specify infeed response POSP. The following sections present those elements which have not yet been dealt with. Some examples are described in the "Examples"...

Page 707: Infeed At Reversal Point 1 Or 2
P5: Oscillation 12.3 Oscillation controlled by synchronized actions Program code Comment Example 2: changing reversal positions For motion-synchronous actions, the reversal positions $$AA_OSCILL_REVERSE_POS are used at the interpolator level. If the associated setting data change, then the modified values are active in the program. Program code Comment $SA_OSCILL_REVERSE_POS1[Z]=-10...

Page 708: Infeed In Reversal Point Range
P5: Oscillation 12.3 Oscillation controlled by synchronized actions Explanation of system variables ● $AA_IM[ Z ]: Current position of oscillating axis Z in the MCS ● $SA_OSCILL_REVERSE_POS1[ Z ]: Position of the reversal point1 of the oscillation axis ● $AA_OVR[ X ]: Axial override of the infeed axis ●...

Page 709: Infeed At Both Reversal Points
P5: Oscillation 12.3 Oscillation controlled by synchronized actions The infeed axis stops until the current position (value) of the oscillation axis is lower than the position at reversal point2 minus the contents of variable ii2. This applies on condition that the setting for reversal point position 2 is higher than that for reversal point position 1.

Page 710: Stop Oscillation Movement At The Reversal Point
P5: Oscillation 12.3 Oscillation controlled by synchronized actions Combinations Infeed at two sides ● Reversal point 1 - reversal point 2 ● Reversal point 1 - reversal range 2 ● Reversal range 1 - reversal point 2 ● Reversal range 1 - reversal range 2 One-sided infeed ●...

Page 711: Oscillation Movement Restarting
P5: Oscillation 12.3 Oscillation controlled by synchronized actions $AA_OVR[infeed axis ]: Axial override of the infeed axis Function Reversal point 2: Every time the oscillation axis reaches reversal position 2, it must be stopped by means of the override 0 and the infeed movement started. Application The synchronized action is used to hold the oscillation axis stationary until partial infeed has been executed.

Page 712: Do Not Start Partial Infeed Too Early
P5: Oscillation 12.3 Oscillation controlled by synchronized actions DO $AA_OVR[oscillation axis]=100 Explanation of system variables ● $AA_DTEPW[ infeed axis ]: axial remaining travel distance for the infeed axis in the workpiece coordinate system (WCS): Path distance of the infeed axis ●...

Page 713: Assignment Of Oscillation And Infeed Axes Oscill
P5: Oscillation 12.3 Oscillation controlled by synchronized actions 12.3.7 Assignment of oscillation and infeed axes OSCILL Function One or several infeed axes are assigned to the oscillation axis with command OSCILL. Oscillation motion starts. The PLC is informed of which axes have been assigned via the NC/PLC interface. If the PLC is controlling the oscillation axis, it must now also monitor the infeed axes and use the signals for the infeed axes to generate the reactions on the oscillation axis via 2 stop bits of the interface.

Page 714: External Oscillation Reversal
P5: Oscillation 12.3 Oscillation controlled by synchronized actions Mode 1: The part length is adjusted such that the total of all calculated part lengths corresponds exactly to the path up to the target point. 12.3.9 External oscillation reversal For example, keys on the PLC can be used to change the oscillation area or instantaneously reverse the direction of oscillation.

Page 715: Marginal Conditions
P5: Oscillation 12.5 Examples Special cases If the PLC input signal "oscillation reversal" is activated as the axis is approaching the start position, the approach movement is aborted and the axis continues by approach interruption position 1. If the PLC input signal "oscillation reversal" is set during a stop period, the stop timer is deactivated;...

Page 716 P5: Oscillation 12.5 Examples Program section Program code Comment OSP1[Z]=-10 ; Reversal point 1 OSP2[Z]=10 ; Reversal point 2 OST1[Z]=-1 ; Stop time at reversal point 1: Exact stop coarse OST2[Z]=-2 ; Stop time at reversal point 2: without exact stop FA[Z]=5000 ;...

Page 717: Example 1 Of Oscillation With Synchronized Actions
P5: Oscillation 12.5 Examples 12.5.2 Example 1 of oscillation with synchronized actions Task Direct infeed must take place at reversal point 1; the oscillation axis must wait until the partial infeed has been executed before it can continue traversal. At reversal point 2, the infeed must take place at a distance of -6 from reversal point 2;...

Page 718 P5: Oscillation 12.5 Examples Program code Comment ; and set the marker with index 2 to value 0 (Reset marker 2) WHENEVER $AA_IM[Z]<$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0 $AC_MARKER[2]=0 ; always, when the current position of the oscillating axis in the Machine Coordinate System ;...

Page 719: Example 2 Of Oscillation With Synchronized Actions
P5: Oscillation 12.5 Examples Program code Comment 0% (so that the second synchronized action is cancelled once!) WHEN $AA_IM[Z]==$SA_OSCILL_REVERSE_POS1[Z] DO $AA_OVR[Z]=100 $AA_OVR[X]=0 ;------------------------------------------ OSCILL[Z]=(X) ; Assign axis X to the oscillation axis Z as POSP[X]=(5,1,1) ; infeed axis, this should ;...

Page 720 P5: Oscillation 12.5 Examples Program section Example 2: Oscillation with synchronized actions Program code Comment DEF INT ii2 ; Define variable for reversal area 2 OSP1[Z]=10 OSP2[Z]=60 ; explain reversal points 1 and 2 OST1[Z]=0 OST2[Z]=0 ; Reversal point 1: Exact stop fine Reversal point 2: Exact stop fine FA[Z]=5000 FA[X]=100 ;...

Page 721: Examples For Starting Position
P5: Oscillation 12.5 Examples Program code Comment (oscillation axis has not yet exited the reversal point range 2, but the infeed axis is ready for a new infeed) ; and set the axial override of the oscillation axis to 100% (this cancels the 2nd synchronized action) WHENEVER $AC_MARKER[0]==1 DO $AA_OVR[X]=0 $AA_OVR[Z]=100 OSCILL[Z]=(X)

Page 722: Start Oscillation Via Setting Data
P5: Oscillation 12.5 Examples Program code Comment OSP1[Z]=10 OSP2[Z]=60 ; explain reversal points 1 and 2 OST1[Z]=-2 OST2[Z]=0 ; Reversal point 1: without exact stop ; Reversal point 2: Exact stop fine FA[Z]=5000 FA[X]=2000 ; Infeed for oscillating axis, ; feedrate for infeed axis OSCTRL[Z]=(1+8+16,0) ;...

Page 723: Non-Modal Oscillation (Starting Position = Reversal Point 1)
P5: Oscillation 12.5 Examples Program code Comment WAITP(Z) Description When the Z axis starts oscillation, it first approaches the starting position (position = -50 in the example) and then begins the oscillation motion between the reversal points -10 and 30. When the X axis has reached its end position 30, the oscillation finishes at the next approached reversal point.

Page 724 P5: Oscillation 12.5 Examples Program code Comment WHENEVER ($AC_MARKER[2] == 0) AND $AA_IW[Z]>$SA_OSCILL_REVERSE_POS1[Z]) DO $AC_MARKER[1]=0 ; always, when the current position of the oscillating axis is less than the start of reversal range 2 ; then set the axial override of the feed axis to 0 and set the marker with index 0 to WHENEVER $AA_IW[Z]<$SA_OSCILL_REVERSE_POS2[Z]-6 DO $AA_OVR[X]=0 $AC_MARKER[0]=0 ;...

Page 725: Example Of External Oscillation Reversal
P5: Oscillation 12.5 Examples Program code Comment == reversal position 1) WHEN $AA_IW[Z]==$SA_OSCILL_REVERSE_POS1[Z] DO $AC_MARKER[2]=0 ;---------------------------------- N750 OSCILL[Z]=(X) POSP[X]=(5,1,1) ; Assign axis X to the oscillation axis Z as infeed axis, ; this should infeed to end position 5 ; in substeps of 1 and the sum of all sublengths ;...

Page 726: Data Lists
Position that is approached after oscillation before reversal point 1, if activated in SD43770: 12.6.3 Signals 12.6.3.1 Signals to axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D External oscillation reversal DB31, ..DBX28.0 DB380x.DBX5004.0 Set reversal point DB31, ..DBX28.3 DB380x.DBX5004.3...

Page 727: Signals From Axis/Spindle
P5: Oscillation 12.6 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D Stop at next reversal point DB31, ..DBX28.5 DB380x.DBX5004.5 Stop along braking ramp DB31, ..DBX28.6 DB380x.DBX5004.6 PLC-controlled axis DB31, ..DBX28.7 DB380x.DBX5004.7 12.6.3.2 Signals from axis/spindle Signal name...

Page 728 P5: Oscillation 12.6 Data lists $AC_TIMES Time from the start of the block (real) in seconds (without times for the internally generated intermedi‐ ate blocks) $AC_TIMEC Time from the start of the block (real) in IPO steps (including steps for the internally generated inter‐ mediate blocks) $AC_TIMESC Time from the start of the block (real) in IPO steps...

Page 729 P5: Oscillation 12.6 Data lists $AA_LOAD[] Drive utilization $AA_POWER[] Drive efficiency in W $AA_TORQUE[] Drive torque setpoint in Nm $AA_CURR[] Actual current value of axis $AC_MARKER[] (int) Flag variables: can be used to build complex condi‐ tions in synchronous actions: 8 Markers (Index 0 - 7) are available.

Page 730 P5: Oscillation 12.6 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 731: R2: Rotary Axes
R2: Rotary axes 13.1 Brief description The following are typical applications for positioning axes: ● 5-axis machining (operating range limited or unlimited) ● Rotary axis for eccentric machining (unlimited operating range) ● Rotary axis for cylindrical or form grinding (unlimited operating range) ●...

Page 732 R2: Rotary axes 13.1 Brief description ● Assignment: A rotates about X, B rotates about Y and C rotates about Z ● Direction of rotation: The positive rotary-axis direction of a rotation corresponds to a clockwise rotation when looking in the positive axis direction of the corresponding linear axis.

Page 733: Modulo 360 Degrees
R2: Rotary axes 13.2 Modulo 360 degrees The tangential velocity of the rotary axis refers to diameter D (unit diameter D =360/π). In unit unit the case of unit diameter D=D , the programmed angular velocity in degrees/min and the unit tangential velocity in mm/min (or inch/min) are numerically identical.

Page 734 R2: Rotary axes 13.2 Modulo 360 degrees Figure 13-2 Modulo 360° map Parameter assignment Modulo rotary axis The parameter assignment of a rotary axis as modulo rotary axis is performed via axis-specific machine data: MD30310 $MA_ROT_IS_MODULO = 1 Note It is recommended that the parameters of the modulo position display also be set to 360°. Modulo rotary axis: Position display modulo 360°...

Page 735 R2: Rotary axes 13.2 Modulo 360 degrees Example values: ● Starting position = 180: Modulo range -180° to +180° ● Starting position = 0: Modulo range 0° - 360° Figure 13-3 Starting position of -180° changes the modulo range to -180° to + 180° Note Modulo partition axes By approximating the two following machine data, indexing positions of modulo indexing axes...

Page 736 R2: Rotary axes 13.2 Modulo 360 degrees NC/PLC interface signals Traversing range limits The traversing range of a rotary axis can be restricted by axis-specific traversing range limits (machine and setting data for software limit switch, for example, and working area limitation). For modulo rotary axes the traversing range limits are invalid as standard.

Page 737: Programming Rotary Axes
R2: Rotary axes 13.3 Programming rotary axes Example: Changing the traversing range limits A pallet 1 with several clamped workpieces is machined on a modulo rotary axis. The pallet 1 is then swapped for a pallet 2 with a built-on axis. The traverse range now has to be monitored. Configuration: ●...

Page 738: Rotary Axis With Modulo Conversion (Continuously-Turning Rotary Axis)
R2: Rotary axes 13.3 Programming rotary axes MD30310 Axis-specific machine data MD30310 ROT_IS_MODULO (modulo conversion for rotary axis) is used to define whether the rotary axis behaves as a linear axis during programming and positioning or whether rotary-axis special features are taken into account. These features and any differences (mainly with respect to absolute programming) are explained on the following pages.

Page 739 R2: Rotary axes 13.3 Programming rotary axes ① POS[C] = ACP(100); Traverse in positive direction of rotation to position 100° ② POS[C] = ACN(300); Traverse in negative direction of rotation to position 300° ③ POS[C] = ACP(240); Traverse in positive direction of rotation to position 240°...

Page 740 R2: Rotary axes 13.3 Programming rotary axes ① POS[C] = DC(100); Traverse by shortest path to position 100° ② POS[C] = DC(300); Traverse by shortest path to position 300° ③ POS[C] = DC(240); Traverse by shortest path to position 240° ④...

Page 741: Rotary Axis Without Modulo Conversion
R2: Rotary axes 13.3 Programming rotary axes Program example: Modulo rotary axes as endlessly rotating rotary axis Program code LOOP: POS[C] = IC(720) ; Traverse as positioning axis by 270° GOTOB LOOP ; Return to Label LOOP 13.3.3 Rotary axis without modulo conversion Deactivate modulo conversion →...

Page 742 R2: Rotary axes 13.3 Programming rotary axes ● The value identifies the rotary-axis target position in a range from 0° to 359.999° (modulo 360°). Alarm 16830, "Incorrect modulo position programmed", is output for values with a negative sign or ≥ 360º. ●...

Page 743: Other Programming Features Relating To Rotary Axes
R2: Rotary axes 13.4 Activating rotary axes Limited traversing range The traversing range is limited as with linear axes. The range limits are defined by the "plus" and "minus" software limit switches. 13.3.4 Other programming features relating to rotary axes Offsets TRANS (absolute) and ATRANS (additive) can be applied to rotary axes.

Page 744 R2: Rotary axes 13.4 Activating rotary axes Special machine data Special rotary-axis machine data may also have to be entered, depending on the application: MD30310 $MA_ROT_IS_MODULO Modulo conversion for positioning and program‐ ming MD30320 $MA_DISPLAY_IS_MODULO Modulo conversion for position display MD10210 $MN_INT_INCR_PER_DEG Computational resolution for angular positions The following overview lists the possible combinations of these machine data for a rotary axis:...

Page 745: Special Features Of Rotary Axes
R2: Rotary axes 13.5 Special features of rotary axes If a value of 0 is entered in the setting data, the following axial machine data acts as JOG velocity for the rotary axis: MD21150 $MC_JOG_VELO (conventional axis velocity) 13.5 Special features of rotary axes Software limit switch The software limit switches and working-area limitations are active and are required for swivel axes with a limited operating range.

Page 746: Examples
R2: Rotary axes 13.7 Data lists 13.6 Examples Fork head, inclined-axis head Rotary axes are frequently used on 5-axis milling machines to swivel the tool axis or rotate the workpiece. These machines can position the tip of a tool on any point on the workpiece and take up any position on the tool axis.

Page 747: Setting Data
Plus working-area limitation 43430 WORKAREA_LIMIT_MINUS Minus working-area limitation 13.7.3 Signals 13.7.3.1 Signals to axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Traversing-range limitation for modulo axis DB31, ..DBX12.4 DB380x.DBX1000.4 13.7.3.2 Signals from axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Status of software-limit-switch monitoring for modulo axis DB31, ...

Page 748 R2: Rotary axes 13.7 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 749: S3: Synchronous Spindle
S3: Synchronous spindle 14.1 Brief description 14.1.1 Function The "Synchronous spindle" function can be used to couple two spindles with synchronous position or speed. One spindle is defined as leading spindle (LS), the second spindle is then the following spindle (FS). Speed synchronism: with k = 1, 2, 3, ...

Page 750 S3: Synchronous spindle 14.1 Brief description Selecting/de-selecting Part program commands are used to select/deselect the synchronous operation of a pair of synchronous spindles. Figure 14-1 Synchronous operation: On-the-fly workpiece transfer from spindle 1 to spindle 2 Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 751: Synchronous Mode
S3: Synchronous spindle 14.1 Brief description Figure 14-2 Synchronous operation: Polygonal turning 14.1.2 Synchronous mode Description : can be: - Axis name - Spindle name : C (if spindle has the name "C" in axis operation.) : Sn, SPI(n) where n = spindle number : 1, 2, ...

Page 752 S3: Synchronous spindle 14.1 Brief description Number of synchronous spindles It is possible to couple several following spindles to one leading spindle. The number of following spindles on this leading spindle depends on the respective version of the appropriate software versions. Any number of following spindles in any channels of one NCU or a different NCU can be coupled to this leading spindle.

Page 753 S3: Synchronous spindle 14.1 Brief description . The following variants are possible: 1. A fixed configuration for a coupling can be programmed via machine data. In addition, a second coupling can be freely defined via the part program. 2. No coupling is configured via machine data. In this case, the couplings can be user-defined and parameterized via the part program.

Page 754 S3: Synchronous spindle 14.1 Brief description IS "Following spindle active" (DB31, ... DBX99.1) and IS "Leading spindle active" (DB31, ... DBX99.0) indicate to the PLC for each machine axis whether the axis is active as a leading or following spindle. The LS can be programmed either via a part program, PLC or also using synchronized actions.

Page 755 S3: Synchronous spindle 14.1 Brief description Coupling characteristics The following characteristics can be defined for every synchronous spindle coupling: ● Block change behavior The condition to be fulfilled for a block change can be defined on activation of synchronous operation or on alteration of the transformation ratio or the defined angular offset when the coupling is active: –...

Page 756 S3: Synchronous spindle 14.1 Brief description Superimposed motion In synchronous operation, the synchronous spindle copies the movement of the leading spindle in accordance with the programmed transformation ratio. At the same time, the synchronous spindle can also be traversed with overlay so that the LS and FS can operate at a specific angular position in relation to one another.

Page 757: Prerequisites For Synchronous Mode
S3: Synchronous spindle 14.1 Brief description $AA_COUP_OFFS[S2] ; setpoint position offset = 77° $VA_COUP_OFFS[S2] ; actual value position offset approx. 77° $AA_COUP_CORR[S2] ; correction value = 4° 14.1.3 Prerequisites for synchronous mode Conditions on selection of synchronous mode The following conditions must be fulfilled before the synchronous spindle coupling is activated or else alarm messages will be generated.

Page 758: Selecting Synchronous Mode For A Part Program
S3: Synchronous spindle 14.1 Brief description Cross-channel coupling The LS can be located in any channel. ● The LS can be exchanged between channels by means of "Axis exchange". ● When several following spindles are coupled to one leading spindle, the dynamic response of the coupling is determined by the weakest response as a function of the coupling factor.

Page 759 S3: Synchronous spindle 14.1 Brief description Determine current coupling status The $AA_COUP_ACT[] axial system variable can be used in the NC part program to specify the current coupling status for the specified axis/spindle (see Section "Axial system variables for synchronous spindle (Page 771)"). As soon as the synchronous spindle coupling is active for the following spindle, bit 2 must be "1"...

Page 760: Deselecting The Synchronous Mode For The Part Program
S3: Synchronous spindle 14.1 Brief description Example: LS and FS are already coupled in a friction lock via a workpiece after power ON. 14.1.5 Deselecting the synchronous mode for the part program Open coupling (COUPOF, COUPOFS) Synchronous mode between the specified spindles is canceled by the parts program instruction COUPOF.

Page 761: Controlling Synchronous Spindle Coupling Via Plc
S3: Synchronous spindle 14.1 Brief description COUPOF during the motion If synchronous mode is deselected while the spindles are in motion with COUPOF, the following spindle continues to rotate at the current speed (n ). The current speed can be read with system variable $AA_S in the NC parts program.

Page 762 S3: Synchronous spindle 14.1 Brief description IS "Disable synchronization" (DB31, ... DBX31.5). ● For IS "Disable synchronization" (DB31, ... DBX31.5) = 0, the position offset is traversed through as before. ● For IS "Disable synchronization" (DB31, ... DBX31.5) = 1, only the continuous velocity synchronism is established.

Page 763 S3: Synchronous spindle 14.1 Brief description Program code Comment ; are set and the block change ; enabled. N54 M0 N57 COUPOF(S2,S1) N99 M30 Reset and recovery Resetting the IS "Disable synchronization" (DB31, ... DBX31.5) has no effect on the following spindle offset.

Page 764: Monitoring Of Synchronous Operation
S3: Synchronous spindle 14.1 Brief description 14.1.7 Monitoring of synchronous operation Fine/coarse synchronism In addition to conventional spindle monitoring operations, synchronous operation between the FS and LS is also monitored in synchronous mode. IS "Fine synchronism" (DB31, ... DBX98.0) or IS "Coarse synchronism" (DB31, ... DBX98.1) is transmitted to the PLC to indicate whether the current position (AV, DV) or actual speed (VV) of the following spindle lies within the specified tolerance window.

Page 765 S3: Synchronous spindle 14.1 Brief description The size of the tolerance windows is set with machine data of the FS. Reaching of the synchronism is influenced by the following factors: ● AV, DV: Position variance between FS and LS ● VV: Difference in speed between FS and LS Figure 14-3 Synchronism monitoring with COUPON and synchronism test mark WAITC with synchronization on a turning leading spindle...

Page 766: Programming
S3: Synchronous spindle 14.2 Programming Threshold values The relevant position or velocity tolerance range for the following spindle in relation to the leading spindle must be specified in degrees or 1 rev/min. ● Threshold value for "Coarse synchronism" axis spec. MD37200: AV, DV: COUPLE_POS_TOL_COARSE MD37220: VV: COUPLE_VELO_TOL_COARSE ●...

Page 767: Definition (Coupdef)
S3: Synchronous spindle 14.2 Programming See also Definition (COUPDEF) (Page 767) Switch the coupling (COUPON, COUPONC, COUPOF) on and off (Page 770) 14.2.1 Definition (COUPDEF) Programmable couplings The number of couplings can be programmed as often as desired depending on the axes available.

Page 768 S3: Synchronous spindle 14.2 Programming COARSE: Block change in response to "Coarse synchronism" IPOSTOP: Block change for IPOSTOP (i.e. after setpoint-end synchronism) The block change response is specified as a character string (i.e. with quotation marks). The block change response can be specified simply by writing the letters in bold print. The remaining letters can be entered to improve legibility of the part program but they are not otherwise significant.

Page 769 S3: Synchronous spindle 14.2 Programming COUPDEL (FS, LS) Note COUPDEL impacts on an active coupling, deactivates it and deletes the coupling data. Alarm 16797 is therefore meaningless. The following spindle adopts the last speed. This corresponds to the behavior associated with COUPOF(FS, LS).

Page 770: Switch The Coupling (Coupon, Couponc, Coupof) On And Off
S3: Synchronous spindle 14.2 Programming Stop and block change If "Stop" has been activated for the cancellation period of the axis enables for the leading or following spindle, then the last setpoint positions with the setting of the axis enables from the servo drive are approached again.

Page 771: Axial System Variables For Synchronous Spindle
S3: Synchronous spindle 14.2 Programming If continuous path control (G64) is programmed, a non-modal stop is generated internally in the control. Examples: COUPDEF (S2, S1, 1.0, 1.0, "FINE, "DV") COUPON (S2, S1, 150) COUPOF (S2, S1, 0) COUPDEL (S2, S1) 1.

Page 772: Automatic Selection And Deselection Of Position Control
S3: Synchronous spindle 14.2 Programming Example: $AA_COUP_OFFS[S2] If an angular offset is programmed with COUPON, this coincides with the value read after reading the setpoint synchronization. Reading the programmed angular offset The position offset last programmed between the FS and LS can be read in the NC part program by means of the following axial system variables: $P_COUP_OFFS[] Note...

Page 773: Configuration
S3: Synchronous spindle 14.3 Configuration Automatic deselection with COUPOF and COUPOFS Depending on the coupling type, the effect of COUPOF and COUPOFS on the position control is as follows: Coupling type Following spindle FS Position control OFF Position control OFF No action Leading spindle LS Position control OFF...

Page 774: Response Of The Synchronous-Spindle Coupling For Nc Start
S3: Synchronous spindle 14.3 Configuration Number Name: $MC_ Function MD21310 COUPLING_MODE_1 Coupling type ● Actual value coupling ● Setpoint value coupling ● Speed coupling Note: No change protection , the coupling type can be changed for deactivated coupling with the COUPDEF command. MD21330 COUPLE_RESET_ Behavior of the synchronous-spindle coupling with regard to NC Start, NC Stop...

Page 775: Behavior Of The Synchronous-Spindle Coupling For Reset
S3: Synchronous spindle 14.4 Points to note 14.3.2 Behavior of the synchronous-spindle coupling for reset The behavior of the synchronous operation for reset and at program end depends on the setting in the following machine data: Configured synchronous-spindle coupling Response MD21330 $MC_COUPLE_RE‐...

Page 776 S3: Synchronous spindle 14.4 Points to note Speed and acceleration limits The speed and acceleration limits of the spindles operating in synchronous mode are determined by the "weakest" spindle in the synchronous spindle pair. The current gear stages, the programmed acceleration and, for the leading spindle, the effective position control status (On/Off) are taken into account for this purpose.

Page 777: Restore Synchronism Of Following Spindle
S3: Synchronous spindle 14.4 Points to note By resynchronizing via the NC/PLC interface signal: DB31, ... DBX31.4 = 0 → 1 (resynchronization) If the programmed offset is restored (see Section "Restore synchronism of following spindle (Page 777)"). Block search when synchronous operation is active Note When synchronous operation is active for a block search, then it is recommended that only block search type 5, "Block search via program test"...

Page 778 S3: Synchronous spindle 14.4 Points to note Enable resynchronization Setting the enabling signals closes the coupling at the current actual positions. The two following NC/PLC interface signals are set: DB31, ... DBX98.1 (coarse synchronism) DB31, ... DBX98.0 (fine synchronism) The following requirements must be fulfilled for resynchronization to work: ●...

Page 779: Synchronous Mode And Nc/Plc Interface Signals
S3: Synchronous spindle 14.4 Points to note Program code Comment N65 M0 ; (Note tolerances, see above) Note The axis enable signals can be canceled to interrupt a movement overlaid on the following spindle (e.g. SPOS). This component of the movement is not affected by IS "NC/PLC interface signal"...

Page 780 S3: Synchronous spindle 14.4 Points to note Controller enable (DB31, ... DBX2.1) LS: Resetting the "controller enable" during synchronous operation If the controller enable of the LS is reset during synchronous operation for active setpoint coupling, a control-internal switching is made to the actual value coupling. If the controller enable is reset while the LS is traversing, the LS is stopped and an alarm issued.

Page 781 S3: Synchronous spindle 14.4 Points to note ⇒ Cyclic: Set position = actual position Note DB31, ... DBX1.4 (follow-up operation) is relevant only for DB31, ... DBX2.1 == 0 (controller enable) Position measuring system 1/2 (DB31, ... DBX1.5 and 1.6) Switchover of the position measuring system for the FS and LS is possible during synchronous operation.

Page 782 S3: Synchronous spindle 14.4 Points to note Delete S value (DB31, ... DBX16.7) LS: Delete S value during synchronous operation If "delete S value" is set, the LS is braked to a standstill using a ramp. Synchronous operation remains active. FS: Delete S value during synchronous operation The control interface signal does not have any function for the FS in synchronous operation.

Page 783: Differential Speed Between Leading And Following Spindles
S3: Synchronous spindle 14.4 Points to note NC Start (DB21, ... DBX7.1) (See Section "Response of the synchronous-spindle coupling for NC Start (Page 774)") Note NC Start after NC Stop does not deselect synchronous operation. 14.4.4 Differential speed between leading and following spindles When does a differential speed occur? A differential speed develops, e.g.

Page 784 S3: Synchronous spindle 14.4 Points to note Example Program code Comment N01 M3 S500 ; S1 rotates in the positive direction with 500 rpm ; the master spindle is spindle 1 N02 M2=3 S2=300 ; S2 rotates in the positive direction with 300 rpm N05 G4 F1 N10 COUPDEF(S2,S1,-1) ;...

Page 785 S3: Synchronous spindle 14.4 Points to note Preconditions Basic requirements for differential speed programming: ● Synchronous spindle functionality is required. ● The dynamic response of the following spindle must be at least as high as that of the leading spindle. Otherwise, the system may suffer from reduced quality, for example, rigid tapping without a compensating chuck G331/G332.

Page 786 S3: Synchronous spindle 14.4 Points to note Read offsets of following spindle The current offset always changes when a differential speed is programmed. The current offset can be read at the setpoint end with $AA_COUP_OFFS[Sn] and at the actual value end with $VA_COUP_OFFS[Sn].

Page 787 S3: Synchronous spindle 14.4 Points to note Resynchronize spindle 1/2 (DB31, ... DBX16.4 and 16.5) The IS "Resynchronize spindle 1/2" (DB31, ... DBX16.4/16.5) are not locked. Any positional offset is not compensated automatically by the coupling. Invert M3/M4 (DB31, ... DBX17.6) IS "Invert M3/M4"...

Page 788: Behavior Of Synchronism Signals During Synchronism Correction
S3: Synchronous spindle 14.4 Points to note 14.4.5 Behavior of synchronism signals during synchronism correction Effect of synchronism correction New synchronism signals are produced by comparing the actual values with the corrected setpoints. Once a correction process has been undertaken, the synchronism signals should be present again.

Page 789 S3: Synchronous spindle 14.4 Points to note ● The gear stage(s) of FS and LS for synchronous operation ● The following coupling properties are still applicable for permanently configured synchronous spindle coupling: – Block change response in synchronous spindle operation: MD21320 $MC_COUPLE_BLOCK_CHANGE_CTRL_1 –...

Page 790 S3: Synchronous spindle 14.4 Points to note Dynamic response adaptation To obtain a good control behavior, FS and LS must have the same dynamic response. The following error for FS and LS must be equal at any given speed. For dynamically different spindles, a matching via the dynamic response adaptation can be achieved in the setpoint branch.

Page 791 S3: Synchronous spindle 14.4 Points to note MD30455 $MA_MISC_FUNCTION_MASK Bit 5=0: Synchronous spindle coupling, following spindle: Position control, feedforward control and parameter block are set for the following spindle. Bit 5=1: Synchronous spindle coupling: The control parameters of the following spindle are set as in an uncoupled scenario. References: Function Manual Basic Functions;...

Page 792 S3: Synchronous spindle 14.4 Points to note machine data for the following spindle, this is only taken into account when the spindles are coupled in. The setpoints of the following spindle are applied for the specified knee-shaped acceleration characteristic. References: Function Manual, Basic Functions;...

Page 793: Boundary Conditions
S3: Synchronous spindle 14.6 Examples Service display for FS In the "Diagnostics" operating area, when commissioning in the synchronous mode, the following values are displayed for the following spindle: ● Actual deviation between setpoints of FS and LS Value displayed: Position offset in relation to leading spindle (setpoint) (value corresponds to angular offset between FS and LS that can be read with axis variable $AA_COUP_OFFS in the part program) ●...

Page 794: Data Lists
S3: Synchronous spindle 14.7 Data lists Program code Comment N75 SPCON(2) ; Bring following spindle into closed-loop po- sition control N80 COUPON (S2, S1, 45) ; On-the-fly coupling to offset position = 45 degrees N200 FA [S2] = 100 ; Positioning speed = 100 degrees/min N205 SPOS[2] = IC(-90) ;...

Page 795: Axis/Spindlespecific Machine Data
S3: Synchronous spindle 14.7 Data lists Number Identifier: $MC_ Description 21320 COUPLE_BLOCK_CHANGE_CTRL_1 Block change behavior in synchronous spindle opera‐ tion 21330 COUPLE_RESET_MODE_1 Coupling abort behavior 21340 COUPLE_IS_WRITE_PROT_1 Coupling parameters are write-protected 14.7.1.3 Axis/spindlespecific machine data Number Identifier: $MA_ Description 30455 MISK_FUNCTION_MASK Axis functions 30550...

Page 796: Signals
S3: Synchronous spindle 14.7 Data lists 14.7.3 Signals 14.7.3.1 Signals to channel Signal name SINUMERIK 840D sl SINUMERIK 828D NC Start DB21, ..DBX7.1 DB320x.DBX7.1 NC Stop axes plus spindle DB21, ..DBX7.4 DB320x.DBX7.4 14.7.3.2 Signals from channel Signal name...

Page 797: System Variables
S3: Synchronous spindle 14.7 Data lists Signal name SINUMERIK 840D sl SINUMERIK 828D Actual value coupling DB31, ..DBX98.2 DB390x.DBX5002.2 Superimposed motion DB31, ..DBX98.4 DB390x.DBX5002.4 Leading spindle LS/LA active DB31, ..DBX99.0 DB390x.DBX5003.0 Following spindle FS/FA active DB31, ..DBX99.1 DB390x.DBX5003.1...

Page 798 S3: Synchronous spindle 14.7 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 799: S7: Memory Configuration
S7: Memory configuration 15.1 Introduction Memory areas The CF card of the NCU contains two memory areas for storing and managing the data of the local persistent and non-persistent data of the NC: ● Static NC memory That static NC memory contains the persistent NC data of the active and passive file system (Page 799).

Page 800 S7: Memory configuration 15.2 Active and passive file system Active file system The active file system contains system data used to parameterize the NC. Essentially, these are: ● Machine data ● Setting data ● Option data ● Global user data (GUD) ●...

Page 801: Commissioning
S7: Memory configuration 15.3 Commissioning 15.3 Commissioning 15.3.1 Configuration The configuration of the local static and dynamic NC memory is set and influenced by the following machine data: ● Machine data that configure the memory: – $MN_MM_... (NC-specific, memory-configuring machine data) –...

Page 802: Configuration Of The Static User Memory
It contains the data from the active and passive file system. The figure below shows the principle division of the static NC memory for SINUMERIK 840D sl: Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 803 S7: Memory configuration 15.4 Configuration of the static user memory Figure 15-1 Static NC memory for SINUMERIK 840D sl Static-user-memory size The size of the static user memory is displayed in machine data: MD18230 $MN_MM_USER_MEM_BUFFERED Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 804 ● MD18353 $MN_MM_M_FILE_MEM_SIZE = Note Partition S Partition S (Siemens = Control manufacturer) of the passive file systems is in the dynamic memory (Page 805). Active file system The memory of the active file system is divided into different areas (tool management, global user data, ...).

Page 805: Commissioning
S7: Memory configuration 15.5 Configuration of the dynamic user memory 15.4.2 Commissioning You can adjust the default memory division by increasing/decreasing individual memory areas for each user. Basic procedure: 1. Load standard machine data. References: Commissioning the CNC: NC, PLC, Drive; section "Requirements for commissioning" > "Power-on and startup"...

Page 806 S7: Memory configuration 15.5 Configuration of the dynamic user memory The figure below shows the principle division of the dynamic NC memory: Figure 15-2 Dynamic NC memory Dynamic-user-memory size The size of the dynamic user memory is displayed in machine data: MD18210 $MN_MM_USER_MEM_DYNAMIC Free user memory The user memory still available is shown in the machine data:...

Page 807: Commissioning
Partition S of the passive file system is in the dynamic user memory: Partition Storage of: S (Siemens = Control manufacturer) Files from the _N_CST_DIR directory (Siemens cycles) The size of partition S is preset and cannot be modified. Dynamic Memory expansion If an NCU is used with at least 2 GB of working memory, the machine manufacturer can use part of the working memory to expand the dynamic user memory.

Page 808: Data Lists
S7: Memory configuration 15.6 Data lists 15.6 Data lists 15.6.1 Machine data 15.6.1.1 General machine data Number Identifier: $MN_ Description 10134 MM_NUM_MMC_UNITS Number of simultaneous HMI communication partners 10850 MM_EXTERN_MAXNUM_OEM_GCODES Maximum number of OEM-G codes 10880 MM_EXTERN_CNC_SYSTEM Definition of the control system to be adapted 10881 MM_EXTERN_GCODE_SYSTEM ISO_3 Mode: GCodeSystem...

Page 809 Number of Siemens OEM tool data 18205 MM_TYPE_CCS_TDA_PARAM Siemens OEM tool data type 18206 MM_NUM_CCS_TOA_PARAM Number of Siemens OEM data per cutting edge 18207 MM_TYPE_CCS_TOA_PARAM Siemens OEM data type per cutting edge 18208 MM_NUM_CCS_MON_PARAM Number of Siemens OEM monitor data...

Page 810 S7: Memory configuration 15.6 Data lists Number Identifier: $MN_ Description 18353 MM_M_FILE_MEM_SIZE Memory size for cycles/files of the machine manufac‐ turer 18354 MM_S_FILE_MEM_SIZE Memory size for cycles/files of the NC manufacturer 18355 MM_T_FILE_MEM_SIZE Memory size for temporary files 18356 MM_E_FILE_MEM_SIZE Memory size for external files 18360 MM_EXT_PROG_BUFFER_SIZE...

Page 811: Channelspecific Machine Data
S7: Memory configuration 15.6 Data lists Number Identifier: $MN_ Description 18665 MM_NUM_SYNACT_GUD_STRING Configurable STRING-type GUD variable 18700 MM_SIZEOF_LINKVAR_DATA Size of the NCU link variable memory 18710 MM_NUM_AN_TIMER Number of global time variables for synchronized ac‐ tions 18720 MM_SERVO_FIFO_SIZE Setpoint for buffer size between IPO and closed-loop position control 18780 MM_NCU_LINK_MASK...

Page 812 S7: Memory configuration 15.6 Data lists Number Identifier: $MC_ Description 28100 MM_NUM_CC_BLOCK_USER_MEM Size of block memory for compile cycles 28105 MM_NUM_CC_HEAP_MEM Heap memory in KB for compile cycle applications (non- persistent) 28150 MM_NUM_VDIVAR_ELEMENTS Number of elements for writing PLC variables 28160 MM_NUM_LINKVAR_ELEMENTS Number of write elements for the NCU link variables...

Page 813: Axis/Spindlespecific Machine Data
S7: Memory configuration 15.6 Data lists 15.6.1.3 Axis/spindlespecific machine data Number Identifier: $MA_ Description 38000 MM_ENC_COMP_MAX_POINTS Number of intermediate points with interpolatory com‐ pensation 38010 MM_QEC_MAX_POINTS Number of values for quadrant-error compensation Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 814 S7: Memory configuration 15.6 Data lists Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 815: T1: Indexing Axes
T1: Indexing axes 16.1 Brief Description As indexing axes When machine axes only traverse between a certain number of fixed positions, these positions can be parameterized as indexing positions. In NC programs, these machine axes, then known as indexing axes, can be traversed with reference to indexing positions using special commands.

Page 816 T1: Indexing axes 16.2 Detailed description Continuous traversing (JOG CONT) Jog mode In the jog mode (SD41050 $SN_JOG_CONT_MODE_LEVELTRIGGRD = 1) the indexing axis traverses in the selected direction after the traversing key has been actuated. The indexing axis is stopped at the next possible indexing position after releasing the traversing key. The indexing position where the axis stops is dependent on: ●...

Page 817: Traversing Of Indexing Axes By Plc
T1: Indexing axes 16.2 Detailed description Continuous operation In continuous operation (SD41040 $SN_JOG_CONT_MODE_LEVELTRIGGRD = 0), after actuating the traversing key (first rising edge), the indexing axis is traversed as usual. The indexing axis is immediately stopped when the traversing key is actuated again (second rising edge).

Page 818: Commissioning
T1: Indexing axes 16.3 Commissioning 16.3 Commissioning 16.3.1 Machine data 16.3.1.1 Axis-specific machine data Indexing axis An axis is defined as indexing axis by assigning an indexing position table to this axis, using the following axis-specific machine data: MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB = ...

Page 819 T1: Indexing axes 16.3 Commissioning Additional secondary conditions for modulo rotary axes ● Permissible range: 0° ≤ indexing position < 360° ● If the indexing axis is at the last indexing position in the indexing position table, when traversing to the next indexing position in the positive direction of rotation, the first indexing position is approached.

Page 820 T1: Indexing axes 16.3 Commissioning MD10940 $MN_INDEX_AX_MODE, bit 0 = Meaning The actual indexing position, indicated in system variable $AA_ACT_IN‐ DEX_AX_POS_NO, changes when reaching/passing the exact stop window fine (MD36010 $MA_STOP_LIMIT_FINE) of the next indexing position in the traversing direction.

Page 821 T1: Indexing axes 16.3 Commissioning precisely to indexing position 2. The next indexing position (in this case indexing position 3) is not approached with the "Traverse to next position" command until the axis is located exactly at (exact stop fine) or above the indexing position. The nearest indexing position in the current direction of motion is always approached! Under certain circumstances, it is therefore necessary to issue the "traverse to next position"...

Page 822: System Variables
T1: Indexing axes 16.3 Commissioning 16.3.2 System variables 16.3.2.1 Axis-specific system variables $AA_PROG_INDEX_AX_POS_NO Function The system variable includes the number of the indexing position programmed for the indexing axis. Syntax $AA_PROG_INDEX_AX_POS_NO[] Meaning $AA_PROG_INDEX_AX_POS_NO The axis is not an indexing axis, or presently the indexing axis is not traversing to an indexing position >...

Page 823: Programming
T1: Indexing axes 16.4 Programming 16.4 Programming Coded position To allow indexing axes to be positioned from the NC part program, special instructions are provided with which the indexing numbers (e.g. location numbers) are programmed instead of axis positions in mm or degrees. The availability of a special instruction depends on the axis type (linear or rotary axis): Statement Effect...

Page 824 T1: Indexing axes 16.4 Programming Special features ● Modulo rotary axis as indexing axis On modulo rotary axes, the indexing positions are divided in factors of 360° and approached directly. ● Indexing axis is between two indexing positions The specified position instructions have the following effect in the AUTOMATIC mode. The next higher indexing position is approached.

Page 825 T1: Indexing axes 16.4 Programming Figure 16-1 Indexing position displays: Linear axis Indexing position Displayed indexing position ESFW "Exact stop fine" window Figure 16-2 Indexing position displays: Modulo rotary axis Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 826: Equidistant Index Intervals
T1: Indexing axes 16.5 Equidistant index intervals System variable $AA_ACT_INDEX_AX_POS_NO $AA_ACT_INDEX_AX_POS_NO: Number of the last indexing position reached or passed Indexing positions For axis type Values Description Modulo rotary axis 1, ... n n = number of indexing positions (Page 818) Linear axis 0, 1, 2, 3, ...

Page 827 T1: Indexing axes 16.5 Equidistant index intervals Linear axes Modulo rotary axes Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 828: Hirth Axis
T1: Indexing axes 16.5 Equidistant index intervals 16.5.2 Hirth axis Function For a "Hirth axis", using a special gearing (Hirth gearing) the rotary axis is interlocked when reaching an indexing position. In this case, a locking bolt or a gearwheel is engaged using a linear axis.

Page 829: Supplementary Conditions
T1: Indexing axes 16.6 Supplementary conditions 16.6 Supplementary conditions Indexing axes Various channel and axis-specific NC/PLC interface signals If, while an indexing axis is traversed, at least one of the following signals occurs, then the axis stops immediately. The indexing positions are not taken into account. ●...

Page 830 T1: Indexing axes 16.6 Supplementary conditions Various channel and axis-specific NC/PLC interface signals If, while a "Hirth axis" is being traversed, at least one of the following signals occurs, then the axis stops immediately at the next possible indexing position in the traversing direction. ●...

Page 831: Examples
T1: Indexing axes 16.7 Examples ● Handwheel travel as well as distance or velocity overlay using the handwheel (DFR) References: Function Manual Extended Functions, Chapter "H1: Manual and handwheel travel" ● Frames References: Function Manual Basic Functions, Chapter "K2: Axes, coordinate systems, frames"...

Page 832 T1: Indexing axes 16.7 Examples Indexing position table 1 MD10910 $MN_INDEX_AX_POS_TAB_1[ 0 ] = 0 1. Indexing position = 0° MD10910 $MN_INDEX_AX_POS_TAB_1[ 1 ] = 45 2. Indexing position = 45° MD10910 $MN_INDEX_AX_POS_TAB_1[ 2 ] = 90 3. Indexing position = 90° MD10910 $MN_INDEX_AX_POS_TAB_1[ 3 ] = 135 4.

Page 833 T1: Indexing axes 16.7 Examples MD10930 $MN_INDEX_AX_POS_TAB_2[ 8 ] = 1250 9. Indexing position = 1250 mm MD10930 $MN_INDEX_AX_POS_TAB_2[ 9 ] = 1650 10. Indexing position = 1650 mm Length of the indexing position table (1) MD10920 $MN_INDEX_AX_LENGTH_POS_TAB_2 = 10 10 indexing positions in table 2 Defining machine axis AX5 as indexing axis MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB [AX6] = 2...

Page 834 T1: Indexing axes 16.7 Examples Defining machine axis AX4 as rotary modulo axis and equidistant indexing axis MD30300 $MA_IS_ROT_AX[ AX4 ] = 1 Rotary axis MD30310 $MA_ ROT_IS_MODULO[ AX4 ] = 1 Modulo function active MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB[ AX4 ] = 3 Equidistant indexing axis MD36100 $MA_POS_LIMIT_MINUS[ AX4 ] = 100.0 1.

Page 835: Data Lists
T1: Indexing axes 16.8 Data lists Defining machine axis AX4 as linear axis and equidistant indexing axis MD30300 $MA_IS_ROT_AX[ AX4 ] = 1 Rotary axis MD30310 $MA_ ROT_IS_MODULO[ AX4 ] = 1 Modulo function active MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB[ AX4 ] = 3 Equidistant indexing axis MD36100 $MA_POS_LIMIT_MINUS[ AX4 ] = -200.0 1.

Page 836: Setting Data
Description 41050 JOG_CONT_MODE_LEVELTRIGGRD JOG continuous in inching mode 16.8.3 Signals 16.8.3.1 Signals from axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Referenced/synchronized 1, referenced/synchronized 2 DB31, ..DBX60.4/5 DB390x.DBX0.4/5 Indexing axis in position DB31, ..DBX76.6 DB390x.DBX1002.6 16.8.4 System variables...

Page 837: W3: Tool Change
W3: Tool change 17.1 Introduction CNC-controlled machine tools are equipped with tool magazines and automatic tool change facility for the complete machining of workpieces. The procedure for changing tools comprises three steps: 1. Movement of the tool carrier from the machining position to the tool change position 2.

Page 838: Cut-To-Cut Time
W3: Tool change 17.5 Starting the tool change 17.4 Cut-to-cut time The cut-to-cut time is the period that elapses when a tool is changed between retraction from the interruption point on the contour (from cut) and repositioning at the interruption point (return to cut) with the new tool when the spindle is rotating.

Page 839: Tool Change Point
W3: Tool change 17.8 Examples References For further information about M functions which also apply to tool change M06 (e.g. extended address, time of output to PLC, auxiliary function groups, behavior during block search, behavior during overstore) see: Function Manual, Synchronized Actions 17.6 Tool change point Tool change point...

Page 840 W3: Tool change 17.8 Examples Machining program: Program code Comment N970 G0 X=... Y=... Z=... LF ; Retraction from contour N980 T1 LF ; Tool preselection N990 W_WECHSEL LF ; Subroutine call without pa- rameters N1000 G90 G0 X=... Y=... Z=... M3 S1000 LF ;...

Page 841 W3: Tool change 17.8 Examples Axes stationary. Spindle rotates. Start of tool change cycle in N10. Move axes to tool change point with G75 in N20. Spindle reaches programmed position from block N10. Axes reach exact stop coarse from N20; N30 thus begins: M06 removes the previous tool from the spindle and loads and clamps the new tool.

Page 842: Data Lists
Identifier: $MA_ Description 30600 FIX_POINT_POS[n]. Fixed point positions of the machine axes for G75 17.9.2 Signals 17.9.2.1 Signals from channel Signal name SINUMERIK 840D sl SINUMERIK 828D M function M06 DB21, ..DBX194.6 DB250x.DBB1000.6 Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 843: W4: Grinding-Specific Tool Offset And Tool Monitoring
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data 18.1.1 Structure of tool data Grinding tools (tool type: 400 to 499) normally have specific tool and dresser data in addition to cutting edge data. The grinding wheel-specific data for the left and right wheel geometry can be stored under a T number in the tool cutting edges D1 and D2.

Page 844: Cutting Edge-Specific Parameters
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data : T number : D number Figure 18-1 Structure of the tool data for grinding tools 18.1.2 Cutting edge-specific parameters 18.1.2.1 List of cutting edge-specific parameters The cutting edge-specific tool parameters for grinding tools have the same meaning as those for turning and milling tools.

Page 845 W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data Tool parameter Meaning Comment $TC_DP6 Radius 1 $TC_DP7 Reserved $TC_DP8 Reserved $TC_DP9 Reserved $TC_DP10 Reserved $TC_DP11 Reserved Wear - tool length compensation $TC_DP12 Length 1 $TC_DP13 Length 2 $TC_DP14 Length 3 Wear - tool radius compensation $TC_DP15...

Page 846: Tc_Dp1
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data 18.1.2.2 $TC_DP1 The parameter $TC_DP1 contains the 3-digit number of the grinding tool type: Number Grinding tool type Surface grinding wheel Surface grinding wheel with monitoring with tool base dimension for GWPS Surface grinding wheel without monitoring without tool base dimension for GWPS Surface grinding wheel with monitoring without tool base dimension for GWPS Facing wheel...

Page 847: Tool-Specific Parameters
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data 18.1.3 Tool-specific parameters 18.1.3.1 List of tool-specific parameters Tool-specific parameters are available once for every T number. They are automatically set up with every new grinding tool (tool type: 400 to 499). Note Tool-specific parameters have the same characteristics as a cutting edge.

Page 848: Tc_Tpg1
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data 18.1.3.2 $TC_TPG1 Parameter $TC_TPG1 contains the number of the spindle to be monitored (e.g. wheel radius and width) and programmed (e.g. grinding wheel peripheral velocity). 18.1.3.3 $TC_TPG2 Parameter $TC_TPG2 is set to define which tool parameters of cutting edge 2 (D2) and cutting edge 1 (D1) have to be chained to one another.

Page 849 W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data Tool parameter Meaning Bit in $TC_TPG2 $TC_DP24 Reserved 800000 8388608 $TC_DP25 Reserved 1000000 16777216 Note If the concatenation specification is subsequently altered, the values of the two cutting edges are not automatically adjusted.

Page 850: Tc_Tpg3, $Tc_Tpg4
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data 18.1.3.4 $TC_TPG3, $TC_TPG4 The limit values for the grinding wheel radius and width must be entered in the parameters $TC_TPG3 and $TC_TPG4. They are used to monitor the grinding wheel geometry. Note It must be noted that the minimum grinding wheel radius must be specified in the Cartesian coordinate system for an inclined grinding wheel.

Page 851: Tc_Tpg9
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data Figure 18-2 Machine with inclined infeed axis Note The tool lengths are not automatically compensated when the angle is altered. Note On inclined axis machines the same angle must be specified for the inclined axis and the inclined wheel.

Page 852: Access To Tool-Specific Parameters
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data MD18096 $MN_MM_NUM_CC_TDA_PARAM NOTICE Loss of data due to reconfiguration Reconfiguration of the local static NC memory results in a loss of data on the active and passive file system. We therefore urgently recommend archiving or backing up all relevant data by creating a series startup file before activating a modified memory configuration.

Page 853: Examples
W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data 18.1.5 Examples Figure 18-3 Required offset data of a surface grinding wheel Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 854 W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data Figure 18-4 Required offset data for inclined wheel with implicit monitoring selection and without base dimension for GWPS Figure 18-5 Required offset data for inclined wheel with implicit monitoring selection and with base dimension for GWPS Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 855 W4: Grinding-specific tool offset and tool monitoring 18.1 Grinding-specific tool data Figure 18-6 Required offset data of a surface grinding wheel without base dimension for GWPS Figure 18-7 Required offset data of a facing wheel with monitoring parameters Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 856: Online Tool Offset
W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset 18.2 Online tool offset 18.2.1 Function A grinding operation involves both machining of a workpiece and dressing of the grinding wheel. These processes can take place in the same channel or in separate channels. To allow machining to continue while the grinding wheel is being dressed, the reduction in the size of the grinding wheel caused by dressing must be transferred to the current tool in the machining channel as a tool offset that is applied immediately.

Page 857: Programming
W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Additional properties ● An online tool offset can be activated for every grinding tool (tool type: 400 to 499) in each channel. ● The online tool offset is generally applied as a length compensation. Like geometry and wear data, lengths are assigned to geometry axes on the basis of the current plane as a function of the tool type.

Page 858 W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Syntax FCTDEF(,,,,,,) Meaning Defining a polynomial function for PUTFTOCF(...): FCTDEF(...): y = f(x) = a *x + a : Function number Data type: Range of values: 1, 2, 3 Lower limit value : Data type:...

Page 859: Write Online Tool Offset Continuously (Putftocf)
W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Characteristic Upper limit value Lower limit value Setpoint of axis XA at the time that the function is defined in the NC program Programming Program code Comment FCTDEF(1,-100,100,-$AA_IW[XA],1) ; Function definition 18.2.2.2 Write online tool offset continuously (PUTFTOCF) Using the predefined procedure PUTFTOCF(...), an online tool offset is executed based on a...

Page 860: Write Online Tool Offset, Discrete (Putftoc)
W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Number of the wear parameter (length 1, 2 or 3) in which the offset value is to be : included. Data type: Number of the channel in which the online tool offset is to take effect. : Note: Only required if the offset is not to take effect in the active channel.

Page 861: Supplementary Conditions
W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Syntax FTOCON FTOCOF Meaning Activate online tool offset FTOCON: The command must be programmed in the channel in which the online tool offset is to be activated. Deactivate online tool offset FTOCOF: The command must be programmed in the channel in which the online tool offset is to be deactivated.

Page 862 W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Cutting edge changes can be implemented without preprocessing stop. Note Tool changes can be executed in conjunction with the online tool offset through the selection of T numbers. Tool changes with M6 cannot be executed in conjunction with the online tool offset function. Machining plane and transformation ●...

Page 863: Examples
W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset 18.2.4 Examples 18.2.4.1 Example: Write online tool offset continuously ① Grinding disk ② Dressing roller Oscillating axis Infeed axis: Grinding disk Table axis Infeed axis: Dressing roller Figure 18-9 Surface grinding machine Specifications ●...

Page 864 W4: Grinding-specific tool offset and tool monitoring 18.2 Online tool offset Figure 18-10 Tool offset Program (section) for channel 1: Machining channel Program code Comment G1 G18 F10 G90 ; initial setting T1 D1 ; select actual tool S100 M3 X100 ;...

Page 865: Online Tool Radius Compensation
W4: Grinding-specific tool offset and tool monitoring 18.3 Online tool radius compensation Program code Comment V-0.05 G1 F0.01 G91 ; infeed motion of the V axis for dressing 18.3 Online tool radius compensation Function When the longitudinal axis of the tool and the contour are perpendicular to each other, the offset can be applied as a length compensation to one of the three geometry axes (online tool length compensation).

Page 866: Grinding-Specific Tool Monitoring
W4: Grinding-specific tool offset and tool monitoring 18.4 Grinding-specific tool monitoring Boundary conditions ● A tool radius compensation, and thus also an online tool radius compensation, can be activated only when the selected tool has a radius other than zero. This means that machining operations cannot be implemented solely with a tool radius compensation.

Page 867 W4: Grinding-specific tool offset and tool monitoring 18.4 Grinding-specific tool monitoring The current wheel width is usually determined through the dressing cycle and can be entered in parameter $TC_TPG5 of a grinding tool. If monitoring is active, this entered value is compared to the value in parameter $TC_TPG4 (minimum wheel width).

Page 868: Parameter Assignment
W4: Grinding-specific tool offset and tool monitoring 18.4 Grinding-specific tool monitoring 18.4.2 Parameter assignment Automatic activation If, when selecting the tool length compensation of a grinding tool with an odd tool type number, the grinding-specific tool monitoring is to be automatically activated, the following machine data must be set to "1": MD20350 $MC_TOOL_GRIND_AUTO_TMON (activation of tool monitoring) = 1 18.4.3...

Page 869: Constant Grinding Wheel Peripheral Speed (Gwps)
W4: Grinding-specific tool offset and tool monitoring 18.5 Constant grinding wheel peripheral speed (GWPS). 18.5 Constant grinding wheel peripheral speed (GWPS). 18.5.1 Function For grinding wheels, generally the wheel peripheral speed is used instead of the spindle speed. The value to be set is determined by technological process parameters (e.g. grinding wheel characteristic, material combination).

Page 870: Parameter Assignment
W4: Grinding-specific tool offset and tool monitoring 18.5 Constant grinding wheel peripheral speed (GWPS). Status The following interface signal can be used to determine whether or not the GWPS is active: DB31, ... DBX84.1 (GWPS active) New tool If GWPS is to be selected with a new tool for a spindle for which GWPS is already active, the active GWPS must first be deselected (otherwise an alarm is output).

Page 871: Programming
W4: Grinding-specific tool offset and tool monitoring 18.5 Constant grinding wheel peripheral speed (GWPS). MD35040 $MA_SPIND_ACTIVE_AFTER_RESET = 1 Note MD35040 only takes effect in the spindle mode open-loop control operation. 18.5.3 Programming 18.5.3.1 Switching constant grinding wheel peripheral speed (GWPSON, GWPSOF) on/off: With the predefined procedures GWPSON(...) and GWPSOF(...), the constant grinding wheel peripheral speed (GWPS) for grinding tools (tool type: 400 to 499) is switched on and off.

Page 872: Example
W4: Grinding-specific tool offset and tool monitoring 18.5 Constant grinding wheel peripheral speed (GWPS). 18.5.4 Example A constant grinding wheel peripheral speed is to be used for grinding tools T1 and T5. T1 is the active tool. Data of tool T1 (peripheral grinding wheel) $TC_DP1[1,1] = 403 ;tool type $TC_DP3[1,1] = 300...

Page 873: Data Lists
W4: Grinding-specific tool offset and tool monitoring 18.6 Data lists Program code Comment N65 GWPSOF(5) ; deactivate GWPS for tool 5 (spindle 2) See also P5: Oscillation (Page 693) 18.6 Data lists 18.6.1 Machine data 18.6.1.1 General machine data Number Identifier: $MN_ Description 18094...

Page 874: Signals
W4: Grinding-specific tool offset and tool monitoring 18.6 Data lists 18.6.2 Signals 18.6.2.1 Signals from axis/spindle Signal name SINUMERIK 840D sl SINUMERIK 828D Geometry monitoring DB31, ..DBX83.3 DB390x.DBX2001.3 Speed monitoring DB31, ..DBX83.6 DB390x.DBX2001.6 GWPS active DB31, ..DBX84.1 DB390x.DBX2002.1...

Page 875: Z2: Nc/Plc Interface Signals
Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) 19.1.1 Signals to NC (DB10) Overview of signals from PLC to NC DB10 Signals to NC interface PLC → NC Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0...

Page 876 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) Setting by PLC of the digital NCK inputs Input 24 Input 23 Input 22 Input 21 Input 20 Input 19 Input 18 Input 17 Disable digital NCK inputs Input 32 Input 31 Input 30 Input 29...

Page 877 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) Setting screen form for analog NCK inputs Input 8 Input 7 Input 6 Input 5 Input 4 Input 3 Input 2 Input 1 148, 149 Setting value from PLC for analog input 1 of the NCK 150, 151 Setting value from PLC for analog input 2 of the NCK 152, 153...

Page 878 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) DB10 DBB1, 123, 125, 127, Setting by PLC of the digital NCK inputs Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The digital NCK input is set to a defined "1" state by the PLC. This means the signal state at the change 0 →...

Page 879 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) DB10 DBB6, 132, 136, 140, Set value by PLC of the digital NCK outputs Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The signal status for the digital hardware output can be changed by the PLC with the setting value. change 0 →...

Page 880 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) DB10 DBB146 Disable analog NCK inputs Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The analog input of the NCK is disabled by the PLC. It is thus set to "0" in a defined way in the control. change 0 →...

Page 881 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) DB10 DBB166 Overwrite screen form for analog NCK outputs Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge On signal transition 0 → 1 the previous NCK value is overwritten by the setting value (IS "Setting change 0 →...

Page 882: Signals From Nc (Db10)
Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) DB10 DBB168 Disable analog NCK outputs Signal state 0 or edge The analog output of the NCK is enabled. As a result, the value set by the NC part program or the change 1 →...

Page 883 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) Output 8 Output 7 Output 6 Output 5 Output 4 Output 3 Output 2 Output 1 Actual value for digital NCK inputs Input 16 Input 15 Input 14 Input 13 Input 12 Input 11 Input 10...

Page 884 Z2: NC/PLC interface signals 19.1 Digital and analog NCK I/Os (A4) 214, Setpoint for analog output 3 of NCK 216, Setpoint for analog output 4 of NCK 218, Setpoint for analog output 5 of NCK 220, Setpoint for analog output 6 of NCK 222, Setpoint for analog output 7 of NCK 224,...

Page 885: Distributed Systems (B3)
Z2: NC/PLC interface signals 19.2 Distributed systems (B3) DB10 DBB194 - 209 Actual value for analog NCK inputs Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The analog value applied to the analog NCK input is signalled to the PLC. change 0 →...

Page 886 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) STATUS Name Value Interface DB19 Meaning Online interfaces PLC to control unit: PLC wants to displace control unit by offline OFFL_REQ_PLC request. 1. : DBB124 2. : DBB134 Online interfaces Control unit to PLC: Acknowledgement of OFFL_REQ_PLC OFFL_CONF_PLC 1.

Page 887 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) Name Value Interface DB19 Meaning DBB109 Bit 0-3 HMI has set switchover disable. MMC_LOCKED DBB125 There are processes running on this control unit that may not be interrupted by a switchover. DBB135 DBB109 Bit 0-3 The HMI switchover disable is set in the HMI-PLC interface.

Page 888: Interfaces In Db19 For M:n
Z2: NC/PLC interface signals 19.2 Distributed systems (B3) Name: Status Z_INFO Meaning The requesting control unit has gone online. S_ACT CONNECT The PLC now activates HMI sign-of-life monitoring. Server HMI has disconnected the operating focus from this NCU. S_ACT DISC_FOCUS Server HMI would like to disconnect the operating focus from this NCU OFFL_REQ_FOC and outputs an offline focus request.

Page 889 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) The online interface is available for each of the two online control units separately. After a successful online request sequence, the control unit receives the number of its online interface from the PLC. The HMI parameters are then transferred to the corresponding online interface by the PLC.

Page 890 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) Online request interface DB19 DBW100 ONL_REQUEST Client_Ident Control unit would like to go online and use the online request interface. HMI first writes its Client_Ident as a request. Bit 8 .. 15: Bus type: MPI 1 or BTSS 2 Bit 0 ..

Page 891 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) 1. HMI/PLC online interface DB19 DBW120 MMC1_CLIENT_IDENT refer to PAR_CLIENT_IDENT after issuing positive online permission, the PLC transfers the HMI parameters to the online interface PAR_CLIENT_IDENT -> MMC1_CLIENT_IDENT DB19 DBB122 MMC1_TYP refer to PAR_MMC_TYP After issuing positive online permission, the PLC transfers the HMI parameters to the online interface PAR_MMC_TYP ->...

Page 892 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) Bit signals DB19 MMC1_SHIFT_LOCK DBX 126.0 Disable/enable control unit switchover Data Block Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or Control unit switchover or change in operating focus is disabled. edge change The current control unit-NCU constellation remains unchanged.

Page 893 Z2: NC/PLC interface signals 19.2 Distributed systems (B3) DB19 MMC1_ACTIVE_CHANGED DBX 126.4 Active/passive operating mode of HMI Data Block Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or HMI to PLC: edge change Control unit has completed changeover from passive to active mode 0 →...

Page 894: Signals From Nc (Db10)
Z2: NC/PLC interface signals 19.2 Distributed systems (B3) FALSE MCP2 is not ready TRUE MCP2 is ready DB10 DBX104.2 HHU ready FALSE HHU is not ready TRUE HHU is ready DB10 DBX108.3 E_MMCBTSSReady FALSE No control unit online to OPI TRUE Control unit online to OPI DB10 DBX108.2...

Page 895: Signals From Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.2 Distributed systems (B3) DB10 DBX107.6 NCU link active Signal irrelevant for ... System with an NCU. References Device Manual, NCU 7x0.3 PN 19.2.4 Signals from axis/spindle (DB31, ...) DB31, ... DBX60.1 NCU link axis active Edge evaluation: Signal(s) updated: Signal state 1 or edge...

Page 896: Manual And Handwheel Travel (H1)
Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) 19.3 Manual and Handwheel Travel (H1) 19.3.1 Signals from NC (DB10) DB10 DBB97, 98, 99 Channel number geometry axis for handwheel 1, 2, 3 Edge evaluation: No Signal(s) updated: Cyclic Significance of signal The operator can assign an axis to the handwheel (1, 2, 3) directly on the operator panel front.

Page 897 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB10 DBB100, 101, 102 Bit 0 - 4 Axis number for handwheel 1, 2 or 3 Edge evaluation: no Signal(s) updated: Cyclic Significance of signal The operator can assign an axis to every handwheel directly via the operator panel front. To do so, he defines the required axis (e.g.

Page 898 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB10 DBX100.6, 101.6, 102.6 Handwheel selected (for handwheel 1, 2 or 3) Edge evaluation: no Signal(s) updated: Cyclic Signal state 1 or edge The operator has selected the handwheel for the defined axis via the operator panel front (i.e. acti‐ change 0 →...

Page 899: Signals To Channel (Db21
Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) 19.3.2 Signals to channel (DB21, ...) Overview of signals to channel (to NCK) DB21, ... DBX0.3 Activate DRF Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 Request to activate the DRF function. With the DRF function, the DRF offset can be changed in the AUTOMATIC and MDI modes using a handwheel.

Page 900 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX12.4, DBX16.4, DBX20.4 Traversing key disable for geometry axis (1, 2, 3) Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 A traversing request using the "Plus" and "Minus" traversing keys is ignored for the geometry axis. If the traversing key disable is activated while traversing, then traversing is canceled.

Page 901 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX12.6-7, DBX16.6-7, DBX20.6-7 Plus and minus traversing keys for geometry axis (1, 2, 3) Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 The selected geometry axis can be traversed in both directions in JOG mode with the traversing keys plus and minus.

Page 902 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX13.0-5, DBX17.0-5, DBX21.0-5 Request for incremental machine function for geometry axis (1, 2, 3) Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 Request for a machine function for incremental traversing of the geometry axis in JOG mode: ●...

Page 903 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX15.0, DBX 19.0, DBX 23.0 Handwheel direction of rotation inversion for geometry axis (1, 2, 3) Signal state 0 The handwheel direction of rotation to which geometry axis 1, 2 or 3 is assigned, is not inverted. Application exam‐...

Page 904 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX320.0-2, DBX324.0-2, Activate handwheel for orientation axis (1, 2, 3) DBX328.0-2 Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 Request for activation of the corresponding handwheel for the orientation axis. The interface can be interpreted either bit or binary-coded.

Page 905: Signals From Channel (Db21
Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) 19.3.3 Signals from channel (DB21, ...) Description of signals from channel to PLC DB21, ... DBX24.3 DRF selected Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 The DRF function is active. Signal state 0 The DRF function is not active.

Page 906 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX37.0-2 Contour handwheel active Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 Feedback signal indicating which handwheel is active for the "Contour handwheel/path input using handwheel". The interface can be interpreted either bit or binary-coded. The specification is performed via: MD11324 $MN_HANDWH_VDI_REPRESENTATION Bit-coded: Maximum of three handwheels Note...

Page 907 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX40.0-2, DBX46.0-2, Handwheel active for geometry axis (1, 2, 3) DBX52.0-2 Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 Feedback signal indicating which handwheel is active for the geometry axis. The interface can be interpreted either bit or binary-coded.

Page 908 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX40.4-5, DBX46.4-5, DBX52.4-5 Plus or minus traversing request for geometry axis (1, 2, 3) Signal state 0 There is no traversing request available for the geometry axis. Corresponding to ... DB21, ...

Page 909 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX41.0-6, DBX47.0-6, Active machine functions for geometry axis (1, 2, 3) INC1, INC10, INC100, INC1000, INC10000, INCvar, continuous DBX53.0-6 Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 The corresponding machine function is active.

Page 910 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX332.0-2, DBX336.0-2, Handwheel active for orientation axis (1, 2, 3) DBX340.0-2 Edge evaluation: No Signal(s) updated: Cyclically Signal state 1 Feedback signal indicating which handwheel is active for the orientation axis. The interface can be interpreted either bit or binary-coded.

Page 911 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX332.4-5, DBX336.4-5, Plus and minus traversing request for orientation axis (1, 2, 3) DBX340.4-5 Signal state 0 A traversing command in the relevant axis direction has not been given or a traversing movement has been completed.

Page 912 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX332.6-7, DBX336.6-7, Traversing command plus and minus for orientation axis (1, 2, 3) DBX340.6-7 Signal state 0 A traversing command in the relevant axis direction has not been given or a traversing movement has been completed.

Page 913: Signals With Contour Handwheel
Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) 19.3.4 Signals with contour handwheel Overview of interface signals for contour handwheel Description of interface signals for contour handwheel DB10 DBX100.5 Define handwheel 1 as contour handwheel DBX101.5 Define handwheel 2 as contour handwheel DBX102.5 Define handwheel 3 as contour handwheel Edge evaluation: No...

Page 914 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX30.0 Activate handwheel 1 as contour handwheel; DBX30.1 Activate handwheel 2 as contour handwheel; DBX30.2 Activate handwheel 3 as contour handwheel Edge evaluation: No Signal(s) updated: Cyclic Description One of the three handwheels can be selected/deselected as contour handwheel via these signals: Signal = 1 Handwheel x is selected as contour handwheel...

Page 915: Signals To Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB21, ... DBX31.5 Invert handwheel direction of rotation for contour handwheel Special cases, It is only permissible to change the inversion signal at standstill. errors, ... Corresponding to ... DB31, ... DBX39.5 (handwheel direction of rotation inversion active for contour handwheel) DB21, ...

Page 916 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBB4 Bit 0-2 Activate handwheel (1 to 3) Application exam‐ The PLC user program can use this interface signal to disable the influence of turning the handwheel ple(s) on the axis.

Page 917 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBB4 Bit 7, 6 Plus and minus traverse keys Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 The selected machine axis can be traversed in both directions in JOG mode using the traversing keys "plus"...

Page 918 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBB5 Bit 0-5 Machine function INC1, INC10, INC100, INC1000, INC10000, INCvar Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 Request to activate a machine function for incremental traversing of the axis: ●...

Page 919: Signals From Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBX7.0 Invert handwheel direction of rotation (machine axes) Application exam‐ ● The direction of movement of the handwheel does not match the expected direction of the axis. ple(s) ●...

Page 920 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBB64 Bit 0-2 Handwheel active (1 to 3) Edge evaluation: no Signal(s) updated: Cyclic Signal state 1 or edge These PLC interface signals provide feedback whether the machine axis is assigned to handwheel change 0 →...

Page 921 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBB64 Bit 5, 4 Plus and minus traversing request Application exam‐ To release clamping of axes with clamping (e.g. on a rotary table). ple(s) Note: If the clamping is not released until the traversing command is given, these axes cannot be operated under continuous path control! Corresponding to ...

Page 922 Z2: NC/PLC interface signals 19.3 Manual and Handwheel Travel (H1) DB31, ... DBB65 Bit 0-6 Active machine function INC1, ..., continuous Edge evaluation: no Signal(s) updated: Cyclic Signal state 1 or edge The PLC interface receives a signal stating which JOG mode machine function is active for the change 0 →...

Page 923: Compensations (K3)
Z2: NC/PLC interface signals 19.5 Mode Groups, Channels, Axis Replacement (K5) DB31, ... DBB75 Bit 3-5 JOG - Approaching fixed point reached Signal state 0 or edge The axis has not yet reached the approaching fixed point. change 1 → 0 Corresponding to ...

Page 924: Signals From Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.6 Kinematic Transformation (M1) 19.5.2 Signals from axis/spindle (DB31, ...) DB31, ... DBB68 Axis/spindle replacement Edge evaluation: Yes Signal(s) updated: Cyclically Signal state 1 or edge The current axis type and currently active channel for this axis is displayed. change 0 →...

Page 925: Measurement (M5)
Z2: NC/PLC interface signals 19.7 Measurement (M5) 19.7 Measurement (M5) 19.7.1 Signals from NC (DB10) DB10 DBX107.0 and DBX107.1 Probe actuated Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or Probe 1 or 2 is actuated. edge change 0 → 1 Signal state 0 or Probe 1 or 2 is not actuated.

Page 926: Software Cams, Position Switching Signals (N3)
Z2: NC/PLC interface signals 19.8 Software cams, position switching signals (N3) 19.8 Software cams, position switching signals (N3) 19.8.1 Signal overview PLC interface signals for "Software cams, position switching signals" Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 927: Signals From Nc (Db10)
Z2: NC/PLC interface signals 19.8 Software cams, position switching signals (N3) 19.8.2 Signals from NC (DB10) DB10 DBX110.0-113.7 Minus cam signal 1-32 Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The switching edge of the minus cam signal 1-32 is generated as a function of the traversing direction change 0 →...

Page 928: Signals To Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.8 Software cams, position switching signals (N3) 19.8.3 Signals to axis/spindle (DB31, ...) DB31, ... DBX2.0 Cam activation Edge evaluation: no Signal(s) updated: Cyclic Signal state 1 or edge Output of the minus and plus cam signals of an axis to the general PLC interface is activated. change 0 →...

Page 929: Punching And Nibbling (N4)
Z2: NC/PLC interface signals 19.9 Punching and Nibbling (N4) 19.9 Punching and Nibbling (N4) 19.9.1 Signal overview Figure 19-1 PLC interface signals for "Punching and nibbling" 19.9.2 Signals to channel (DB21, ...) DB21, ... DBX3.0 No stroke enable Edge evaluation: Signal(s) updated: Signal state 1 or This signal releases the punching strokes via the PLC.

Page 930 Z2: NC/PLC interface signals 19.9 Punching and Nibbling (N4) DB21, ... DBX3.2 Stroke suppression Edge evaluation: Signal(s) updated: Signal state 1 or This signal simply prevents execution of the stroke. The machine traverses anyway. edge change 0 → 1 The automatic path segmentation remains active if it is already activated. Only the signal "Stroke initiation"...

Page 931: Signals From Channel (Db21
Z2: NC/PLC interface signals 19.10 Positioning axes (P2) 19.9.3 Signals from channel (DB21, ...) DB21, ... DBX38.0 Stroke initiation active Edge evaluation: Signal(s) updated: Signal state 1 or This signal displays whether the stroke initiation is active. edge change 0 → 1 1 signal: Stroke initiation is active.

Page 932 Z2: NC/PLC interface signals 19.10 Positioning axes (P2) DB31, ... DBB0 Feedrate override / spindle override axis-specific Signal irrelevant for ... NST DB31, ... DBX74.5 ("Positioning axis") = ZERO References Evaluation see: DB21, ... DBB4 (feedrate override); channel-specific DB31, ... DBX2.2 Delete distance-to-go, axis-specific Edge evaluation: Yes...

Page 933 Z2: NC/PLC interface signals 19.10 Positioning axes (P2) DB31, ... DBX28.2 Continue Special cases, Boundary condition: errors, ... ● The axis/spindle must be currently controlled by the PLC. ● The signal is ignored for following error situations: – The axis/spindle is not controlled by the PLC. –...

Page 934 Z2: NC/PLC interface signals 19.10 Positioning axes (P2) DB31, ... DBX63.1 PLC-controlled axis Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge Confirmation of the NC to the PLC that the axis is now controlled by the PLC. change 0 →...

Page 935: Function Call - Only 840D Sl
Function call - only 840D sl FC18 For SINUMERIK 840D sl, concurrent positioning axes can be started from the PLC using FC18 (Function Call 18) of the PLC. The following parameters are passed to the function call: ● Axis name/axis number ●...

Page 936 Z2: NC/PLC interface signals 19.11 Oscillation (P5) DB31, … DBX28.4 Alter reversal point Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The selected reversal point can be altered by manual traverse. change 0 → 1 In conjunction with DB31, ...DBX28.0: The position at which axis is braked after external oscillation reversal must be accepted as new reversal point.

Page 937: Signals From Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.11 Oscillation (P5) 19.11.2 Signals from axis/spindle (DB31, ...) VDI output signals The NCK makes the following signals available to the PLC user program. DB31, ... DBX100.2 Oscillation reversal active Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The deceleration period after external oscillation reversal (DB31, ...DBX28.0) is active change 0 →...

Page 938: Rotary Axes (R2)
Z2: NC/PLC interface signals 19.12 Rotary axes (R2) DB31, ... DBX100.6 Oscillation movement active Signal state 0 or edge The axis is not currently oscillating. change 1 → 0 Signal irrelevant DBX100.7 = 0 for ..Corresponding to ..DBX100.7 DB31, ...

Page 939: Signals From Axis/Spindle (Db31
Z2: NC/PLC interface signals 19.13 Synchronous Spindles (S3) 19.12.2 Signals from axis/spindle (DB31, ...) DB31, ... DBX74.4 Monitoring status with modulo rotary axes Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or Traversing range limitation for modulo rotary axes active edge change 0 →...

Page 940 Z2: NC/PLC interface signals 19.13 Synchronous Spindles (S3) DB31, ... DBX84.4 Synchronous mode Signal state 0 or edge The spindle is not operated as the following spindle in "synchronous mode". change 1 → 0 When the coupling is deactivated (deselection of synchronous operation), the following spindle is switched to "open-loop control mode".

Page 941 Z2: NC/PLC interface signals 19.13 Synchronous Spindles (S3) DB31, ... DBX98.2 Actual value coupling Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The actual-value coupling is active as the coupling type between the leading and following change 0 → 1 spindles (see MD21310).

Page 942: Memory Configuration (S7)
Z2: NC/PLC interface signals 19.14 Memory Configuration (S7) DB31, ... DBX99.0 LS (leading spindle) active Special cases, errors, ... In the case of faults/disturbances on the following spindle which result in cancellation of the FS "servo enable", the coupling relationship between the FS and LS is reversed and switched over to an actual-value coupling internally in the control under certain circumstances.

Page 943: Indexing Axes (T1)
Z2: NC/PLC interface signals 19.15 Indexing Axes (T1) 19.15 Indexing Axes (T1) 19.15.1 Signals from axis/spindle (DB31, ...) DB31, ... DBX76.6 Indexing axis in position Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The signal is influenced according to the "Exact stop fine": change 0 →...

Page 944: Tool Change (W3)
Z2: NC/PLC interface signals 19.17 Grinding-specific tool offset and tool monitoring (W4) 19.16 Tool Change (W3) No signal descriptions required. 19.17 Grinding-specific tool offset and tool monitoring (W4) 19.17.1 Signals from axis/spindle (DB31, ...) DB31, ... DBX83.3 Geometry monitoring Edge evaluation: No Signal(s) updated: - Signal state 1 or edge Error in grinding wheel geometry.

Page 945: Appendix
Appendix List of abbreviations Output ADI4 (Analog drive interface for 4 axes) Adaptive Control Active Line Module Rotating induction motor 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...

Page 946 Appendix A.1 List of abbreviations Connector Output Certificate of License Communication Compiler Projecting Data: Configuring data of the compiler Cathode Ray Tube: picture tube Central Service Board: PLC module Control Unit Communication Processor Central Processing Unit: Central processing unit Carriage Return Clear To Send: Ready to send signal for serial data interfaces CUTCOM Cutter radius Compensation: Tool radius compensation...

Page 947 Appendix A.1 List of abbreviations Input/Output Encoder: Actual value encoder Compact I/O module (PLC I/O module) Electrostatic Sensitive Devices ElectroMagnetic Compatibility European standard 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 Designation for an absolute encoder with 2048 sine signals per revolution...

Page 948 Appendix A.1 List of abbreviations Abbreviation for hexadecimal number AuxF Auxiliary function Hydraulic linear drive Human Machine Interface: SINUMERIK user interface Main Spindle Drive Hardware Commissioning Interpolatory compensation Interface Module: Interconnection module Interface Module Receive: Interface module for receiving data Interface Module Send: Interface module for sending data Increment: Increment Initializing Data: Initializing data...

Page 949 Appendix A.1 List of abbreviations Media Access Control MAIN Main program: Main program (OB1, PLC) Megabyte Motion Control Interface MCIS Motion Control Information System Machine Control Panel: Machine control panel Machine Data Manual Data Automatic: Manual input Motor Data Set: Motor data set MSGW Message Word Machine Coordinate System...

Page 950 Appendix A.1 List of abbreviations PCMCIA Personal Computer Memory Card International Association: Plug-in memory card standardization PC Unit: PC box (computer unit) Programming device Parameter identification: Part of a PIV Parameter identification: Value (parameterizing part of a PPO) Programmable Logic Control: Adaptation control PROFINET PROFIBUS user organization POWER ON...

Page 951 Appendix A.1 List of abbreviations Request To Send: Control signal of serial data interfaces RTCP Real Time Control Protocol Synchronized Action Safe Brake Control: Safe Brake Control Single Block: Single block Subroutine: Subprogram (PLC) Setting Data System Data Block Setting Data Active: Identifier (file type) for setting data SERUPRO SEarch RUn by PROgram test: Search run by program test System Function Block...

Page 952 Appendix A.1 List of abbreviations Terminal Board (SINAMICS) Tool Center Point: Tool tip TCP/IP Transport Control Protocol / Internet Protocol Thin Client Unit Testing Data Active: Identifier for machine data Totally Integrated Automation Terminal Module (SINAMICS) Tool Offset: Tool offset Tool Offset Active: Identifier (file type) for tool offsets TRANSMIT Transform Milling Into Turning: Coordination transformation for milling operations on...

Page 953 Appendix A.1 List of abbreviations Extensible Markup Language Work Offset Active: Identifier for work offsets Status word (of drive) Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 954: Overview
Appendix A.2 Overview Overview Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 955: Glossary
Glossary Absolute dimensions A destination for an axis motion is defined by a dimension that refers to the origin of the currently valid 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.

Page 956 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 ●...

Page 957 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.

Page 958 Glossary See → NC Computerized Numerical Control: includes the components → NCK, → PLC, HMI, → 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.

Page 959 Glossary Transformation ratio 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.

Page 960 Glossary 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 →...

Page 961 Glossary 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 control. The control moves the relevant axes in → rapid traverse, whenever possible. Frame A frame is an arithmetic rule that transforms one Cartesian coordinate system into another Cartesian coordinate system.

Page 962 Glossary 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.

Page 963 Glossary 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.

Page 964 Glossary 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.

Page 965 Glossary 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 preceded with ":" that contains all information to start the operating sequence in a →...

Page 966 Glossary 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.

Page 967 Glossary Override Manual or programmable possibility of intervention that 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 →...

Page 968 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.

Page 969 Glossary 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 ...

Page 970 Glossary Rapid traverse The highest traverse velocity of an axis. It is used, for example, 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 item.

Page 971 Glossary 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.

Page 972 Glossary 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.

Page 973 Glossary 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 →...

Page 974 Glossary User memory All programs and data, such as part programs, subprograms, comments, tool offsets, and work 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.

Page 975 Glossary Work 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 work offsets are available for each CNC axis. The offsets - which are selected by means of G commands - take effect alternatively.

Page 976 Glossary Extended Functions Function Manual, 10/2015, 6FC5397-1BP40-5BA3...

Page 977: Index
Index $AN_REBOOT_DELAY_TIME, 347 $P_COUP_OFFS, 772 $P_GWPS, 871 $P_ISTEST, 360 $A_DP_IN_CONF, 63 $TC_DP1, 846 $A_DP_IN_STATE, 63 $TC_DPC1...10, 846 $A_DP_IN_VALID, 63 $TC_TPC1...10, 851 $A_DP_OUT_CONF, 63 $TC_TPG3, 850 $A_DP_OUT_STATE, 63 $TC_TPG4, 850 $A_DP_OUT_VALID, 63 $TC_TPG5, 850 $A_IN, 34 $TC_TPG6, 850 $A_INA, 34 $TC_TPG7, 850 $A_INCO, 49 $TC_TPG8, 850 $A_OUT, 34, 36...

Page 978 Index Actual value for digital NCK inputs, 884 All transformations, 487 Alter reversal point, 936 Alternate interface, 622 Backlash, 260 Angular offset POSFS, 759 -Compensation, dynamic, 262 Approaching a fixed point, 839 Dynamic, 262 in JOG, 185 Bidirectional probe, 498 ASCALE, 743 Block change Assign feedrate using the programmed axis name of...

Page 979 Index Following error, 313 DBB134, 878 Interpolatory, 265 DBB135, 878 Leadscrew error, 267 DBB136, 879 Measuring system error, 267 DBB137, 879 Sag, 272 DBB138, 878 Concatenation, 848 DBB139, 878 Concurrent positioning axes DBB140, 879 start from the PLC, 684 DBB141, 879 Continuous duty, 161 DBB142, 878 Continuous manual travel, 157...

Page 980 Index DBX114.0-117.7, 927 DBX3.1, 617, 929 DBX97.0-3, 168 DBX3.2, 617, 930 DBX98.0-3, 168 DBX3.3, 930 DBX99.0-3, 168 DBX3.4, 617, 930 DB10 DBX108.7, 346 DBX3.5, 930 DB10, ... DBX30.0, 914 DBX107.0, 501 DBX30.0-2, 225 DBX107.1, 501 DBX30.1, 914 DB11 DBX30.2, 914 DB6.2, 147 DBX30.3, 225, 914 DBX 6.3, 346...

Page 981 Index DBX46.5, 169 DBX377.5, 210 DBX46.6, 908 DBX40.4, 169 DBX46.7, 159, 163, 170, 908 DBX40.6, 159, 163, 170 DBX47.0-6, 909 DBX41.0-5, 163 DBX49.0, 171 DBX41.6, 159 DBX52.5, 169 DBX46.4, 169 DBX52.6, 908 DBX46.6, 159, 163, 170 DBX52.7, 159, 163, 170, 908 DBX47.0-5, 163 DBX53.0-6, 909 DBX47.6, 159...

Page 982 Index DBX28.7, 701, 936 DBX84.4, 751, 939, 940 DBX29.5, 777 DBX98.0, 762, 764, 778, 940 DBX31.4, 763, 772, 777, 780 DBX98.1, 762, 764, 778, 940 DBX31.5, 761, 778, 939 DBX98.2, 941 DBX4.0-2, 915, 916 DBX98.4, 756, 759, 786, 941 DBX4.3, 762, 781 DBX99.0, 754, 941, 942 DBX4.4, 916 DBX99.1, 754, 942...

Page 983 Index External oscillation reversal, 935 Traversal in JOG, 165 Velocity specification, 173, 224 Handwheel connection Ethernet, 237 Handwheel connection (828D) FC18, 682 PPU, 233 FCTDEF, 857 PROFIBUS, 233 Feed override, 681, 682 Handwheel override in AUTOMATIC mode Feedforward control, 313 Path definition, 218 Speed, 315 Velocity override, 218...

Page 984 Index Contour-handwheel-simulation negative Traversing key disable for geometry axis (1, 2, direction, 914 3), 900 Define handwheel 1 as contour handwheel, 913 Traversing key lock, 916 Define handwheel 2 as contour handwheel, 913 Interpolation Define handwheel 3 as contour handwheel, 913 Linear, 661 DRF selected, 905 non-linear, 661...

Page 985 Index MD10350, 31, 40 MD12702, 110, 136 MD10360, 31, 40 MD12703, 110, 136 MD10361, 40 MD12704, 110, 136 MD10362, 32 MD12705, 110, 136 MD10364, 32 MD12706, 110, 136 MD10366, 32 MD12707, 110, 136 MD10368, 32 MD12708, 110, 136 MD10398, 55 MD12709, 110, 136 MD10399, 56 MD12710, 110, 136...

Page 986 Index MD21150, 745 MD32300, 231, 670 MD21155, 153, 184 MD32301, 155 MD21158, 156, 185 MD32400, 790 MD21159, 156, 185 MD32402, 790 MD21160, 154, 184 MD32410, 790 MD21165, 153, 184 MD32420, 155, 661, 790 MD21166, 155, 184 MD32430, 661, 670, 790 MD21168, 156, 184 MD32431, 670 MD21220, 33, 51...

Page 987 Index MD36620, 346 Measuring probe MD36933, 178 -types, 498 MD37200, 766, 789 Measuring process, 577 MD37210, 766, 789 Measuring status, 925 MD37220, 766, 789 Memory expansion, 804 MD37230, 766, 792 Minimum interval between two consecutive MD37500, 668 strokes, 624 MD37510, 667, 668 Minus MD37511, 667, 668 -output cam, 589...

Page 988 Index OSCTRL, 699, 700 Positioning axis dynamic response, 670 OSE, 700 Position-time cams, 606 OSNSC, 700 POSP, 706 OSP, 698 Preset actual value memory, 507 OST, 699 for geo axes and special axes ($AC MEAS TYPE Output cam = 14), 537 -pair, 589 for special axes ($AC MEAS TYPE = 15), 538 -positions, 598...

Page 989 Index SD43920, 255, 257 Selection and deselection, 440, 457 Selection of tool or cutting edge, 514 Separate following spindle interpolator, 753 Scratching, 507 Set reversal point, 935 SD41010, 164, 173, 220 Set value by PLC of the digital NCK outputs, 879 SD41050, 160, 816 SETM, 352, 355 SD41100, 152, 176, 670, 733, 817...

Page 990 Index Traversing range limitation for modulo rotary axes, 938 Traversing range limits, 736 Trigger event, 503 table TU, 470 Compensation, 265 Telegram selection, 505 Temperature -compensation, 252 -influence, 252 User-defined coupling, 752 Temperature compensation Coefficient tanß(T), 257 Time constant Dynamic response adaptation, 318 Variable interface, 508 TMOF, 868 Velocity control, 441...

This manual is also suitable for:
Sinumerik 828d

Siemens SINUMERIK 840D sl Function Manual

1 Fundamental Safety Instructions

2 A4: Digital and Analog NC I/O for SINUMERIK 840D Sl

3 B3: Distributed Systems - 840D Sl Only

4 H1: Manual and Handwheel Travel

5 K3: Compensations

6 K5: Channel Synchronization, Axis Interchange

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