Page 1 Program Valid for Control ______________ PLC Basic Program Solution SINUMERIK 840D sl/840DE sl line SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline ______________ Reference Point Approach Software Version NCU system software for 840D sl/840DE sl ______________...
Page 2 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 3 • General documentation • User documentation • Manufacturer/service documentation Please contact your local Siemens office for more information about other SINUMERIK 840D sl/840D/840Di/810D publications and publications that apply to all SINUMERIK controls. A list of documents, updated on a monthly basis and indicating the available languages, is available on the Internet at: http://www.siemens.com/motioncontrol...
Page 4 A&D Technical Support Phone: +49 (0) 180 / 5050 - 222 Fax: +49 (0) 180 / 5050 - 223 E-mail: mailto:adsupport@siemens.com Internet: http://www.siemens.com/automation/support-request If you have any comments, suggestions, or corrections regarding this documentation, please fax or e-mail them to:...
Page 5 Preface A Description of Functions contains the following chapters: • Brief description • Detailed description • Constraints • Examples • Data lists Note Detailed descriptions regarding data and alarms are provided for: - Machine and setting data: Electronic only on DOConCD or DOConWEB - NC/PLC interface signals: /FB1/ NC/PLC interface signals (Z1) - Alarms: /DA/Diagnostics Guide Technical information...
Page 6 Preface Data types The following elementary data types are used in the control system: Type Meaning Value range Signed integers ±(2 - 1) REAL Figures with decimal point acc. to IEEE ±(10 … 10 -300 +300 BOOL Boolean values: TRUE/FALSE TRUE ≠...
Page 7 ______________ Data Lists and Functions (A2) Function Manual Valid for Control SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D/840DE NCU system software for 840Di/840DiE NCU system software for 810D/810DE...
Page 8 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 9: Table Of Contents
General ............................2-1 2.1.2 Ready signals to PLC ........................ 2-3 2.1.3 Alarm signals to PLC ......................... 2-4 2.1.4 SINUMERIK 840Di-specific interface signals ................2-4 2.1.5 Signals to/from panel front ......................2-5 2.1.6 Signals to channel........................2-7 2.1.7 Signals to axis/spindle ....................... 2-7 2.1.8...
Page 10 Contents 5.3.5 Signals to axis/spindle........................ 5-6 5.3.6 Signals from axis/spindle ......................5-7 5.3.7 Signals to operator panel front....................5-8 5.3.8 Signals from operator panel front....................5-9 Index..............................Index-1 Various NC/PLC Interface Signals and Functions (A2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 11: Brief Description
Brief Description Function Content The PLC/NCK interface comprises a data interface on one side and a function interface on the other. The data interface contains status and control signals, auxiliary functions and G functions, while the function interface is used to transfer jobs from the PLC to the NCK. This Description describes the functionality of interface signals, which are of general relevance but are not included in the Descriptions of Functions: •...
Page 12 Brief Description 1.1 Function Various NC/PLC Interface Signals and Functions (A2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 13: Detailed Description
Detailed Description NC/PLC interface signals 2.1.1 General NC/PLC interface The NC/PLC interface comprises the following parts: • Data interface • Function interface Data interface The data interface is used for component coordination: • PLC user program • NC • MMC (operator component) •...
Page 14 Detailed Description 2.1 NC/PLC interface signals NC and operator-panel-front-specific signals (DB10) PLC to NC: • Signals for influencing the CNC inputs and outputs • Keyswitch signals (and password) NC to PLC: • Actual values of CNC inputs • Setpoints of CNC outputs •...
Page 15: Ready Signals To Plc
Detailed Description 2.1 NC/PLC interface signals References For detailed information about the following subject areas, please refer to: • Description of the basic PLC program: /FB1/ Description of Functions, Basic Machine; Basic PLC Program (P3) • Description of event-controlled signal exchange (auxiliary and G functions): /FB1/ Description of Functions, Basic Machine;...
Page 16: Alarm Signals To Plc
(processing stop), is pending for the affected channel. 2.1.4 SINUMERIK 840Di-specific interface signals For a detailed description of the SINUMERIK 840Di-specific interface signals, please refer References /HBI/ SINUMERIK 840Di Manual Various NC/PLC Interface Signals and Functions (A2)
Page 17: Signals To/From Panel Front
Detailed Description 2.1 NC/PLC interface signals 2.1.5 Signals to/from panel front DB19, DBX0.0 (operator panel inhibit) All inputs via operator components on the operator panel front are inhibited. DB19, DBX0.1 (darken screen) The operator panel screen is darkened or lightened. If the interface signal is used to actively darken the screen: •...
Page 18 Detailed Description 2.1 NC/PLC interface signals DB19.DBX 0.3 / 0.4 (delete cancel alarms / delete recall alarms) Request to delete all currently pending alarms with Cancel or Recall delete criterion. Deletion of the alarms is acknowledged via the following interface signals: •...
Page 19: Signals To Channel
Detailed Description 2.1 NC/PLC interface signals DB19, DBB24 (control of V24 interface) (HMI Embedded only) Status byte for current status of data transfer for "RS-232 ON", "RS-232 OFF", "RS-232 EXTERNAL", "RS-232 STOP", etc., or if an error occurred during data transfer. DB19, DBB25 (control of V24 interface) (HMI Embedded only) Output byte for RS-232 data transmission error values.
Page 20 Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX1.3 (axis/spindle disable) Axis disable when machine axis is at standstill If the machine axis is at standstill and NC/PLC interface signal: DB31, ... DBX1.3 = 1 no traversing request (manual or automatic) is executed. The traversing request is maintained.
Page 21 Detailed Description 2.1 NC/PLC interface signals Note When the servo enable is set, if the part program is active, the last programmed position is approached internally in the NC (REPOSA: Approach along line on all axes). In all other cases, all subsequent movements start at the current actual position. During "follow-up", clamping or zero-speed monitoring are not active.
Page 22 Detailed Description 2.1 NC/PLC interface signals Fig. 2-1 Effect of servo enable and follow-up mode Fig. 2-2 Trajectory for clamping and "hold" Various NC/PLC Interface Signals and Functions (A2) 2-10 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 23 Detailed Description 2.1 NC/PLC interface signals Fig. 2-3 Trajectory for clamping and "follow-up" Drives with analog setpoint interface A drive with an analog setpoint interface is capable of traversing the machine axis with an external setpoint. If "follow-up mode" is set for the machine axis, the actual position continues to be acquired.
Page 24 Detailed Description 2.1 NC/PLC interface signals Canceling follow-up mode Once follow-up mode has been canceled, the machine axis does not have to be homed again if the maximum permissible encoder limit frequency of the active measuring system was not exceeded during follow-up mode. If the encoder limit frequency is exceeded, the controller will detect this: •...
Page 25 Detailed Description 2.1 NC/PLC interface signals Fig. 2-4 Position measuring system 1 and 2 The table below shows the functionality of the interface signals in conjunction with the "servo enable". (DB31, ... DBX1.5) (DB31, ... DBX1.6) (DB31, ... DBX2.1) Function Position measuring Position measuring Servo enable...
Page 26 Detailed Description 2.1 NC/PLC interface signals • NC-internal: • Alarms that trigger cancellation of the servo enable on the machine axes. Alarms, which cancel the servo enable, are described in: References: /DA/ Diagnostics Guide Canceling the servo enable when the machine axis is at standstill: •...
Page 27 Detailed Description 2.1 NC/PLC interface signals Synchronize actual value (homing) Once the servo enable has been set, the actual position of the machine axis does not need to be synchronized again (homing) if the maximum permissible limit frequency of the measuring system was not exceeded while the machine axis was not in position-control mode.
Page 28 Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX9.0 / 9.1 / 9.2 (controller parameter set selection) The PLC user program sends a binary code request via the "controller parameter set selection" to activate the corresponding parameter set with that of the NC. DBX9.2 DBX9.1 DBX9...
Page 29: Signals From Axis/Spindle
Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX9.3 (disable parameter-set default setting by NC) Parameter-set changeover request will be ignored. 2.1.8 Signals from axis/spindle DB31, ... DBX61.0 (travel request) The machine axis is to be traversed, e.g., by means of a part-program instruction or manually.
Page 30: Signals To Axis/Spindle (Digital Drives)
Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX76.0 (lubrication pulse) Following a control POWER ON/RESET, the signal status is 0 (FALSE). The "lubrication pulse" is inverted (edge change) as soon as the machine axis completes a distance longer than the parameterized traversing distance for lubrication. MD33050 $MA_LUBRICATION_DIST (distance for lubrication by PLC) 2.1.9 Signals to axis/spindle (digital drives)
Page 31 Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX21.3 / 21.4 (motor selection A, B) (not on 810D) Selection of motor/operating mode. DBX 21.4 DBX 21.3 Motor number Operating mode 1) Can only be used on SIMODRIVE 611D Performance2 control module and SIMODRIVE 611U Only operating modes 1 and 2 are valid on main spindle drive: •...
Page 32: Signals From Axis/Spindle (Digital Drives)
Detailed Description 2.1 NC/PLC interface signals • Setpoint enable (terminal 64) • "Status ready for traverse" (terminal 72/73) – No 611D drive alarm (DClink1 error) – DC link connected – Ramp-up completed See also: DB31, ... DBX93.7 (pulses enabled) 2.1.10 Signals from axis/spindle (digital drives) DB31, ...
Page 33 Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX93.3, 4 (active motor A, B) The drive module (MSD) sends this checkback to the PLC to indicate which of the 4 motor types or motor operating modes is active. The following selections can be made on the main spindle drive: •...
Page 34 Detailed Description 2.1 NC/PLC interface signals DB31, ... DBX94.3 (|Md| < Mdx) This signal indicates that the current torque |M | is less than the assigned threshold torque MD1428 $MD_TORQUE_THRESHOLD_X The threshold torque is entered as a percentage of the current speeddependent torque limitation.
Page 35: Functions
Detailed Description 2.2 Functions Functions 2.2.1 Screen settings Contrast, monitor type, foreground language, and display resolution to take effect after system startup can be set in the operator panel machine data. Contrast MD9000 $MM_LCD_CONTRAST (contrast) For slimline operator panels with a monochrome LCD, the contrast to be applied following system startup can be set.
Page 36: Settings For Involute Interpolation
Detailed Description 2.2 Functions REFRESH suppression MD10131 $MN_SUPPRESS_SCREEN_REFRESH (screen refresh in case of overload) Default setting for screen-refresh strategy with high NC utilization: • Value 0: Refresh of current values is suppressed in all channels. • Value 1: Refresh of current values is suppressed in time-critical channels. •...
Page 37 Detailed Description 2.2 Functions Programming A general description of involute programming appears in: References: /PG/ Programming Guide, Basics In addition to the programmed parameters, machine data are relevant in two instances of involute interpolation; these data may need to be set by the machine manufacturer/end user. Accuracy If the programmed end point does not lie exactly on the involute defined by the starting point, interpolation takes place between the two involutes defined by the starting and end points...
Page 38 Detailed Description 2.2 Functions Limit angle If AR is used to program an involute leading to the base circle with an angle of rotation that is greater than the maximum possible value, an alarm is output and program execution aborted. Fig.
Page 39: Activate Default Memory
Detailed Description 2.2 Functions Dynamic response Involutes that begin or end on the base circle have an infinite curvature at this point. The "Velocity limiting profiles" function must be activated in order for the velocity at this point to be sufficiently limited during active tool radius correction: MD28530 $MC_MM_PATH_VELO_SEGMENTS >...
Page 40 Detailed Description 2.2 Functions Organization of memory area The user's programming engineer (NCK and PLC) is responsible for organizing (structuring) this memory area. Every storage position in the memory can be addressed provided that the limit is selected according to the appropriate data format (i.e., a DWORD for a 4-byte limit, a WORD for a 2- byte limit, etc.).
Page 41: Supplementary Conditions
Detailed Description 2.2 Functions Fig. 2-9 Communications buffer (DPR) for NC/PLC communication Supplementary conditions • The user's programming engineer (NCK and PLC) is responsible for organizing the DPR memory area. No checks are made for inconsistencies in the configuration. • A total of 1024 bytes are available in the input and output directions. •...
Page 42 Detailed Description 2.2 Functions Example Addressing the problem by means of comparison on f "EPSILON" (minor deviation) Block Program code number DEF REAL DBR DEF REAL EPSILON = 0.00001 $A_DBR[0]=145.145 G4 F2 STOPRE DBR=$A_DBR[0] IF ( ABS(DBR/145.145-1.0) < EPSILON ) GOTOF ENDE MSG ( "error"...
Page 43: Access Protection Via Password And Keyswitch
Access authorization Access to functions, programs and data is useroriented and controlled via 8 hierarchical protection levels. These are subdivided into: • Password levels for Siemens, machine manufacturer and end user • Keyswitch positions for end user Multi-level security concept A multi-level security concept to regulate access rights is available in the form of password levels and keyswitch settings.
Page 44: Password
• Conversely, protection rights for a certain protection level can only be altered from a higher protection level. • Access rights for protection levels 0 to 3 are permanently assigned by Siemens and cannot be altered (default). • Access rights can be set by querying the current keyswitch positions and comparing the passwords entered.
Page 45 Detailed Description 2.2 Functions Delete password Access rights assigned by means of setting a password remain effective until they are explicitly revoked by deleting the password. Example: HMI Advanced DIAGNOSTICS operation area, softkey: DELETE PASSWORD References: /BAD/ Operator's Guide HMI Advanced Note Access rights and password status (set/deleted) are not affected by POWER OFF/ON! Maximum number of characters...
Page 46: Keyswitch Settings (Db10, Dbx56.4 To 7)
Detailed Description 2.2 Functions 2.2.5.3 Keyswitch settings (DB10, DBX56.4 to 7) Key switch The keyswitch has four positions, to which protection levels 4 to 7 are assigned. The keyswitch comprises a number of keys in a variety of colors, which can be set to different switch positions.
Page 47: Parameterizable Protection Levels
Detailed Description 2.2 Functions 2.2.5.4 Parameterizable protection levels Parameterizable protection level The parameter level can be freely parameterized for a variety of functions and data areas. The protection level is set via operator-panel machine data, designated as follows: Function_DataArea $MM_USER_CLASS_< >...
Page 48 Detailed Description 2.2 Functions Various NC/PLC Interface Signals and Functions (A2) 2-36 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 49 Supplementary Conditions Supplementary conditions There are no supplementary conditions to note. Various NC/PLC Interface Signals and Functions (A2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 50 Supplementary Conditions 3.1 Supplementary conditions Various NC/PLC Interface Signals and Functions (A2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 51 Examples Example Parameter set changeover A parameter-set changeover is performed to change the position-control gain (servo gain factor) for machine axis X1 from v = 4.0 to Kv = 0.5. Prerequisites Parameter-set changeover must be enabled: MD35590 $MA_PARAMSET_CHANGE_ENABLE [AX1] = 1 or 2 The 1st parameter set for machine axis X1 is set, in accordance with machine data with index "0"...
Page 52 Examples 4.1 Example Machine data Remarks MD31060 $MA_DRIVE_AX_RATIO_NUMERA [4, AX1] = 5 Counter load gearbox for parameter set 5 MD31060 $MA_DRIVE_AX_RATIO_NUMERA [5, AX1] = 5 Counter load gearbox for parameter set 6 MD35130 $MA_AX_VELO_LIMIT [0...5, AX1] Setting for each parameter set*) MD32800 $MA_EQUIV_CURRCTRL_TIME [0..5, AX1] Setting for each parameter set*) MD32810 $MA_EQUIV_SPEEDCTRL_TIME [0..5, AX1]...
Page 53: Data Lists
Data Lists Machine data 5.1.1 Memory specific machine data Number Identifier: $MM_ Description Advanced Embedded 9000 9000 LCD_CONTRAST Contrast 9001 9001 DISPLAY_TYPE Monitor type 9002 DISPLAY_MODE External monitor (1: black and white, 2: color) 9003 FIRST_LANGUAGE Foreground language 9004 9004 DISPLAY_RESOLUTION Display resolution 9005...
Page 54 Data Lists 5.1 Machine data Number Identifier: $MM_ Description 9202 9202 USER_CLASS_WRITE_TOA_WEAR Protection level write tool wear data 9203 9203 USER_CLASS_WRITE_FINE Protection level write fine 9204 USER_CLASS_WRITE_TOA_SC Protection level change total tool offsets 9205 USER_CLASS_WRITE_TOA_EC Protection level change tool setup offsets 9206 USER_CLASS_WRITE_TOA_SUPVIS Protection level change tool-monitoring limit...
Page 55: Nc-Specific Machine Data
Data Lists 5.1 Machine data Number Identifier: $MM_ Description 9239 USER_END_WRITE_RPA_3 End of the third RPA area 9240 USER_CLASS_WRITE_TOA_NAME Change tool designation and duplo 9241 USER_CLASS_WRITE_TOA_Type Change tool type 9460 PROGRAMM_SETTINGS Resetproof data storage for settings in the PROGRAM operating area 9461 CONTOUR_END_TEXT String to be added to end of contour on...
Page 56: Channelspecific Machine Data
Data Lists 5.1 Machine data 5.1.3 Channelspecific machine data Number Identifier: $MC_ Description 21015 INVOLUTE_RADIUS_DELTA NC start disable without reference point 21016 INVOLUTE_AUTO_ANGLE_LIMIT Automatic angle limitation for involute interpolation 27800 TECHNOLOGY_MODE Technology in channel 28150 MM_NUM_VDIVAR_ELEMENTS Number of write elements for PLC variables 28530 MM_PATH_VELO_SEGMENTS Number of storage elements for limiting path velocity...
Page 57: System Variables
Data Lists 5.2 System variables System variables Names Description $P_FUMB Unassigned part program memory (Free User Memory Buffer) $A_DBB[n] Data on PLC (data type BYTE) $A_DBW[n] Data on PLC (WORD type data) $A_DBD[n] Data on PLC (DWORD type data) $A_DBR[n] Data on PLC (REAL type data) Signals 5.3.1...
Page 58: Signals To Channel
Data Lists 5.3 Signals 5.3.3 Signals to channel DB number Byte.Bit Description 21, ... Delete distance-to-go (channelspecific) 5.3.4 Signals from channel DB number Byte.Bit Description 21, ... 36.6 Channelspecific NCK alarm is active 21, ... 36.7 NCK alarm with processing stop present 21, ...
Page 59: Signals From Axis/Spindle
Data Lists 5.3 Signals 5.3.6 Signals from axis/spindle DB number Byte.Bit Description 31, ... 60.4 / 60.5 Referenced, synchronized 1 / Referenced, synchronized 2 31, ... 61.3 Follow-up mode active 31, ... 64.6 / 64.7 Traverse command minus / plus 31, ...
Page 60: Signals To Operator Panel Front
Data Lists 5.3 Signals 5.3.7 Signals to operator panel front DB number Byte.Bit Description Screen bright Darken screen Key disable Delete Cancel alarms (HMI Advanced only) Delete Recall alarms (HMI Advanced only) Actual value in WCS 10.0 Programming area selection 10.1 Alarm area selection 10.2...
Page 61: Signals From Operator Panel Front
Data Lists 5.3 Signals 5.3.8 Signals from operator panel front DB number Byte.Bit Description 20.1 Screen is dark 20.7 Switch over MCS/WCS 24.0 Error (Acknowledgment byte for current RS232 status) 24.1 O.K. (Acknowledgment byte for current RS232 status) 24.2 COM2 active (Acknowledgment byte for current RS232 status) 24.3 COM1 active (Acknowledgment byte for current RS232 status) 24.4...
Page 62 Data Lists 5.3 Signals Various NC/PLC Interface Signals and Functions (A2) 5-10 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 63 Index DBX56.5, 2-34 DBX56.6, 2-34 DBX56.7, 2-34 DB19 611D Ready, 2-3 DBB12, 2-6 DBB13, 2-6 DBB14, 2-6 DBB15, 2-6 Access authorization, 2-31 DBB16, 2-6 Access features, 2-32 DBB17, 2-6 Access security, 2-31 DBB24, 2-7 Actual value synchronization, 2-15 DBB25, 2-7 Actual value in workpiece coordinate system, 2-6 DBB26, 2-7 Air temperature alarm, 2-4...
Page 64 Index DBX21.1, 2-18 Drive-test travel enable, 2-7 DBX21.2, 2-18 Drive-test travel request, 2-17 DBX21.3, 2-19 DBX21.4, 2-19 DBX21.5, 2-19 DBX21.6, 2-19 Followup mode active, 2-17 DBX21.7, 2-13, 2-19 Foreground language, 2-23 DBX60.4, 2-12 DBX60.6, 2-12 DBX60.7, 2-12 DBX61.0, 2-7, 2-17 DBX61.3, 2-8, 2-9, 2-17 High-speed data channel, 2-27 DBX61.4, 2-16, 2-17...
Page 65 Index MD28150 $MC_MM_NUM_VDIVAR_ELEMENTS, 2-30 Setting, 2-32 MD28530 $MC_MM_PATH_VELO_SEGMENTS, 2-27 PLC/NCK interface, 2-1 MD31050 $MA_DRIVE_AX_RATIO_DENOM, 4-1 Position controller active, 2-17 MD31060 $MA_DRIVE_AX_RATIO_NUMERA, 4-1 Position measuring system, 2-12 MD32200 $MA_POSCTRL_GAIN, 2-16, 4-1 Protection levels, 2-35 MD32800 $MA_EQUIV_CURRCTRL_TIME, 4-2 MD32810 $MA_EQUIV_SPEEDCTRL_TIME, 4-2 MD32910 $MA_DYN_MATCH_TIME, 4-2 MD33050 $MA_LUBRICATION_DIST, 2-18 Ramp-up function completed, 2-21 MD35130 $MA_AX_VELO_LIMIT, 4-2...
Page 66 Index Various NC/PLC Interface Signals and Functions (A2) Index-4 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 67 Protection Zones (A3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU System Software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 68 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 69 Contents Brief Description ............................. 1-1 Axis monitoring functions ......................1-1 Protection zones ........................1-1 Detailed Description..........................2-1 Motion monitoring functions ....................... 2-1 2.1.1 Contour monitoring ........................2-1 2.1.2 Following Error Monitoring ......................2-2 2.1.3 Positioning monitoring........................ 2-3 2.1.4 Zero speed monitoring ....................... 2-5 2.1.5 Exact stop and standstill tolerance dependent on the parameter set........
Page 70 Contents 5.2.1 Axis/spindlespecific setting data ....................5-3 Signals............................5-4 5.3.1 Signals to channel........................5-4 5.3.2 Signals from channel........................5-4 5.3.3 Signals to axis ..........................5-5 Index..............................Index-1 Tables Table 4-1 Part program excerpt for protection zone definition:..............4-2 Table 4-2 Protection zone: Spindle chuck....................
Page 71 Brief Description Axis monitoring functions Axis monitoring functions Comprehensive monitoring functions are present in the control for protection of people and machines: • Motion monitoring functions – Contour monitoring – Positioning monitoring – Zero speed monitoring – Clamping monitoring – Speed setpoint monitoring –...
Page 72 Brief Description 1.2 Protection zones Axis Monitoring, Protection Zones (A3) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 73 Detailed Description Motion monitoring functions 2.1.1 Contour monitoring Contour error Contour errors are caused by signal distortions in the position control loop. A distinction is made between: • Linear signal distortions This is caused by: – Speed and position controller not being set optimally –...
Page 74 Detailed Description 2.1 Motion monitoring functions 2.1.2 Following Error Monitoring Function In control engineering terms, traversing along a machine axis always produces a certain following error, i.e. a difference between the set and actual position. The following error that arises depends on: •...
Page 75 Detailed Description 2.1 Motion monitoring functions Effectivity The following error monitoring only operates with activated position control for: • Linear axes with and without feedforward control • Rotary axes with and without feedforward control • Position-controlled spindles Fault case In case of a fault after exceeding of the configured tolerance limit, the following occurs: Axis identifier •...
Page 76 Detailed Description 2.1 Motion monitoring functions Relationship between the various position monitoring functions After reaching "Exact stop fine", the position monitoring is deactivated and replaced by the zero speed monitoring. The following image shows the relationship between the various position monitoring functions: Fig.
Page 77 Detailed Description 2.1 Motion monitoring functions Effectivity The positioning monitoring only operates with active position control and the following axis types: • Linear axes • Rotary axes • Position-controlled spindles Effects Upon exceeding of the configured position monitoring time, the following occurs: •...
Page 78 Detailed Description 2.1 Motion monitoring functions Effectivity The zero speed monitoring only operates with active position control and the following axis types: • Linear axes • Rotary axes • Position-controlled spindles Effect Upon exceeding of the delay time and/or the standstill tolerance, the following occurs: Axis identifier •...
Page 79 Detailed Description 2.1 Motion monitoring functions 2.1.6 Clamping monitoring Clamping monitoring Afterward, the zero speed monitoring monitors the compliance with the configured standstill tolerance. For machine axes that are mechanically clamped upon completion of a positioning operation, larger motions can result from the clamping process. Clamping monitoring monitors the adherence to the configured clamping tolerance: MD36050 $MA_CLAMP_POS_TOL (Clamping tolerance) Activation...
Page 80 Detailed Description 2.1 Motion monitoring functions Note The NC detects whether an axis is clamped based on the "servo enable" state of the axis: DB31, ... DBX2.2 = 0 (servo enable): no servo enable ⇒ axis is clamped DB31, ... DBX2.2 = 1 (servo enable): servo enable ⇒ axis is not clamped Prerequisites for the PLC user program •...
Page 81 Detailed Description 2.1 Motion monitoring functions Optimized releasing of the axis clamp via travel command If a clamped axis is to be traversed in continuous-path mode, a travel command is issued for the clamped axis in the rapid traverse blocks (G0) immediately before the traversing block of the clamped axis.
Page 82 Detailed Description 2.1 Motion monitoring functions Automatic stopping for setting of the clamp If an axis is to be clamped in continuous-path mode, the NC stops the path motion before the next "Non-rapid traverse block" if the axis has not been clamped by then, i.e. the PLC has set the feedrate override value to zero.
Page 83 Detailed Description 2.1 Motion monitoring functions Fig. 2-5 Example 3: Interface signals and states Constraints Continuous-path mode For the above-mentioned functions: • Automatic stopping for removal of the clamp • Optimized releasing of the axis clamp via travel command • Automatic stopping for setting of the clamp the "Look Ahead"...
Page 84 Detailed Description 2.1 Motion monitoring functions Example: After insertion of the part program blocks N320 and N420 into the part program used in the examples, the function behaves as follows: N100 G0 X0 Y0 Z0 A0 G90 G54 F500 N101 G641 ADIS=.1 ADISPOS=5 N210 G1 X10...
Page 85 Detailed Description 2.1 Motion monitoring functions Block change criterion: Clamping tolerance After activation of clamp monitoring: DB31, ... DBX2.3 = 1 (clamping in progress) the block change criterion for traversing blocks, in which the axis stops at the end of the block, no longer acts as the corresponding exact stop condition but the configured clamping tolerance: MD36050 $MA_CLAMP_POS_TOL...
Page 86 Detailed Description 2.1 Motion monitoring functions 2.1.7 Speed setpoint monitoring Function The speed setpoint comprises: • Speed setpoint of the position controller • Speed setpoint portion of the feedforward control (with active feedforward control only) • Dift compensation (only for drives with analog setpoint interface) Fig.
Page 87 Detailed Description 2.1 Motion monitoring functions Speed setpoint monitoring delay To prevent an error reaction from occurring in every speed limitation instance, a delay time can be configured. Only if the speed limitation is required for longer than the configured time does the corresponding error reaction occur.
Page 88 Detailed Description 2.2 Encoder monitoring Activation Actual velocity monitoring is activated as soon as the active measuring system: DB31, ... DBX1.5 / 1.6 (position measuring system 1 / 2) supplies valid actual values (encoder limit frequency is not exceeded). Effectivity The actual velocity monitoring only operates with active position control and the following axis types: •...
Page 89 Detailed Description 2.2 Encoder monitoring Effectivity The encoder limit frequency always refers to the active measuring system selected in the NC/PLC interface: DB31, ... DBX1.5 / 1.6 (position measuring system 1 / 2) The encoder limit frequency is operative for: •...
Page 90 Detailed Description 2.2 Encoder monitoring 2.2.2 Zero mark monitoring Function The zero mark monitoring monitors the number of encoder impulses between two encoder zero marks of the active measuring system. In a properly functioning measuring system, the number of encoder impulses detected from encoder zero mark to encoder zero mark must remain the same.
Page 91 Detailed Description 2.2 Encoder monitoring The type of zero mark monitoring depends on the type of encoder used: encoder type MD30240 $MA_ENC_TYPE = < > Encoder Meaning type Simulation Raw signal generators (voltage, current, EXE etc.) -> High resolution Rectangular signal encoder (standard, no. of PPRs quadrupled) Encoder for stepper motor Absolute value encoder - SIMODRIVE 611D: absolute encoder with EnDat interface only...
Page 92 Detailed Description 2.2 Encoder monitoring Passive measuring system The following occurs when the zero mark monitoring is initiated: Axis identifier • Alarm: " 25020 Axis < > Zero mark monitoring of passive encoders" The alarm is only displayed. Note Absolute encoders In the event of a fault, the adjustment of the absolute encoder is lost and the axis is no longer referenced.
Page 93 Detailed Description 2.2 Encoder monitoring 2.2.3 Hardware faults and contamination signal Function Monitoring of the measuring systems of a machine axis with regard to: • Hardware faults • Contamination of the measuring system Fault case In the event of an error: Axis identifier •...
Page 94 Detailed Description 2.3 Monitoring of static limits Monitoring of static limits 2.3.1 Overview of the limit switch monitoring Overview of possible limit switch monitoring functions: Fig. 2-8 Travel limits 2.3.2 Hardware limit switches Function A hardware limit switch is normally installed at the end of the traversing range of a machine axis.
Page 95 Detailed Description 2.3 Monitoring of static limits Braking behavior The braking behavior of the machine axis upon reaching the hardware limit switch is configurable via: Braking behavior MD36600 $MA_BRAKE_MODE_CHOICE = < > Braking behavior: • 0: Braking with the configured axial acceleration •...
Page 96 Detailed Description 2.3 Monitoring of static limits Effectivity • Immediately after the successful referencing of the machine axis. • In all operating modes. Constraints • The software limit switches refer to the machine coordinate system. • The software limit switches must be inside the range of the hardware limit switches. •...
Page 97 Detailed Description 2.3 Monitoring of static limits Manual operating modes 1. JOG without transformation The machine axis stops at the software limit switch position. 2. JOG with transformation The machine axis stops at the software limit switch position. Other machine axes participating in the traversing motion are braked.
Page 98 Detailed Description 2.3 Monitoring of static limits Working area limitation and tool data For traversing motions with an active tool, not only the position of the axis but also the position of the tool tip P is monitored. Consideration of the tool radius must be activated separately: MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS (Consideration of the tool radius in the working area limitation) Fig.
Page 99 Detailed Description 2.3 Monitoring of static limits Programmable working area limitation The activation/deactivation of the programmable working area limitation takes place via the part program instructions: • WALIMON (Working area limitation ON) • WALIMOF (Working area limitation OFF) Changing the working area limitation •...
Page 100 Detailed Description 2.3 Monitoring of static limits Effect Automatic operating modes 1. With / without transformation The part program block with a programmed traversing motion that would lead to overrunning of the working area limitation is not started. 2. With overlaid motion The part program block with a programmed traversing motion that would lead to overrunning of the working area limitation is started.
Page 101 Detailed Description 2.4 Protection zones Protection zones 2.4.1 General Function Protection zones are static or moveable in 2- or 3-dimensional ranges within a machine to protect machine elements against collisions. The following elements can be protected: • Permanent parts of the machine and attachments (e.g.
Page 102 Detailed Description 2.4 Protection zones Reference • Tool-related protection zones Coordinates for toolrelated protection zones must be given as absolute values referred to the tool carrier reference point F. • Workpiece-related protection zones Coordinates for workpiecerelated protection zones must be given as absolute values referred to the zero point of the basic coordinate system.
Page 103 Detailed Description 2.4 Protection zones Maximum number of protection areas The maximum definable number of machine- and channel-related protection zones is set via: MD18190 $MM_NUM_PROTECT_AREA_NCK (Number of files for machine-related protection zones) MD28200 $MM_NUM_PROTECT_AREA_CHAN (Number of files for channel-specific protection zones) Absolute and relative protection zones The coordinates of a protection zone must always be programmed as absolute values with respect to the reference point of the protection zone.
Page 104 Detailed Description 2.4 Protection zones Fig. 2-11 Example of a milling machine Fig. 2-12 Example of a turning machine with relative protection zone for tailstock Axis Monitoring, Protection Zones (A3) 2-32 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 105 Detailed Description 2.4 Protection zones 2.4.3 Definition via part program instruction General A protection zone definition must contain the following information: • Protection zone type (workpiece- or tool-related) • Orientation of protection zone • Type of limitation in the third dimension •...
Page 106 Detailed Description 2.4 Protection zones Definition beginning The definition start is defined by the corresponding subroutine: • CPROTDEF(n, t, applim, appplus, appminus) • NPROTDEF(n, t, applim, appplus, appminus) Parameters Type Description Number of the defined protection zone BOOL Tool-related protection zone TRUE: Tool-related protection zone FALSE: Workpiece-related protection zone Type of limitation in the third dimension...
Page 107 Detailed Description 2.4 Protection zones Fig. 2-13 Examples: External and internal protection zone Toolrelated protection zones must be convex. If a concave protection zone is required, the protection zone must be divided up into several convex protection zones. Fig. 2-14 Examples: Convex and concave tool-related protection zones Contour elements The following contour elements are permissible:...
Page 108 Detailed Description 2.4 Protection zones A protection zone cannot be described by a complete circle. A complete circle must be divided into two half circles. The sequence G2, G3 or G3, G2 is not permitted. A short G1 block must be inserted between the two circular blocks.
Page 109 Detailed Description 2.4 Protection zones The same supplementary conditions apply for the definition of the contour of a protection zone as for a protection zone definition via part program instructions. System variable The protection zone definitions include the following system variables: System variable Type Meaning...
Page 110 Detailed Description 2.4 Protection zones System variable Type Meaning $SN_PA_CENT_ABS[n REAL Center point of the circular contour[i], absolute abscissa value , i] $SC_PA_CENT_ABS[n , i] $SN_PA_CENT_ORD[ REAL Center point of the circular contour[i], absolute ordinate value n, i] $SC_PA_CENT_ORD[ n, i] $SN_...
Page 111 Detailed Description 2.4 Protection zones 2.4.5 Activation and deactivation of protection zones General The activation status of a protection zone is: • Preactivated • Preactivated with conditional stop • Enabled • Disabled A protection zone is monitored for violation only when it is activated. Activation The activation of a protection zone can take place through: •...
Page 112 Detailed Description 2.4 Protection zones Deactivation A protection zone can be deactivated from a part program only. RESET response The activation status of a protection zone is retained even after NC-RESET and program end. Memory requirements The memory requirements with regard to protection zones are defined with the following parameters: •...
Page 113 Detailed Description 2.4 Protection zones Activation via PLC user program A protection zone preactivated in the part program can be activated in the PLC user program. Preactivated protection zones The NC indicates the preactivated protection zones: DB21, ... DBX272.0 - 273.1 (machine-related protection zone 1 - 10 preactivated) DB21, ...
Page 114 Detailed Description 2.4 Protection zones Automatic activation after the control powers up The configuration for automatic activation of a protection zone after the control powers up is performed via the following system variables: • Channel-specific protection zone: $SC_PA_ACTIV_IMMED[ n ] •...
Page 115 Detailed Description 2.4 Protection zones On NC RESET all the enabled protection zones become active again. If the part program or jog mode is started again, the protection zones must be reenabled. If the current position lies within a protection zone that becomes active again after NC RESET, this protection zone must be enabled again on the first path movement.
Page 116 Detailed Description 2.4 Protection zones Behavior in the AUTOMATIC and MDI operating modes Protection zones are not overrun in Automatic modes: • If the movement in a block is from outside into the protection zone (N30), deceleration is executed toward the end of the previous block (N20) and the movement is stopped. –...
Page 117 Detailed Description 2.4 Protection zones Only workpiecerelated protection zones can be enabled temporarily with NC start and traversed by all toolrelated protection zones including the programmed path. If on NC-START the preactivated tool or workpiecerelated protection zone is deactivated by the PLC after the alarm, machining is continued without the protection zone being enabled temporarily.
Page 118 Detailed Description 2.4 Protection zones Note The end position for positioning axes is taken to be a position in the whole block. This means that the alarm 10704 "Protection zones not guaranteed" is output when the positioning axis starts to move. The overlaid motions themselves are not limited, nor is there any intervention in processing of the program.
Page 119 Detailed Description 2.4 Protection zones 2. If the position is within an active protection zone, the alarm "Protection zone violated in JOG" is generated, thereby disabling any traversing motions. The appropriate PLC interface signals "Machinespecific or channelspecific protection zone violated" are also set.
Page 120 Detailed Description 2.4 Protection zones Temporary release of protection zones Protection zones can be enabled in JOG mode when: 1. the current position is within a protection zone (alarm active) 2. a motion is to be started on the protection zone limit (alarm active) A protection zone is enabled when: •...
Page 121 Detailed Description 2.4 Protection zones Positioning axes For positioning axes, only the programmed block end point is monitored. An alarm is displayed during the traversing motion of the positioning axes: Alarm: " 10704 Protection zone monitoring is not guaranteed" Axis exchange If an axis is not active in a channel because of an axis replacement, the position of the axis last approached in the channel is taken as the current position.
Page 122 Detailed Description 2.4 Protection zones Axis Monitoring, Protection Zones (A3) 2-50 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 123 Supplementary Conditions Axis monitoring functions Settings For correct operation of the monitoring, the following settings must be made or checked, in addition to the machine data mentioned: General • MD31030 $MA_LEADSCREW_PITCH (Leadscrew pitch) • MD31050 $MA_DRIVE_AX_RATIO_DENOM (Denominator load gearbox) • MD31060 $MA_DRIVE_AX_RATIO_NUMERA (Numerator load gearbox) •...
Page 124 Supplementary Conditions 3.1 Axis monitoring functions Axis Monitoring, Protection Zones (A3) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 125 Examples Definition and activation of protection zones Requirement The following internal protection zones are to be defined for a turning machine: • One machine- and workpiecerelated protection zone for the spindle chuck, without limitation in the third dimension • One channelspecific protection zone for the workpiece, without limitation in the third dimension •...
Page 126: Table 4-1 Part Program Excerpt For Protection Zone Definition
Examples 4.1 Definition and activation of protection zones Fig. 4-1 Example of protection zones on a lathe Protection zone definition in the part program Table 4-1 Part program excerpt for protection zone definition: DEF INT AB ; Definition of the working plane NPROTDEF(0,FALSE,0,0,0) NPROTDEF(1,FALSE,0,0,0) ;...
Page 127 Examples 4.1 Definition and activation of protection zones EXECUTE(AB) ; End of definition: Protection zone for workpiece CPROTDEF(2,TRUE,0,0,0) ; Definition beginning: Protection zone for tool holder G01 X0 Z-50 ; Contour description: 1. Contour element G01 X-190 Z-50 ; Contour description: 2. Contour element G03 X-210 Z-30 I-20 ;...
Page 128 Examples 4.1 Definition and activation of protection zones $SN_PA_CONT_ORD[0, -100 ; Endpoint of contour[i], ordinate value ; Protection zone for spindle chuck, contour element 0 $SN_PA_CONT_ORD[0, -100 ; Endpoint of contour[i], ordinate value ; Protection zone for spindle chuck, contour element 1 $SN_PA_CONT_ORD[0, ;...
Page 129 Examples 4.1 Definition and activation of protection zones $SN_PA_CENT_ORD[0. ; Midpoint of contour[i], ordinate value ; Protection zone for spindle chuck, contour element 4 $SN_PA_CENT_ORD[0. ; Midpoint of contour[i], ordinate value ; Protection zone for spindle chuck, contour element 5 $SN_PA_CENT_ORD[0.
Page 130 Examples 4.1 Definition and activation of protection zones $SC_PA_LIM_3DIM[1] ; Type of limitation in the third dimension: 0 = no limitation ; Protection zone for tool holder $SC_PA_PLUS_LIM[0] ; Value of limitation in positive direction in the third dimension ; Protection zone for workpiece $SC_PA_PLUS_LIM[1] ;...
Page 131 Examples 4.1 Definition and activation of protection zones $SN_PA_CONT_TYP[1, ; Contour type[i] : 0 = not defined, ; Protection zone for tool holder, contour element 7 $SN_PA_CONT_TYP[1, ; Contour type[i] : 0 = not defined, ; Protection zone for tool holder, contour element 8 $SN_PA_CONT_TYP[1, ;...
Page 132 Examples 4.1 Definition and activation of protection zones $SN_PA_CONT_ABS[0, ; Endpoint of contour[i], abscissa value ; Protection zone for workpiece, contour element 1 $SN_PA_CONT_ABS[0, ; Endpoint of contour[i], abscissa value ; Protection zone for workpiece, contour element 2 $SN_PA_CONT_ABS[0, ; Endpoint of contour[i], abscissa value ;...
Page 133 Examples 4.1 Definition and activation of protection zones $SN_PA_CENT_ORD[0. ; Midpoint of contour[i], ordinate value ; Protection zone for workpiece, contour element 5 $SN_PA_CENT_ORD[0. ; Midpoint of contour[i], ordinate value ; Protection zone for workpiece, contour element 6 $SN_PA_CENT_ORD[0. ; Midpoint of contour[i], ordinate value ;...
Page 134 Examples 4.1 Definition and activation of protection zones $SN_PA_CENT_ABS[0. ; Midpoint of contour[i], abscissa value ; Protection zone for workpiece, contour element 9 $SN_PA_CENT_ABS[1. ; Midpoint of contour[i], abscissa value ; Protection zone for tool holder, contour element 0 $SN_PA_CENT_ABS[1. ;...
Page 135 Data Lists Machine data 5.1.1 NC-specific machine data Axis monitoring functions None Protection zones Number Identifier: $MN_ Description 10604 WALIM_GEOAX_CHANGE_MODE Working area limitation during switchover of geometry axes 10618 PROTAREA_GEOAX_CHANGE_MODE Protection zone for switchover of geo axes 18190 MM_NUM_PROTECT_AREA_NCK Number of files for machinerelated protection zones 5.1.2 Channelspecific machine data Axis monitoring functions...
Page 136 Data Lists 5.1 Machine data Protection zones Number Identifier: $MC_ Description 28200 MM_NUM_PROTECT_AREA_CHAN Number of files for channelspecific protection zones 28210 MM_NUM_PROTECT_AREA_ACTIVE Number of simultaneously active protection zones in one channel 28212 MM_NUM_PROTECT_AREA_CONTUR Elements for active protection zones (DRAM) 5.1.3 Axis/spindlespecific machine data Axis monitoring functions Number...
Page 137: Axis/Spindlespecific Setting Data
Data Lists 5.2 Setting data Number Identifier: $MA_ Description 36300 ENC_FREQ_LIMIT Encoder limit frequency 36302 ENC_FREQ_LIMIT_LOW Encoder limit frequency resynchronization 36310 ENC_ZERO_MONITORING Zero mark monitoring 36400 CONTOUR_TOL Tolerance band contour monitoring 36500 ENC_CHANGE_TOL Maximum tolerance for position actual value switchover 36600 BRAKE_MODE_CHOICE Deceleration behavior on hardware limit switch...
Page 138: 5.3 Signals
Data Lists 5.3 Signals Signals 5.3.1 Signals to channel Axis monitoring functions None Protection zones DB number Byte.Bit Description 21, ... Enable protection zones 21, ... Feed override 21, ... Feed disable 21, ... Activate machinerelated protection zone 1 21, ... Activate machinerelated protection zone 8 21, ...
Page 139: Signals To Axis
Data Lists 5.3 Signals DB number Byte.Bit Description 21, ... 273.1 Machinerelated protection zone 10 preactivated 21, ... 274.0 Channelspecific protection zone 1 preactivated 21, ... 274.7 Channelspecific protection zone 8 preactivated 21, ... 275.0 Channelspecific protection zone 9 preactivated 21, ...
Page 140 Data Lists 5.3 Signals Axis Monitoring, Protection Zones (A3) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 141: Index
Index Activation of protection zones MD10604, 2-43 Example, 4-10 MD10618, 2-43 Axis clamping MD18190, 2-31 Operations, optimized, 2-7 MD20150, 2-27 Axis monitoring functions, 1-1 MD21020, 2-26 Actual velocity, 2-15 MD28200, 2-31 Axis/spindlespecific machine data, 5-2 MD28210, 2-40 Axis/spindlespecific setting data, 5-3 MD28212, 2-40 Channelspecific machine data, 5-1 MD30310, 2-24, 2-27...
Page 142 Index MD36400, 2-2 Protection zone violation, 2-42 MD36600, 2-23 Protection zones, 1-1, 2-29 MD36610, 2-3, 2-5, 2-6, 2-7, 2-15, 2-16, 2-17, 2-19, Channelspecific machine data, 5-2 2-21 Data storage, 2-38 Monitoring of static limits, 2-22 General machine data, 5-1 Motion monitoring functions, 2-1 SD43400, 2-26 Orientation, 2-30 SD43410, 2-26...
Page 143 LookAhead (B1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 144 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 145 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 General ............................2-1 2.1.1 Parameterization of the reset response..................2-1 2.1.2 Block change and positioning axes ................... 2-1 2.1.3 Block change delay........................2-1 Exact stop ..........................2-2 Continuous-path mode....................... 2-6 2.3.1 General ............................
Page 146 Contents Continuous-Path Mode, Exact Stop, LookAhead (B1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 147 Brief Description Brief description Continuous-path mode In continuous-path traversing mode, the NC attempts to keep the programmed path velocity as constant as possible. In particular, deceleration of the path axes at the block limits of the part program is to be avoided. Exact stop mode In exact stop traversing mode, all axes involved in the traversing motion (except axes of modal traversing modes) are decelerated at the end of each block until they come to a...
Page 148 Brief Description 1.1 Brief description • Improved surface quality by avoiding deceleration and acceleration processes. Smoothing the path velocity "Smoothing the path velocity" is a function especially for applications (such as high speed milling in mold and die production) that require an extremely steady path velocity. Deceleration and acceleration processes that would cause high-frequency excitations of machine resonances are avoided with the "Smoothing the path velocity"...
Page 149 Detailed Description General 2.1.1 Parameterization of the reset response The initial setting assigned to each channel is activated by Reset: MD20150 $MC_GCODE_RESET_VALUES (reset of G-groups) The initial setting can be specified for exact stop and continuous-path modes and exact stop criterion.
Page 150 Detailed Description 2.2 Exact stop Consequences If a block change cannot be executed in continuous-path mode, all axes programmed in this part program block (except modal special axes) are stopped. In this case, contour errors do not occur. The stopping of the path axes during machining can cause undercuts on the workpiece surface.
Page 151 Detailed Description 2.2 Exact stop State of the machine axis The state of a machine axis that refers to the position difference relative its setpoint position at the end of a traversing motion is also designated as an exact stop. The machine axis reaches the "exact stop"...
Page 152 Detailed Description 2.2 Exact stop Block change depending on exact stop criteria The figure below illustrates the block change timing in terms of the selected exact stop criterion. Fig. 2-2 Block change accordance to selected exact stop criterion Activation of an exact stop criterion An exact stop criterion is activated in the part program by programming the following G- functions: •...
Page 153 Detailed Description 2.2 Exact stop This specification can be made independently for each of the following part program commands: • Rapid traverse: G0 • Machining commands: G1, G2, G3, CIP, ASPLINE, BSPLINE, CSPLINE, POLY, G33, G34, G35, G331, G332, OEMIPO01, OEMIPO02, CT The setting is made for each channel with the following machine datum: MD20550 $MC_EXACT_POS_MODE (exact stop conditions for G00 and G01) Coding...
Page 154 Detailed Description 2.3 Continuous-path mode Continuous-path mode 2.3.1 General Continuous-path mode In continuous-path mode, the path velocity is not decelerated for the block change in order to permit the fulfillment of an exact stop criterion. The objective of this mode is to avoid rapid deceleration of the path axes at the block-change point so that the axis velocity remains as constant as possible when the program moves to the next block.
Page 155 Detailed Description 2.3 Continuous-path mode • If a positioning axis is declared to be the geometry axis, the previous block is terminated at the interpolator end when the geometry axis is programmed. • If a synchronized axis is programmed that was last programmed as a positioning axis or spindle (initial setting of the special axis is positioning axis), the previous block is ended at the interpolator end.
Page 156 Detailed Description 2.3 Continuous-path mode Acknowledgment outside of travel time If, due to the programmed path length and the velocity of the block with auxiliary-function output, the travel time is shorter than that set in machine data: MD10110 PLC_CYCLE_TIME_AVERAGE LookAhead deceleration is applied to the path velocity for the block, so that the duration of the block corresponds to the time set.
Page 157 Detailed Description 2.3 Continuous-path mode Overload factor The overload factor restricts step changes in the machine axis velocity at block ends. So that the velocity jump does not exceed the maximum load on the axis, the jump is derived from the acceleration of the axis.
Page 158 Detailed Description 2.3 Continuous-path mode Implicit continuous-path mode If it is not possible to insert approximate positioning blocks due to the very short block path lengths (e.g., zero-clocked blocks) in continuous-path mode with approximate positioning G641, the mode is switched over to continuous-path mode G64. The figure below shows how the function velocity drops according to an overload factor.
Page 159 Detailed Description 2.3 Continuous-path mode 2.3.3 Rounding according to path criterion Blending Rounding means that an angular block transition is changed to a tangential block transition by a local change to the programmed feedrate. Rounding replaces the area in the vicinity of the original angular block transition (including transitions between blocks inserted by the CNC) by a continuous contour.
Page 160 Detailed Description 2.3 Continuous-path mode No intermediate rounding blocks An intermediate rounding block is not inserted in the following situations: The axis stops between the two blocks. This occurs when ... The auxiliary function output is programmed before the movement in the following block. The following block does not contain a path movement.
Page 161 Detailed Description 2.3 Continuous-path mode Rounding behavior with synchronized paths Angular path Smooth Intermediate block, the geometry axes perform rounding, all orientation/synchronized axis paths are smoothed Angular path Angular path intermediate block, the geometry axes perform rounding, all orientation/synchronized axis paths are smoothed Path criterion The size of the rounding area can be controlled by path criteria ADIS and ADISPOS.
Page 162 Detailed Description 2.3 Continuous-path mode Scope of the path criterion • ADIS or ADISPOS must be programmed. If the default is "zero", G641 behaves like G64. • If only one of the blocks involved is rapid traverse G00, the smaller rounding distance applies.
Page 163 Detailed Description 2.3 Continuous-path mode ADIS or ADISPOS is therefore reduced to the remaining 40% of the distance to be traversed. This algorithm prevents a rounding block being inserted for a very small change in contour. In this case, switchover to continuous-path mode G64 is automatic until rounding blocks can be inserted again.
Page 164 Detailed Description 2.3 Continuous-path mode Contour tolerance A contour tolerance is specified using setting data: SD42465 SMOOTH_CONTUR_TOL This setting data defines the maximum rounding tolerance for the contour. Orientation tolerance An orientation tolerance is specified using setting data: SD42466 SMOOTH_ORI_TOL This setting data defines the maximum rounding tolerance for the tool orientation.
Page 165 Detailed Description 2.3 Continuous-path mode MD20480 SMOOTHING_MODE must be loaded with two decimal places as follows: Combination of the two options 1x and 2x. Combination of the two options 1x and 2x. i.e., the following tolerances are used for i.e., the following tolerances are used for G642: G643: SD42465 SMOOTH_CONTUR_TOL...
Page 166 Detailed Description 2.3 Continuous-path mode Expansion Rounding with G642 and G643 has been extended so that the length of the rounding distance can be specified directly instead of entering the maximum tolerances. As with G641, the language commands ADIS = ... for G01 and ADISPOS = ... for G00 are used respectively for this purpose.
Page 167 Detailed Description 2.3 Continuous-path mode 2.3.4 Rounding with maximum possible dynamic response on each axis How this type of rounding differs from existing types Unlike existing rounding types, which are activated with G codes G641, G642 and G643, in this case, the maximum possible dynamic response on each axis takes priority. Activation This type of rounding is activated by G code G644.
Page 168 Detailed Description 2.3 Continuous-path mode 3xxx: Any axis that has a velocity jump at a corner traverses around the corner with the maximum possible dynamic response (maximum acceleration and maximum jerk). SOFT: The jerk is limited. BRISK: When BRISK is active, only the acceleration is limited to its maximum value.
Page 169 Detailed Description 2.3 Continuous-path mode 2.3.5 Smoothing the path velocity Application In some applications in mold making, especially in the case of high speed cutting, it is desirable to achieve a constant path velocity. Response without smoothing The velocity control function utilizes the specified axial dynamic response. If the programmed feedrate cannot be achieved, the path velocity is brought to the parameterized axial limit values and the limit values of the path (velocity, acceleration, jerk).
Page 170 Detailed Description 2.3 Continuous-path mode Setting parameters for path smoothing The user can define the following parameters to set the path smoothing: • Use of MD20460 to increase machining time If the velocity is not accelerated, it will take longer to process this part program (see example).
Page 171 Detailed Description 2.3 Continuous-path mode MD32440 Machine data: MD32440 LOOKAH_FREQUENCY contains a smoothing frequency for LookAhead. Acceleration and braking operations, which take place at a higher frequency than that set in this MD, are smoothed in machine data MD20460 LOOKAH_SMOOTH_FACTOR MD20465 ADAPT_PATH_DYNAMIC on the basis of the parameter settings or the dynamic response is reduced.
Page 172 Detailed Description 2.3 Continuous-path mode Example The following parameters are assumed: MD20460 LOOKAH_SMOOTH_FACTOR = 10% MD32440 LOOKAH_FREQUENCY[AX1] = 20Hz MD32440 LOOKAH_FREQUENCY[AX2] = 20Hz MD32440 LOOKAH_FREQUENCY[AX3] = 10Hz The path involves the 3 axes X = AX1, Y = AX2, Z = AX3. The minimum value of MD32440 LOOKAH_FREQUENCY for these 3 axes is thus 10 Hz.
Page 173 Detailed Description 2.3 Continuous-path mode However, a time t2-t1 below 200 ms and additional program processing time t3-t2 no greater than 10% of t2-t1 produces this time characteristic: Fig. 2-7 Characteristic of the smoothed path velocity 2.3.6 Dynamic response adaptation Key statement Highly dynamic acceleration and deceleration processes during machining can cause excitation of mechanical vibrations of machine elements and consequently a reduction of the...
Page 174 Detailed Description 2.3 Continuous-path mode Constraints The dynamic response adaptation considers only the resulting path and not the deceleration and acceleration processes of the individual axes involved in the path. For this reason, critical deceleration and acceleration processes of the axes with respect to the excitation of mechanical vibrations can occur due to discontinuous contour profiles or kinematic transformations, even with a constant path velocity profile.
Page 175 Detailed Description 2.3 Continuous-path mode Adaptations In order to clarify the adaptation processes sketched below, please note the following basic principles: The size of the time window is t = 1 / adapt 1. The time needed to change the velocity is less than t adapt The acceleration rates are increased by a factor of 1 and decreased by the value written in machine data:...
Page 176 Detailed Description 2.3 Continuous-path mode Fig. 2-8 Path velocity profile optimized for time without smoothing or dynamic adaptation response Fig. 2-9 Path velocity profile with adaptation of dynamic response • Interval: t0 - t1 and t2 - t3 The acceleration process between t0 - t1 and the deceleration process between t2 - t3 are lengthened in time due to an adaptation of the acceleration to time t and t adapt01...
Page 177 Detailed Description 2.3 Continuous-path mode Example 2: Effect of smoothing the path velocity and dynamic response adaptation: acceleration mode: BRISK Parameter assignment Machine data $MC_ADAPT_PATH_DYNAMIC[0] = 3 $MC_LOOKAH_SMOOTH_FACTOR = 80% $MA_LOOKAH_FREQUENCY[AX1] = 20 Hz = 1/20 Hz = 50 ms $MA_LOOKAH_FREQUENCY[AX2] = 20 Hz = 1/20 Hz = 50 ms $MA_LOOKAH_FREQUENCY[AX3] = 20 Hz...
Page 178 Detailed Description 2.3 Continuous-path mode Effects of path smoothing • Interval: t1 - t2 The acceleration and deceleration process between t1 - t2 does not take place because the lengthening of the machining time without the acceleration process to v12 is less than the resulting time if a smoothing factor of 80% is applied.
Page 179 Detailed Description 2.3 Continuous-path mode Without path dynamic response adaptation or path smoothing The path-velocity characteristic has been obtained through deselection of path dynamic response adaptation and path smoothing. This corresponds to the following parameter settings: $MC_ADAPT_PATH_DYNAMIC[1] = 1 $MC_LOOKAH_SMOOTH_FACTOR = 0% With path dynamic response adaptation, without path smoothing The path-velocity characteristic has been obtained through selection of path dynamic response adaptation with minimum, and thus virtually inactive, path smoothing.
Page 180 Detailed Description 2.3 Continuous-path mode The following parameter settings were made: $MC_ADAPT_PATH_DYNAMIC[1] = 4 $MC_LOOKAH_SMOOTH_FACTOR = 1% With path dynamic response adaptation and path smoothing The path-velocity characteristic has been obtained through selection of path dynamic response adaptation and path smoothing. The standard path rounding parameter settings for deselected path smoothing and active path dynamic response adaptation were selected: $MC_ADAPT_PATH_DYNAMIC[1] = 4...
Page 181 Detailed Description 2.3 Continuous-path mode 1. Deactivate the dynamic response adaptation: MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1 2. Observe the positioning behavior of each path axis at different traversing velocities. When doing so, set the jerk such that the desired positioning tolerance is maintained. Note The higher the traversing velocity from which the positioning process is started, the higher in general the jerk can be set.
Page 182 Detailed Description 2.3 Continuous-path mode The dynamic response for these axis movements is still derived from the machine data of the DYNNORM default setting. Technology G group Five dynamic response settings are available in G code group 59 technology: • DYNORM for standard dynamic response •...
Page 183 Detailed Description 2.3 Continuous-path mode Value frange for index n = 0 to 4 Example of programming with index: MD32300: MAX_AX_ACCEL[3, AX1]=1 R1=MD20602: CURV_EFECT_ON_PATH_ACCEL[4] Notice Writing the machine data without an index places the same value in all field elements of the machine data in question.
Page 184 Detailed Description 2.4 LookAhead LookAhead Function LookAhead is a procedure in continuous-path mode (G64, G641) that achieves velocity control with LookAhead over several NC part program blocks beyond the current block. If the program blocks only contain very small paths, a velocity per block is achieved that permits deceleration of the axes at the block end point without violating acceleration limits.
Page 185 Detailed Description 2.4 LookAhead Scope The LookAhead function is only available for path axes and not for spindles and positioning axes. LookAhead carries out a block-specific analysis of velocity limits and specifies the required brake ramp profile based on this information. LookAhead is adapted automatically to block length, braking capacity and permissible path velocity.
Page 186 Detailed Description 2.4 LookAhead The 31st override value must tally with the override factor most frequently used. The number of blocks considered by the LookAhead function is limited by the possible number of NC blocks in the IPO buffer. Fig. 2-13 Example for modal velocity control (number of blocks considered by the LookAhead function = 2) Velocity profiles...
Page 187 Detailed Description 2.4 LookAhead Override points If the velocity profile of the following block velocity is not sufficient because, for example, very high override values, e.g., 200%, or constant cutting rate G96/G961 are being used, with the result that the velocity must be further reduced in the following block, LookAhead provides a way of reducing the programmed velocity over several NC blocks.
Page 188 Detailed Description 2.4 LookAhead Fig. 2-14 Example for limiting velocity characteristics with number of LookAhead blocks = 4 ... and the following settings: MD20430 LOOKAH_NUM_OVR_POINTS = 2 MD20440 LOOKAH_OVR_POINTS = 1.5, 0.5 MD20400 LOOKAH_USE_VELO_NEXT_BLOCK = 1 Block cycle problem Block cycle problems are encountered in cases where the traversing distances of the NC blocks to be processed are so short that the LookAhead function has to reduce the machine velocity to provide enough time for block processing.
Page 189 Detailed Description 2.5 NC block compressor COMPON, COMPCURV, -CAD Special cases of LookAhead Axis-specific feed stop and axis-specific axis disable are ignored by LookAhead. If an axis is to be interpolated that should on the other hand be made stationary by axis- specific feed stop or axis disable, LookAhead does not stop path movement before the block in question but decelerates in the block itself.
Page 190 Detailed Description 2.5 NC block compressor COMPON, COMPCURV, -CAD The following three machine data are available for the compressor function: MD20170 COMPRESS_BLOCK_PATH_LIMIT This MD specifies the maximum path length for block compression. Longer blocks are not compressed. MD33100 COMPRESS_POS_TOL A tolerance can be specified for each axis. This value specifies the maximum deviation of the generated spline curve from the programmed end points.
Page 191 Detailed Description 2.5 NC block compressor COMPON, COMPCURV, -CAD If not, the value can be increased to 0.02, for example: MD33100 COMPRESS_POS_TOL[AX1] = 0.02 MD33100 COMPRESS_POS_TOL[AX2] = 0.02 MD33100 COMPRESS_POS_TOL[AX3] = 0.02 NewConfig Activating the MD values The new values are activated after the NewConfig command. The rounding function G642 and jerk limitation SOFT can be used to achieve further improvements in surface quality.
Page 192 Detailed Description 2.5 NC block compressor COMPON, COMPCURV, -CAD Continuous-Path Mode, Exact Stop, LookAhead (B1) 2-44 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 193 Supplementary Conditions Rounding and repositioning (REPOS) Repositioning within the rounding area If the traversing motion of the path axes within the corner rounding area is interrupted for traversing blocks with programmed rounding (part program command G641, G642, G643 or G644), repositioning occurs as follows in the event of a subsequent REPOS operation, depending on the current REPOS mode: REPOS mode Block start of interrupted traversing block...
Page 194 Supplementary Conditions 3.2 Smoothing the path velocity Example Two traversing blocks N10 and N20 with programmed rounding G641. In the rounding area, the traversing motion is interrupted and the axes are subsequently traversed, e.g., manually to the REPOS starting point. Repositioning on the contour takes place differently, depending on the active REPOS mode.
Page 195 Examples Example of jerk limitation on the path N1000 G64 SOFT ; Continuous-path mode with SOFT acceleration characteristics N1004 G0 X-20 Y10 N1005 G1 X-20 Y0 ; Straight N1010 G3 X-10 Y-10 I10 ; Block transition with jump in path curvature (straight - circular) N1011 G3 X0 Y0 J10 ;...
Page 196 Examples 4.1 Example of jerk limitation on the path Continuous-Path Mode, Exact Stop, LookAhead (B1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 197 Data Lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10110 PLC_CYCLE_TIME_AVERAGE Maximum PLC acknowledgment time 18360 MM_EXT_PROG_BUFFER_SIZE FIFO buffer size for processing from external 5.1.2 Channel-specific machine data Number Identifier: $MC_ Description 20170 COMPRESS_BLOCK_PATH_LIMIT Maximum traversing length of NC block for compression 20400 LOOKAH_USE_VELO_NEXT_BLOCK...
Page 198 Data Lists 5.2 Setting data Number Identifier: $MC_ Description 28520 MM_MAX_AXISPOLY_PER_BLOCK Maximum number of axis polynomials per block 28530 MM_PATH_VELO_SEGMENTS Number of storage elements for limiting path velocity in block 28540 MM_ARCLENGTH_SEGMENTS Number of storage elements for arc length function representation per block 5.1.3 Axis/spindle-specific machine data...
Page 199 Data Lists 5.3 Signals Signals 5.3.1 Signals from channel DB number Byte.Bit Description 21, ... 36.3 All axes stationary 5.3.2 Signals to axis/spindle DB number Byte.Bit Description 31, ... 60.6 Position reached with exact stop coarse 31, ... 60.7 Position reached with exact stop fine Continuous-Path Mode, Exact Stop, LookAhead (B1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 200 Data Lists 5.3 Signals Continuous-Path Mode, Exact Stop, LookAhead (B1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 201 Index Number of blocks, 2-37 Override, 2-39 Selection and deselection, 2-40 Velocity profiles, 2-38 Adaptation Dynamic Response, 1-2 Auxiliary function output, 2-7 MD settings NC block compressor, 2-42 MD10110, 2-7, 2-8 Blending, 2-11 MD12030, 2-38, 2-39 Block-change point, 2-6 MD12100, 2-38, 2-39 MD18360, 2-42 MD20150, 2-33 MD20170, 2-42...
Page 202 Index Orientation axes, 2-11 SD42465, 2-16 Overload factor, 2-9 SD42466, 2-16 SD42470, 2-42 SPOS, 2-7 Synchronized axes, 2-7, 2-12 Path criterion, 2-13 POS, 2-7 Velocity reduction according to overload factor, 2-8 Rounding with contour tolerance, 2-15 Continuous-Path Mode, Exact Stop, LookAhead (B1) Index-2 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 203 Data Lists Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 204 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 205 Contents Brief Description ............................. 1-1 Customer benefit........................1-1 Features ............................. 1-1 Prerequisites ..........................1-3 Detailed Description..........................2-1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) ......2-1 2.1.1 Detailed description ........................2-1 2.1.1.1 General information ........................2-1 2.1.1.2 Programmable maximum value (axis-specific) ................2-3 2.1.2 Activation............................
Page 206 Contents 2.6.2 Activation..........................2-12 2.6.3 Programming..........................2-12 Acceleration with programmed rapid traverse (G00) (axis-specific) ........2-13 2.7.1 Detailed description........................2-13 2.7.1.1 General information........................2-13 2.7.2 Activation..........................2-14 2.7.2.1 Parameterization ........................2-14 2.7.3 Programming..........................2-14 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) ........2-14 2.8.1 Detailed description........................
Page 207 Contents 2.15 Jerk with programmed rapid traverse (G00) (axis-specific)............. 2-28 2.15.1 Detailed description ......................... 2-28 2.15.1.1 General information ......................... 2-28 2.15.2 Activation..........................2-29 2.15.2.1 Parameterization ........................2-29 2.15.3 Programming..........................2-29 2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ....... 2-29 2.16.1 Detailed description .........................
Page 208 Contents Acceleration (B2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 209 Brief Description Customer benefit Key statement The Description of Functions covers the following sub-functions: • Acceleration • Jerk • Kneeshaped acceleration characteristic Acceleration and jerk The effective acceleration and jerk can be optimally matched to the machine and machining situation concerned using axis- and channel-specific programmable maximum values, programmable acceleration profiles in part programs and synchronized actions, and dynamic adaptations and limitations.
Page 210 Brief Description 1.2 Features Channel-specific functions: • Acceleration profile that can be selected via part-program instruction: Acceleration without jerk limitation (BRISK) • Programmable constant travel time for the purpose of avoiding extreme sudden acceleration • Programmable acceleration margin for overlaid traversing •...
Page 211 Brief Description 1.3 Prerequisites Prerequisites Key statement There are no specific requirements to be met. Acceleration (B2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 212 Brief Description 1.3 Prerequisites Acceleration (B2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 213 Detailed Description Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis- specific) 2.1.1 Detailed description 2.1.1.1 General information Key statement In the case of acceleration without jerk limitation (jerk = infinite) the maximum value is applied for acceleration immediately. As regards acceleration with jerk limitation, it differs in the following respects: •...
Page 214 Detailed Description 2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) Acceleration profile Fig. 2-1 Velocity and acceleration schematic for stepped acceleration profile Maximum acceleration value Maximum velocity value Time The following features of the acceleration profile can be identified from the figure above: •...
Page 215 Detailed Description 2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) 2.1.1.2 Programmable maximum value (axis-specific) Key statement The maximum acceleration value can be set for each specific machine axis: MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration) The path parameters are calculated by the path planning component during preprocessing so that the programmed maximum values of the machine axes that are of relevance for the path are not exceeded.
Page 216 Detailed Description 2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) Reset response The channel-specific initial setting is activated via a reset: MD20150 $MC_GCODE_RESET_VALUES[20] Supplementary conditions If the acceleration profile is changed in a part program during machining (BRISK/SOFT) an exact stop is performed at the end of the block. 2.1.3.2 Single-axis acceleration without jerk limitation (BRISKA) Syntax...
Page 217 Detailed Description 2.2 Constant travel time (channel-specific) Constant travel time (channel-specific) 2.2.1 Detailed description 2.2.1.1 General information Key statement In the case of acceleration without jerk limitation, sudden acceleration of 2 * a occurs on switchover between acceleration and braking. In order to avoid this sudden acceleration, a channel-specific constant travel time can be programmed.
Page 218 Detailed Description 2.2 Constant travel time (channel-specific) Characteristic with constant travel time Characteristic without constant travel time Maximum acceleration value Maximum velocity value Time The effect of the constant travel time can be seen from the figure above: • Time: t End of acceleration phase with sudden acceleration 1 * a •...
Page 219 Detailed Description 2.3 Acceleration matching (ACC) (axis-specific) Acceleration matching (ACC) (axis-specific) 2.3.1 Detailed description 2.3.1.1 General information Key statement A part-program instruction (ACC) can be used to match the acceleration of specific axes to the current machining situation. The range used for this purpose is anywhere between greater than 0% and less than or equal to 200% of the maximum value programmed in the machine data.
Page 220 Detailed Description 2.4 Acceleration margin (channel-specific) Functionality The ACC part-program instruction is used to adjust the maximum acceleration value of a machine axis. Axis: • Value range: Axis identifier for the channel's machine axes Adjustment factor: • Value range: 0 < adjustment factor ≤ 200 •...
Page 221 Detailed Description 2.5 Path-acceleration limitation (channel-specific) 2.4.2 Activation 2.4.2.1 Parameterization Key statement Parameters for the acceleration margin are assigned for each channel by means of machine datum: MD20610 $MC_ADD_MOVE_ACCEL_RESERVE (acceleration margin for overlaid motions) 2.4.3 Programming Key statement The function is not programmable. Path-acceleration limitation (channel-specific) 2.5.1 Detailed description...
Page 222 Detailed Description 2.5 Path-acceleration limitation (channel-specific) 2.5.2 Activation 2.5.2.1 Parameterization Key statement Parameterization is carried out for specific channels using setting data: SD42500 $SC_SD_MAX_PATH_ACCEL (maximum path acceleration) SD42502 $SC_IS_SD_MAX_PATH_ACCEL (activation of path-acceleration limitation) 2.5.3 Programming 2.5.3.1 Limit value Syntax limit value $SC_SD_MAX_PATH_ACCEL = Functionality The path-acceleration limitation can be adjusted for the situation by programming the setting...
Page 223 Detailed Description 2.6 Path acceleration for real-time events (channel-specific) Value Parameter: • Value range: TRUE, FALSE Application: • Part program • Static synchronized action Path acceleration for real-time events (channel-specific) 2.6.1 Detailed description 2.6.1.1 General information Key statement So that no compromise has to be made between machining-optimized acceleration on the one hand and time-optimized acceleration in connection with the following real-time events on the other: •...
Page 224 Detailed Description 2.6 Path acceleration for real-time events (channel-specific) Effective Effective Real-time event acceleration is only enabled in AUTOMATIC and MDA operating modes in conjunction with the following real-time events: NC-STOP/NC-START • Override modifications • Modification of the velocity default for "safely reduced velocity" within the context •...
Page 225 Detailed Description 2.7 Acceleration with programmed rapid traverse (G00) (axis-specific) Path acceleration Parameter: • Value range: Path acceleration ≥ 0 • Unit: m/s Deactivation: $AC_PATHACC = 0 Application: • Part program • Static synchronized action Reset response Real-time-event path acceleration is deactivated on reset. Supplementary conditions Programming $AC_PATHACC in the part program automatically triggers a preprocessing stop with REORG (STOPRE).
Page 226 Detailed Description 2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) 2.7.2 Activation 2.7.2.1 Parameterization Key statement The maximum value for axis-specific acceleration with programmed rapid traverse is parameterized (G00) using the axis-specific machine data: MD32434 $MA_G00_ACCEL_FACTOR (scaling of the acceleration limitation with G00) This is used to generate the maximum value for axis-specific acceleration with programmed rapid traverse (G00) that is taken into account by the path planning component during preprocessing:...
Page 227 Detailed Description 2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) The maximum value for acceleration with active jerk limitation is parameterized using a factor calculated in relation to the axis-specific maximum value. This is used to generate the maximum value for axis-specific acceleration with active jerk limitation that is taken into account by the path planning component during preprocessing: Acceleration[axis] = MD32300 $MA_MAX_AX_ACCEL * MD32433 $MA_SOFT_ACCEL_FACTOR...
Page 228 Detailed Description 2.9 Excessive acceleration for non-tangential block transitions (axis-specific) Excessive acceleration for non-tangential block transitions (axis- specific) 2.9.1 Detailed description 2.9.1.1 General information Key statement In the case of non-tangential block transitions (corners), the programmable controller may have to decelerate the geometry axes significantly in order to ensure compliance with the parameterized axis dynamics.
Page 229 Detailed Description 2.10 Acceleration margin for radial acceleration (channel-specific) 2.9.3 Programming Key statement The function is not programmable. 2.10 Acceleration margin for radial acceleration (channel-specific) 2.10 2.10.1 Detailed description 2.10.1.1 General information Key statement In addition to the path acceleration (tangential acceleration), radial acceleration also has an effect on curved contours.
Page 230 Detailed Description 2.10 Acceleration margin for radial acceleration (channel-specific) When, for example, a value of 0.75 is applied, 75% of the axis-specific acceleration will be made available for radial acceleration and 25% for path acceleration. The corresponding maximum values are generally calculated as follows: Radial acceleration = MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL * MD32300 $MA_MAX_AX_ACCEL Path acceleration =...
Page 231 Detailed Description 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) 2.10.2 Activation 2.10.2.1 Parameterization Key statement The proportion of maximum available axis acceleration to be taken into account as an acceleration margin for radial acceleration on curved contours is parameterized using the channel-specific machine data: MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL (influence of path curvature on dynamic path response)
Page 232 Detailed Description 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) Disadvantages Longer machining times compared with stepped acceleration profile when the same maximum velocity and acceleration values are used. Acceleration profile Fig. 2-4 Jerk, acceleration and velocity schematic with jerk limitation acceleration profile Maximum jerk value Maximum acceleration value Maximum velocity value...
Page 233 Detailed Description 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) • Interval: t Constant jerk with +r ; linear increase in braking acceleration; quadratic decrease in velocity • Interval: t Constant braking acceleration with -a ; linear decrease in velocity •...
Page 234 Detailed Description 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) 2.11.2 Activation 2.11.2.1 Parameterization Key statement The axis- and channel-specific maximum values are parameterized using the following machine data: MD32431 $MA_MAX_AX_JERK (maximum axis jerk) MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk) 2.11.3 Programming Syntax SOFT...
Page 235 Detailed Description 2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific) 2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific) 2.12 2.12.1 Detailed description 2.12.1.1 General information Key statement The maximum jerk value can be set for each specific machine axis for single-axis movements (e.g., JOG, JOG/INC, positioning axis, reciprocating axis, setup modes, etc.): MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis jerk) Initial setting...
Page 236 Detailed Description 2.13 Path-jerk limitation (channel-specific) Functionality The SOFTA part-program instruction is used to select acceleration with jerk limitation for single-axis movements (positioning axis, reciprocating axis, etc.) G group: - Effective: Modal Axis • Value range: Axis identifier for channel axes Axis-specific initial setting Acceleration with jerk limitation can be set as the axis-specific initial setting for single-axis movements:...
Page 237 Detailed Description 2.13 Path-jerk limitation (channel-specific) 2.13.2 Activation 2.13.2.1 Parameterization Key statement Parameterization is carried out for specific channels using setting data: SD42510 $SC_SD_MAX_PATH_JERK (maximum path jerk) SD42512 $SC_IS_SD_MAX_PATH_JERK (activation of path-jerk limitation) 2.13.3 Programming 2.13.3.1 Maximum path-jerk Syntax jerk value $SC_SD_MAX_PATH_JERK = Functionality The path-jerk limitation can be adjusted for the situation by programming the setting data.
Page 238 Detailed Description 2.14 Path jerk for real-time events (channel-specific) Functionality The path-jerk limitation can be activated/deactivated by programming the setting data. Value Parameter: • Value range: TRUE, FALSE Application: • Part program • Static synchronized action 2.14 Path jerk for real-time events (channel-specific) 2.14 2.14.1 Detailed description...
Page 239 Detailed Description 2.14 Path jerk for real-time events (channel-specific) Effective Effective Path jerk for real-time events is only enabled in AUTOMATIC and MDA operating modes in conjunction with the following real-time events: NC-STOP/NC-START • Override modifications • Modification of the velocity default for "safely reduced velocity" within the context •...
Page 240 Detailed Description 2.15 Jerk with programmed rapid traverse (G00) (axis-specific) Functionality The path jerk for real-time events is set via the channel-specific system variables. Jerk value • Value range: Path jerk ≥ 0 • Unit: m/s Application: • Part program •...
Page 241 Detailed Description 2.16 Excessive jerk for block transitions without constant curvature (axis-specific) 2.15.2 Activation 2.15.2.1 Parameterization Key statement The maximum value for axis-specific jerk with programmed rapid traverse is parameterized (G00) using the axis-specific machine data: MD32434 $MA_G00_ACCEL_FACTOR (scaling of the acceleration limitation with G00) This is used to generate the maximum value for axis-specific jerk with programmed rapid traverse (G00) that is taken into account by the path planning component during preprocessing:...
Page 242 Detailed Description 2.17 Jerk filter (axis-specific) 2.16.2 Activation 2.16.2.1 Parameterization Key statement The excessive jerk for block transitions without constant curvature is parameterized using the axis-specific machine data: MD32432 $MA_PATH_TRANS_JERK_LIM (excessive jerk for block transitions without constant curvature) 2.16.3 Programming Key statement The function is not programmable.
Page 243 Detailed Description 2.17 Jerk filter (axis-specific) To enable the jerk filter to be optimally matched to the machine conditions, various filter modes are available: • 2nd-order filter (PT2) • Sliding mean value generation • Bandstop filter Mode: 2nd-order filter Owing to the fact that it is a simple low-pass filter, "2nd-order filter" mode can only meet the requirements specified above where relatively small filter time constants (around 10 ms) are concerned.
Page 244 Detailed Description 2.17 Jerk filter (axis-specific) Since a vibration-capable filter setting is not expected to yield useful results in any case, as with the jerk filter's "2nd-order filter" (PT2) low-pass filter (PT2) mode there is no setting op- tion for the denominator damping D .
Page 245 Detailed Description 2.17 Jerk filter (axis-specific) With SW 5.1 and higher, it is also possible to control the jerk limitation in the position controller with a new filter based on a smoothing method that incurs few contour errors: MD32402 AX_JERK_MODE = 1 2nd-order filter (default) corresponds to SW 1 to SW 4.4 MD32402 AX_JERK_MODE = 2...
Page 246 Detailed Description 2.18 Knee-shaped acceleration characteristic curve 2.17.2 Activation 2.17.2.1 Parameterization Activation The jerk filter is activated using the machine data: MD32400 $MA_AX_JERK_ENABLE = TRUE The jerk filter is active in all operating modes and with all types of interpolation. Filter mode The mode is selected using the machine data: mode...
Page 247 Detailed Description 2.18 Knee-shaped acceleration characteristic curve Fig. 2-5 Torque characteristic curve of a motor with torque characteristic that is highly dependent upon speed Torque decrease zone Speed above which reduced torque has to be assumed Maximum speed Max. torque Torque at n (corresponds to creep acceleration) Simulation of torque characteristic...
Page 248 Detailed Description 2.18 Knee-shaped acceleration characteristic curve The following figures show typical velocity and acceleration characteristic curves for the respective types of characteristic: Constant characteristic Fig. 2-6 Acceleration and velocity characteristic with acceleration reduction: 0 = constant Hyperbolic characteristic Fig. 2-7 Acceleration and velocity characteristic with acceleration reduction: 1 = hyperbolic Linear characteristic Fig.
Page 249 Detailed Description 2.18 Knee-shaped acceleration characteristic curve The key data for the characteristic curves equate to: = $MA_MAX_AX_VELO = $MA_ACCEL_REDUCTION_SPEED_POINT * $MA_MAX_AX_VELO = $MA_MAX_AX_ACCEL = (1 - $MA_ACCEL_REDUCTION_FACTOR) * $MA_MAX_AX_ACCEL 2.18.1.2 Effect on the path acceleration Key statement The path acceleration characteristic curve is generated on the basis of the types of characteristic for the axes that are of relevance for the path.
Page 250 Detailed Description 2.18 Knee-shaped acceleration characteristic curve 2.18.1.3 Substitute characteristic curve Key statement If the programmed path cannot be traversed using the parameterized acceleration characteristic curve (e.g., active kinematic transformation), a substitute characteristic curve is generated by reducing the dynamic limit values. The dynamic limit values are calculated to ensure that the substitute characteristic curve provides the best possible compromise between maximum velocity and constant acceleration.
Page 251 Detailed Description 2.18 Knee-shaped acceleration characteristic curve Substitute characteristic curve with curved path sections In the case of curved path sections, normal and tangential acceleration are considered together. The path velocity is reduced so that only up to 25% of the speed-dependent acceleration capacity of the axes is required for normal acceleration.
Page 252 Detailed Description 2.18 Knee-shaped acceleration characteristic curve Fig. 2-11 Deceleration with LookAhead Brake application point Torque decrease zone Maximum torque zone Creep velocity Maximum velocity Nxy: Part program block with block number Nxy 2.18.2 Activation 2.18.2.1 Parameterization Key statement The knee-shaped acceleration characteristic curve is parameterized for specific axes using the following machine data: MD32000 $MA_MAX_AX_VELO (maximum axis velocity) MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT...
Page 253 Detailed Description 2.18 Knee-shaped acceleration characteristic curve 2.18.2.2 Activation Key statement The knee-shaped acceleration characteristic curve is activated for a specific machine axis using the machine data: MD35240 $MA_ACCEL_TYPE_DRIVE = TRUE Single-axis interpolation As soon as the knee-shaped acceleration characteristic curve is activated, in the case of single-axis interpolations (positioning axis, reciprocating axis, manual travel, etc.), traversing is performed exclusively in DRIVEA mode.
Page 254 Detailed Description 2.18 Knee-shaped acceleration characteristic curve Reset response The channel-specific default setting is activated via a reset: MD20150 $MC_GCODE_RESET_VALUES[20] Dependencies If the knee-shaped acceleration characteristic curve is parameterized for a machine axis, then this becomes the default acceleration profile for all traversing operations. If the effective acceleration profile is changed for a specific path section using the SOFT or BRISK part-program instructions, then an appropriate substitute characteristic curve with lower dynamic limit values is used in place of the knee-shaped acceleration characteristic...
Page 255 Detailed Description 2.18 Knee-shaped acceleration characteristic curve Dependencies If the knee-shaped acceleration characteristic curve is parameterized for a machine axis, then this becomes the default acceleration profile for all traversing operations. If the effective acceleration profile is changed for a specific axis using the SOFTA or BRISKA part-program instructions, then an appropriate substitute characteristic curve is used in place of the knee-shaped acceleration characteristic curve.
Page 256 Detailed Description 2.18 Knee-shaped acceleration characteristic curve Acceleration (B2) 2-44 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 257 Supplementary Conditions Acceleration and jerk There are no other supplementary conditions to note. Knee-shaped acceleration characteristic curve 3.2.1 Active kinematic transformation Key statement The knee-shaped acceleration characteristic curve is not taken into account in connection with an active kinematic transformation. The control switches to acceleration without jerk limitation (BRISK) and a substitute characteristic curve is adopted for path acceleration.
Page 258 Supplementary Conditions 3.2 Knee-shaped acceleration characteristic curve Acceleration (B2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 259 Examples Acceleration 4.1.1 Path velocity characteristic Key statement An excerpt from a part program is provided below, together with the associated acceleration characteristic, by way of an example. These are used to illustrate how the path velocity can be adapted to take account of various events and the resulting change in acceleration. Part program (excerpt, schematic) ;...
Page 260 Examples 4.2 Jerk Fig. 4-1 Switching between path acceleration specified during preprocessing and real-time acceleration Acceleration profile: BRISK Accelerate to 100% of path velocity (F10000) in accordance with acceleration default: ACC (N2200...) Brake to 10% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time acceleration $AC_PATHACC (N53/N54...) Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time acceleration $AC_PATHACC (N53/N55...)
Page 261 Examples 4.2 Jerk Part program (excerpt, schematic) ; Setting of path acceleration and path jerk in the event of external intervention: N0100 $AC_PATHACC = 0. N0200 $AC_PATHJERK = 4. * ($MA_MAX_AX_JERK[X] + $MA_MAX_AX_JERK[Y]) / 2. ; Synchronized actions for the purpose of varying the override (simulates external intervention): N53 ID=1 WHENEVER ($AC_TIMEC >...
Page 262 Examples 4.3 Acceleration and jerk Acceleration profile: SOFT Jerk according to $MA_MAX_AX_JERK[..] Jerk according to $AC_PATHJERK Jerk according to $MA_MAX_AX_JERK[..] (approach block end velocity) Velocity limit due to arc Jerk according to $AC_PATHJERK Acceleration and jerk Key statement In the following example a short part program is used to illustrate the velocity and acceleration characteristic for the X-axis.
Page 263 Examples 4.4 Knee-shaped acceleration characteristic curve Fig. 4-4 X axis: Velocity and acceleration characteristic Knee-shaped acceleration characteristic curve 4.4.1 Activation Key statement The example given illustrates how the knee-shaped acceleration characteristic curve is activated on the basis of: • Machine data •...
Page 264 Examples 4.4 Knee-shaped acceleration characteristic curve Machine data • Parameterizing the characteristic curve (example only) X axis MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT[X] = 0.4 MD35230 $MA_ACCEL_REDUCTION_FACTOR[X] = 0.85 MD35242 $MA_ACCEL_REDUCTION_TYPE[X] = 2 MD35240 $MA_ACCEL_TYPE_DRIVE[X] = TRUE Y axis MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT[Y] = 0.0 MD35230 $MA_ACCEL_REDUCTION_FACTOR[Y] = 0.6 MD35242 $MA_ACCEL_REDUCTION_TYPE[Y] = 1 MD35240 $MA_ACCEL_TYPE_DRIVE[Y] = TRUE Z axis...
Page 265 Data Lists Machine data 5.1.1 Channel-specific machine data Number Identifier: $MC_ Description 20150 GCODE_RESET_VALUES Initial setting of G groups 20500 CONST_VELO_MIN_TIME Minimum time with constant velocity 20600 MAX_PATH_JERK Pathrelated maximum jerk 20602 CURV_EFFECT_ON_PATH_ACCEL Influence of path curvature on dynamic path response 20610 ADD_MOVE_ACCEL_RESERVE Acceleration reserve for overlaid movements...
Page 266 Data Lists 5.2 Setting data Number Identifier: $MA_ Description 35240 ACCEL_TYPE_DRIVE "DRIVE" acceleration characteristic curve: ON/OFF 35242 ACCEL_REDUCTION_TYPE Type of acceleration reduction Setting data 5.2.1 Channel-specific setting data Number Identifier: $SC_ Description 42500 SD_MAX_PATH_ACCEL Max. path acceleration 42502 IS_SD_MAX_PATH_ACCEL Analysis of SD 42500: ON/OFF 42510 SD_MAX_PATH_JERK Max.
Page 267 Index MD20500, 2-5, 2-6 MD20600, 2-21, 2-22 MD20602, 2-17, 2-18, 2-19 MD20610, 2-9 $AC_PATHACC, 2-12, 2-27 MD32000, 2-40 $AC_PATHJERK, 2-26, 2-27, 2-28 MD32300, 2-3, 2-14, 2-15, 2-16, 2-17, 2-18, 2-40 $SC_IS_SD_MAX_PATH_ACCEL, 2-10 MD32310, 2-16 $SC_IS_SD_MAX_PATH_JERK, 2-25 MD32400, 2-32, 2-34 $SC_SD_MAX_PATH_ACCEL, 2-10 MD32402, 2-34 $SC_SD_MAX_PATH_JERK, 2-25 MD32410, 2-32...
Page 268 Index Acceleration (B2) Index-2 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 269 Data Lists Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 270 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 271 Contents Brief Description ............................. 1-1 Function ............................. 1-1 Detailed Description..........................2-1 Description of diagnostic tools ....................2-1 Service displays ......................... 2-4 Axis/spindle service display ....................... 2-5 Drive service display (for digital drives only)................2-14 Service display PROFIBUS DP 840Di..................2-25 Communication log ........................
Page 272 Contents Tables Table 2-1 Diagnostic screen PROFIBUS configuration ................2-26 Table 2-2 Diagnostic screen information on the slaves ................2-26 Table 2-3 Diagnostic screen detailed information on the slave ............... 2-27 Table 2-4 Diagnostic screen AxisInfo....................... 2-28 Table 2-5 Bus configuration example....................... 2-33 Diagnostic Tools (D1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 273 Brief Description Function Diagnostic tools Integrated and external diagnostic tools are available for operating the SINUMERIK control. In addition, the NC assists with error delimitation for drive problems by providing the option of simulating the drive interface of machine axes. Integrated diagnostic tools The following information is displayed via the HMI user interface: •...
Page 274 Brief Description 1.1 Function External diagnostic tools The 611D startup software (to be installed on an external computer) is used to configure and set parameters for SIMODRIVE 611-D drives. The 611D startup software provides the following functions: • Initial startup through direct input of drive parameters •...
Page 275 Detailed Description Description of diagnostic tools Scope The functional description deals with displays of the user interface, system functions, procedures for determining system statuses and if necessary measures for avoiding undesirable conditions for the NC control, PLC and drives. General Alarm and signal status displays The currently active or not yet acknowledged alarms and messages are displayed in the Diagnostics operating area.
Page 276 Detailed Description 2.1 Description of diagnostic tools Alarm handler Application The alarm handler provides an infrastructure for activating and managing alarms on the NCK. Functions • Buffering of a maximum of 16 alarms that have been activated since system powerup and which have not yet been reset.
Page 277 Detailed Description 2.1 Description of diagnostic tools Compatibility As of SW 4 As of SW 4.1 and later, it is possible to set the channel-specific signal CHANNEL_NOREADY in the VDI interface in response to alarms. Up to SW 3.x MD11412 $MN_ALARM_REACTION_CHAN_NOREADY controls whether the function channel-specific signal CHANNEL_NOREADY is used.
Page 278 Detailed Description 2.2 Service displays Alarm display control The scope of the alarm outputs can be modified using machine data. • MD11410 $MN_SUPPRESS_ALARM_MASK Mask for suppressing special alarm outputs • MD11411 $MN_ENABLE_ALARM_MASK Mask for enabling special alarm outputs For details of this machine data, please refer to chapter 4. Service displays Conditions of use Conditions for the use of service displays are specified.
Page 279 The availability of individual service displays depends on the particular system, e.g.: Drive service displays: for digital drives only • • Profibus-DP service displays: for SINUMERIK 840Di only Axis/spindle service display Values and statuses Displays showing values and statuses on the control's user interface allow the operating status of the axes and spindles to be evaluated.
Page 280 Detailed Description 2.3 Axis/spindle service display Fig. 2-1 Example for service axis/spindle HMI Advanced Following error The difference between the position setpoint and the actual position value of active measuring system 1 or 2. Unit: mm, inch or degrees Error signal The difference between the position setpoint at the position controller input and the actual position value of active measuring system 1 or 2.
Page 281 Detailed Description 2.3 Axis/spindle service display Servo gain factor (calculated) The servo gain factor in the display is calculated by the NC according to the following equation: Velocity setpoint = setpoint currently being output to the axis/spindle. References: /FB1/, G2, "Velocities, Setpoint/Actual Value Systems, Control Loop Control" Active meas.
Page 282 Detailed Description 2.3 Axis/spindle service display Velocity actual value of active encoder (only 840Di) Display of velocity actual value of the currently active encoder. Velocity setpoint of drive (only 840Di) Display of velocity setpoint of drive. Speed actual value The pulses supplied by the encoder are evaluated by the NC and displayed. Unit: % 100% means maximum speed (corresponds to 10 V for analog interface;...
Page 283 Detailed Description 2.3 Axis/spindle service display Position offset for master axis/spindle actual value The currently applicable position offset value is displayed here (relative to the actual value) if such a position offset (angular offset between master and slave axes) has been programmed for the "Synchronous spindle"...
Page 284 Detailed Description 2.3 Axis/spindle service display "Referenced" status display Status display for reference point approach (axis). Bit0=Status 0: The machine axis is not cross-referenced using position measurement system 1 or 2. Bit0=Status 1: The machine axis has reached the reference point (incremental measuring system) and/or target point (length measuring system with distance coded reference marks) during reference point approach.
Page 285 Detailed Description 2.3 Axis/spindle service display Safe actual position of drive Displays the current actual axis position that has been measured via the drive. This actual position should correspond in value to "Safe actual position of axis". References: /FBSI/ Description of Functions Safety Integrated Safe input signals of the axis Displays the safe input signals of the PLC defined for the "Safety Integrated"...
Page 286 Detailed Description 2.3 Axis/spindle service display Control technology concept The figure below shows at which points in the controlloop the axis and spindle information is read off. Spindle Spindle speed setpoint speed current setpoint Position setpoint prog. (speed setpoint) Speed setpoint [%] Error signal Actual speed value [%] Control...
Page 287 Detailed Description 2.3 Axis/spindle service display Because the servo gain factor is defined as a following error of 1 mm must be measured (with KV = 1 and constant velocity) at a feedrate of 1 m/min. If the desired servo gain (KV) factor does not correspond to the actual factor, the possible causes and remedial optimization options are as follows: •...
Page 288 Detailed Description 2.4 Drive service display (for digital drives only) For details of the behavior of the NC control in response to individual alarms, and remedial action, please refer to: References: /DA/, "Diagnostics Guide" Diagnostics of operational state errors Moreover, with this information, faulty operating modes can be investigated, for example: •...
Page 289 The parameters in the "Drive" service display are not necessary for connecting drives via the PROFIBUS DP. For SINUMERIK 840Di, the drives are defined as PROFIBUS nodes. The appropriate service data is displayed in 840DiStartup in the menu Diagnostics -->...
Page 290 Detailed Description 2.4 Drive service display (for digital drives only) Explanations/Terms Drive enable (terminal 64/63) The display corresponds to the status of terminal 64/63 on the SIMODRIVE611 digital infeed/regenerative feedback unit. State 1: Central drive enable State 0: Central drive disable Display corresponds to machine datum: MD1700 $MD_TERMINAL_STATE (status of binary inputs).
Page 291 Detailed Description 2.4 Drive service display (for digital drives only) PLC pulse enable Indicates whether the pulse enable from the PLC is available for the drive. State 1: The pulses for the drive module have been disabled by the PLC. State 0: Pulse enable for this drive is activated by the PLC.
Page 292 CRC error Display of communications errors detected in hardware between NC and drive. Note If the display shows a value other than "0", please contact your SIEMENS Regional Office! ZK1 Messages Display indicates whether messages of status class 1 are active.
Page 293 Detailed Description 2.4 Drive service display (for digital drives only) Speed actual value The actual value displayed represents the unfiltered actual speed value. Unit: rpm Display corresponds to machine datum: MD1707 $MD_ACTUAL_SPEED (actual speed value). Smoothed actual current value Display of the smoothed actual current value. The torquegenerating actual current value is smoothed by a PT1 element with parameterizable time constant.
Page 294 Detailed Description 2.4 Drive service display (for digital drives only) Integrator disabling This display indicates whether the speed controller integrator is active. State 0: The integrator of the speed controller is enabled. The speed controller functions as a PI controller. State 1: Deactivation of the speed controller integrator as requested by the PLC using IS "Integrator disable n-controller"...
Page 295 Detailed Description 2.4 Drive service display (for digital drives only) Operating mode Display indicating whether the motor is operating as a feed drive or main spindle drive. Motor selection (star/delta) Display indicating which motor data set is to be activated by the PLC. At the moment the motor data record is used for the star/delta switchover on main spindle drives.
Page 296 Detailed Description 2.4 Drive service display (for digital drives only) Power section in i²t limitation HMI SW 6.3 and later Limitation for protecting the power section against continuous overloading of the SIMODRIVE 611 drives. State 1: i t power section limitation has responded State 0: i t power section limitation has not responded The display applies to SIMODRIVE universal and SIMODRIVE digital.
Page 297 Detailed Description 2.4 Drive service display (for digital drives only) Torque lower than threshold setting Status display of drive. State 0: In the stationary condition (i.e. ramp-up procedure completed), the torque setpoint is greater than the threshold torque. State 1: In the stationary condition, the torque setpoint has not reached the threshold torque.
Page 298 Detailed Description 2.4 Drive service display (for digital drives only) Actual speed = set speed Status display of drive. State 0: The actual speed value is outside the speed tolerance band after a new speed setpoint was defined. State 1: The actual speed value has reached the speed tolerance band after a new speed setpoint was defined.
Page 299 Detailed Description 2.5 Service display PROFIBUS DP 840Di • "Zero speed monitoring", 25050 "Contour monitoring", 25060 "Speed setpoint limitation" 25080 "Positioning monitoring" ⇒ The enabling for the drive may have been omitted (e.g. pulse enable, drive enable, pulse enable for PLC not available); this leads to display pulses enabled = off. •...
Page 300 Detailed Description 2.5 Service display PROFIBUS DP 840Di The following parameters are displayed: Table 2-1 Diagnostic screen PROFIBUS configuration Function/subfunction Explanation/meaning Bus configuration Baud rate in MBd Data transfer rate Cycle time in msec Configured bus cycle time; also defines the position controller cycle Synchronous portion Configured time for cyclic data exchange within a PROFIBUS DP cycle (TDX) in msec...
Page 301 Detailed Description 2.5 Service display PROFIBUS DP 840Di Detailed information of the slots within a slave The Details button opens the diagnostics dialog box Detailed information on the slave. This screen form provides detailed information on the slots assigned to the DP slave. In addition, the Slave dialog box displays important information on the DP slave currently selected.
Page 302 Detailed Description 2.6 Communication log Diagnostic screen for the axes The diagnostic screen AxisInfo displays axisspecific detailed information. The diagnostic screen provides an NCoriented view of the axis information. The following information is displayed for the axes: Table 2-4 Diagnostic screen AxisInfo Function/subfunction Explanation/meaning Machine axes...
Page 303 Logbook display (e.g. changes to access levels). For SINUMERIK 840Di, the log book is displayed in 840Di StartUp. Version In the event of service work, ("Diagnostics" operating area, under the soft key Version), the built-in HMI or NC software status is read out.
Page 304 Detailed Description 2.8 Other diagnostics tools Status display The status of the following data can be displayed on the operator panel. • Interface signals from the machine control panel • Interface signals to the machine control panel • Interface signals between the NCK and PLC •...
Page 305 A description of how to use this can be found in the associated documentation. References: /PI/ PCIN 4.3 840Di StartUp For diagnosing the SINUMERIK 840Di, the WINDOWS program 840Di StartUp can be used. This provides information, e.g. on the current operating mode and the nodes of PROFIBUS DP.
Page 306 Detailed Description 2.9 Identifying defective drive modules Remove drive module at NC end A drive module (SIMODRIVE 611 digital) specified in an alarm text must be removed from the bus: 1. Remove the module from the drive bus network. 2. Set entries of the drive module in machine datum: MD13030 $MN_DRIVE_MODULE_TYPE to zero (zero-axis module).
Page 307 Detailed Description 2.9 Identifying defective drive modules Table 2-5 Bus configuration example Module Drive no. Active Type Module type Power section code ARM/MSD Axis Left SRM/FDD Axis Right SRM/FDD Axis Left Axis Right Axis Axis DMPC Module "2" must now be removed: •...
Page 308 Detailed Description 2.9 Identifying defective drive modules Diagnostic Tools (D1) 2-34 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 309 Supplementary Conditions Secondary conditions for diagnostic tools Availability of "Identification of defective drive modules" Availability Identification of defective drive modules The "Identification of defective drive modules" function is available in SW 6.3 and later for SINUMERIK 840D/810D. Diagnostic Tools (D1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 310 Supplementary Conditions 3.1 Secondary conditions for diagnostic tools Diagnostic Tools (D1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 311 Examples Examples No examples are available. Diagnostic Tools (D1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 312 Examples 4.1 Examples Diagnostic Tools (D1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 313 Mask for suppressing special alarms 11411 ENABLE_ALARM_MASK Activation of special alarms 11412 ALARM_REACTION_CHAN_NOREADY Alarm reaction CHAN_NOREADY permitted 11413 ALARM_PAR_DISPLAY_TEXT Texts as alarm parameters (Siemens Rights) 11420 LEN_PROTOCOL_FILEX File size for protocol files (KB) 13030 DRIVE_MODULE_TYPE Module identifier (SIMODRIVE 611 digital) 5.1.2 Axis/spindle-specific machine data...
Page 314 Data Lists 5.2 Setting data 5.1.3 Drive-specific machine data Number Identifier: $MD_ Description 1401 MOTOR_MAX_SPEED Speed for max. useful motor speed 1417 SPEED_THRESHOLD_X for 'n < n ' signal 1418 SPEED_THRESHOLD_MIN for 'n < n ' signal 1426 SPEED_DES_EQ_ACT_TOL Tolerance band for 'n ' signal 1428 TORQUE_THRESHOLD_X...
Page 315 Data Lists 5.3 Signals Signals 5.3.1 Signals to axis/spindle DB number Byte.Bit Description 31, ... 16.0 - 16.2 Actual gear stages A, B, C 31, ... 21.0 - 21.2 Parameter set selection A, B, C 31, ... 21.3 - 21.4 Motor selection A, B 31, ...
Page 316 Data Lists 5.3 Signals Diagnostic Tools (D1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 317 Index DBX94.2, 2-22 DBX94.3, 2-23 DBX94.4, 2-23 DBX94.5, 2-23 611D startup tool, 2-30 DBX95.7, 2-22 DB31, ... DBX94.6, 2-24 Diagnostic tools (D1), 1-1 Interrupts, 2-1 Axis/spindle service display, 2-5 Diagnostics, 2-5 Drive service display, 2-14 Communication log, 2-29 Logbook, 2-29 DB31, ...
Page 318 Index MD36210 $MA_CTRLOUT_LIMIT, 2-13 MD36300 $MA_ENC_FREQ_LIMIT, 2-14 Ramp-up phase, 2-24 MD36400 $MA_CONTOUR_TOL, 2-13 MD36500 $MA_ENC_CHANGE_TOL, 2-13 MD37010 $MA_FIXED_STOP_TORQUE_DEF, 2-10 Service display PROFIBUS DP, 2-25 Servo gain factor (Kv), 2-13 NCK alarm handler, 2-2 Version, 2-29 Of defective drive modules Identification, 2-31 ZK1 Messages, 2-24 PCIN, 2-31 PLC status, 2-29...
Page 319 Data Lists Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 320 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 321 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 General functionality ........................2-1 2.1.1 Functional sequence, programming, parameterization ............. 2-1 2.1.2 Response to RESET and function abort..................2-8 2.1.3 Block search response....................... 2-9 2.1.4 Miscellaneous .......................... 2-14 2.1.5 Supplementary conditions for expansions ................
Page 322 Contents Travel to Fixed Stop (F1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 323 Brief Description Brief description Customer benefit The "Travel to fixed stop" function can be used for operations such as traversing tailstocks or sleeves to an end limit position in order to clamp workpieces. Features • The clamping torque and a fixed stop monitoring window can be programmed in the parts program and can also be altered via setting data once the fixed stop has been reached.
Page 324 Brief Description 1.1 Brief description Travel to Fixed Stop (F1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 325 Detailed Description General functionality 2.1.1 Functional sequence, programming, parameterization Programming Travel to fixed stop is selected or deselected with the following commands: FXS[Machine axis identifier]=1 (selected) FXS[Machine axis identifier]=0 (deselected) The commands are modal. The clamp torque is set with the command: FXST[Machine axis identifier] = <torque>.
Page 326 Detailed Description 2.1 General functionality The movement to the destination point can be described as a path or positioning axis movement. With positioning axes, the function FXS can be performed across block boundaries. The function may also be selected for several machine axes simultaneously. The FXST and FXSW commands are optional.
Page 327 Detailed Description 2.1 General functionality Functional sequence The function is explained by the example below (sleeve is pressed onto workpiece). Fig. 2-1 Example of travel to fixed stop Selection The NC detects that the function "travel to fixed stop" is selected via the command FXS[x]=1 and signals the PLC via the IS "Activate travel to fixed stop"...
Page 328 Detailed Description 2.1 General functionality Fixed stop reached As soon as the axis comes into contact with the mechanical fixed stop (workpiece), the closed-loop control in the drive raises the torque so that the axis can move on. The torque rises up to the programmed limit value and then remains constant.
Page 329 Detailed Description 2.1 General functionality Monitoring window If no torque was programmed in the block or since the beginning of program, the value entered in the axis specific machine parmeter: MD37010 FIXED_STOP_TORQUE_DEF (default setting for clamping torque) applies. If the axis leaves the position it was in when the fixed stop was detected, then alarm 20093 "Fixed stop monitoring has responded"...
Page 330 Detailed Description 2.1 General functionality The Travel to fixed stop function is deselected in response to both "Fixed stop not reached" and "Fixed stop aborted". Interrupts If the fixed stop position is not reached when the function is active, alarm 20091 "Fixed stop not reached"...
Page 331 Detailed Description 2.1 General functionality Deselection The NC recognizes the function deselection via programming of the command FXS[x]=0. Then an advance stop (STOPRE) is internally released, since it can't be forseen where the axis will be after deselection. The torque limitation and the monitoring of the fixed stop monitoring window is cancelled. The IS "Activate travel to fixed stop"...
Page 332 Detailed Description 2.1 General functionality Terminal 663 with MD37002 controllable With the machine parameter: MD37002 FIXED_STOP_CONTROL the response to pulse blocking on the fixed stop is controllable. Deleting the pulses by terminal 663 or the IS "Pulse enable" DBX31, ...DBX21.7 will not abort the function.
Page 333 Detailed Description 2.1 General functionality Function abort A function abort can be triggered by the following events: • EMERGENCY STOP: – With an 840D control, the NC and drive are disconnected from the supply after EMERGENCY STOP, i.e. the PLC must react. –...
Page 334 Detailed Description 2.1 General functionality SERUPRO Block search with calculation, multichannel The block search in program test mode is designated SERUPRO and is derived from the "Search-Run by Program test." This search mode allows the user a multichannel block search with calculation of all required status data from the previous history. The PLC interface is updated in this block search and matching processes, which cover the interaction of several channels executed within the framework of this block search correctly.
Page 335 Detailed Description 2.1 General functionality $AA_FXS and $VA_FXS In SW 6.2 and higher, the meaning of system variable $AA_FXS is redefined for SERUPRO only and completely replaced by variable $VA_FXS. Variables $AA_FXS and $VA_FXS have the same values continuously outside the SERUPRO function. Description NCK Variables Axis not at fixed stop...
Page 336 Detailed Description 2.1 General functionality $AA_FXS Simulate axis traversal System variable $AA_FXS displays the current status of program simulation "program- sensitive system variable." Example: If in the SERUPRO process axis Y traversal is simulated with FXS[Y]=1, then $AA_FXS has a value of 3. If in the SERUPRO process axis Y traversal is simulated with FXS[Y]=0, then $AA_FXS has a value of 0.
Page 337 Detailed Description 2.1 General functionality REPOS display Offset Once the search target has been found, the FXS status active on the machine is displayed for each axis via the axial VDI signals: IS "Activate travel to fixed stop" (DB31, ... DBX62.4) IS "Fixed stop reached"...
Page 338 Detailed Description 2.1 General functionality FOC fully automatically in REPOS The FOC-REPOS function behaves analogously to the FXS-REPOS function. Note A continuously changing torque characteristic cannot be implemented with FOC-REPOS. Example: A program moves axis X from 0 to 100 and activates FOC every 20 millimeters for 10 millimeters at a time.
Page 339 Detailed Description 2.1 General functionality Changing the clamping torque using the ramp and values greater than 100% A clamping torque change is transferred to the drive steplike. It is possible to specify a ramp for always reaching a changed torque limit via the machine parameter: MD37012 FIXED_STOP_TORQUE_RAMP_TIME.
Page 340 Detailed Description 2.1 General functionality Example X300 Y500 F200 FXS[X1]=1 FXST[X1]=25 FXSW[X1]=5 IF $AA_FXS[X1]=2 GOTOF FXS_ERROR G01 X400 Y200 Inoperative IS signals The following IS signals (PLC ! NCK) are inoperative for axes at the fixed stop until the function is deselected (incl. traversing motion): •...
Page 341 Detailed Description 2.1 General functionality Note For further details about adaptations for SIMODRIVE 611 digital or digital (HLA module), please see: References: /FB2/ Expansion functions; Compensation (K3); Chapter: Electronic weight compensation MD37052 The machine parameter: MD37052 FIXED_STOP_ALARM_REACTION does not result in disconnection of the drive from the power supply when an alarm is generated, as interface signal "Mode group ready"...
Page 342 Detailed Description 2.1 General functionality Once the pulse blocking is canceled again, the drive will press at the limited torque again. The torque is actuated steplike. At the fixed stop, the drive can be controlled either via: • IS "Pulse enable" (DB31, ... DBX21.7) •...
Page 343 Detailed Description 2.1 General functionality Programming FXS in synchronized actions The function is not available for analog axes (PLC acknowledgment cannot be awaited). Select FXS[ ]=1: The following signal interfaces are set: Message to PLC: IS "Activate travel to fixed stop" (DB31, ... DBX62.4) The FXS selection command can only be used in systems with digital drives (VSA, HSA, HLA).
Page 344 Detailed Description 2.1 General functionality The new torque in consideration of the ramp (MD37012 FIXED_STOP_TORQUE_RAMP_TIME) interpolation cycle takes effect after the change in the drive. A change of the effective torque can be checked by reading the synchronized action variable $VA_TORQUE[axis].
Page 345 Detailed Description 2.1 General functionality Programming The programming of the axis is carried out in square brackets. The following are permissible: • Geometry axis identifiers • Channel axis identifiers • Machine axis identifiers Example: N10 FOCON[X] ; Modal activation of the torque limit N20 X100 Y200 FXST[X]=15 ;...
Page 346 Detailed Description 2.1 General functionality Determine torque limit status The system variables $VA_TORQUE_AT_LIMIT can be used at any time to read in systems with digital drives (FDD, MSD, HLA) whether the currently active torque corresponds to the given torque limit. Effective torque less than torque limit value Effective torque has reached the torque limit value Restrictions...
Page 347 Detailed Description 2.2 Travel to fixed stop with analog drives Travel to fixed stop with analog drives 2.2.1 SIMODRIVE 611 digital (VSA/HSA) Selection The NC detects that the function "travel to fixed stop" is selected via the command FXS[x]=1 and signals the PLC via the IS "Activate travel to fixed stop" (DB31, ... DBX62.4) that the function has been selected.
Page 348 Detailed Description 2.2 Travel to fixed stop with analog drives Fixed stop is not reached If the programmed end position is reached without the "Fixed stop reached" status being recognized, then the torque limitation in the drive is canceled via the digital interface and IS "Activate travel to fixed stop"...
Page 349 Detailed Description 2.2 Travel to fixed stop with analog drives Enabling the fixed stop alarms The machine parameter: MD37050 FIXED_STOP_ALARM_MASK can be used to set the enabling of the fixed stop alarms as follows: MD 37050 = 0 Fixed stop not reached (suppress Alarm 20091) MD 37050 = 2 Fixed stop not reached ( suppress alarm 20091) and fixed stop aborted (suppress alarm 20094)
Page 350 Detailed Description 2.2 Travel to fixed stop with analog drives Diagram The following diagram shows the progress of the motor current, the following error and IS signals for "Activate travel to fixed stop" (DB31, ... DBX62.4) and "Fixed stop reached" (DB31, ...
Page 351 Detailed Description 2.3 Travel to fixed stop with analog drives 2.2.2 Travel to fixed stop with hydraulic drives SIMODRIVE 611 digital (HLA module) Velocity/force control If the function FXS (FXS[x]=1) is activated for the hydraulic module 611 digital (HLA module), only a change from velocity control to force control takes place. Positioning from the NC is no longer possible in this case.
Page 352 Detailed Description 2.3 Travel to fixed stop with analog drives Fixed clamping torque A fixed current limitation is preset in the drive actuator by means of a resistor circuit (or via R12). This current limitation is activated by the control via a PLC output (which acts on terminal 96 of the actuator), thus ensuring that a fixed clamping torque is available on the axis.
Page 353 Detailed Description 2.3 Travel to fixed stop with analog drives In addition, the acceleration is automatically reduced in the NC according to the value in the machine parameter: MD37070 FIXED_STOP_ANA_TORQUE. The axis now traverses to the target position at the programmed velocity. Fixed stop reached As soon as the axis reaches the fixed stop, the axial contour deviation increases.
Page 354 Detailed Description 2.3 Travel to fixed stop with analog drives Depending on the machine parameter: MD37060 FIXED_STOP_ACKN_MASK the NC waits for the PLC to acknowledge by resetting IS "Activate travel to fixed stop" (DB31, ... DBX3.1) and then the block change is performed. Deselection The NC detects that the function has been deselected on the basis of commandFXS[x]=0 and specifies a speed or current setpoint of "0", i.e.
Page 355 Detailed Description 2.3 Travel to fixed stop with analog drives C-axis operation The control system has to switch the spindle into C-axis mode before the "Travel to fixed stop" function is selected. The PLC does this by activating one of the programmable terminals E1-D9 (e.g.
Page 356 Detailed Description 2.3 Travel to fixed stop with analog drives The speed controller forces the drive to the torque limit by means of this continuously applied setpoint. The NC then deletes the remaining distancetogo and forces the position setpoint to follow. The controller enabling command remains active.
Page 357 Detailed Description 2.3 Travel to fixed stop with analog drives Deselection The NC detects that the function has been deselected on the basis of command FXS[x]=0 and specifies a speed or torque setpoint of "0", i.e. zero clamping torque. The NC then resets IS "Activate travel to fixed stop" (DB31, ...
Page 358 Detailed Description 2.3 Travel to fixed stop with analog drives 2.3.3 Diagrams for travel to fixed stop with analog drives FXS selection (fixed stop is reached) The following diagram shows the sequence of the following error and interface signals for "FXS selection"...
Page 359 Detailed Description 2.3 Travel to fixed stop with analog drives FXS selection (fixed stop is not reached) The following diagram shows the sequence of the following error and interface signals for "FXS selection" (fixed stop is not reached) on analog drives. Fig.
Page 360 Detailed Description 2.3 Travel to fixed stop with analog drives FXS deselection The following diagram shows the sequence of the following error and interface signals for "FXS Deselection" on analog drives. Fig. 2-6 Diagram for FXS deselection with analog drive Travel to Fixed Stop (F1) 2-36 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 361 Supplementary Conditions Supplementary conditions There are no supplementary conditions to note. Travel to Fixed Stop (F1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 362 Supplementary Conditions 3.1 Supplementary conditions Travel to Fixed Stop (F1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 363 Examples Travel to fixed stop Static synchronized actions Travel to fixed stop (FXS), initiated by a synchronized action. N10 IDS=1 WHENEVER ; Activate static synchronized action: (($R1==1) AND ; By the setting of $R1=1 ($AA_FXS[Y]==0)) DO ; For $R1=0 FXS[Y]=1 ;...
Page 364 Examples 4.1 Travel to fixed stop N60 GET(Y) ; Include axis Y again in the ; Pathgroup Multiple selection A selection may only be carried out once. If the function is called once more due to faulty programming (FXS[Axis]=1) the alarm 20092 "Travel to fixed stop still active" is initiated. Programming code that scans $AA_FXS[] or a separate flag (here R1) in the condition will ensure that the function is not activated more than once.
Page 365 Data Lists Machine data 5.1.1 Axis/spindle-specific machine data Number Identifier: $MA_ Description 36042 FOC_STANDSTILL_DELAY_TIME Delay time 0 monitoring with FOC and FXS 37000 FIXED_STOP_MODE Travel to fixed stop mode 37002 FIXED_STOP_CONTROL Special function when traveling to fixed stop 37010 FIXED_STOP_TORQUE_DEF Default setting for clamping torque 37012 FIXED_STOP_TORQUE_RAMP_TIME...
Page 366 Data Lists 5.2 Setting data Setting data 5.2.1 Axis/spindle-specific setting data Number Identifier: $SA_ Description 43500 FIXED_STOP_SWITCH Selection of travel to fixed stop 43510 FIXED_STOP_WINDOW Clamping torque when traveling to fixed stop extended to a torque greater than 100% 43520 FIXED_STOP_TORQUE Fixed stop monitoring window Signals...
Page 367 Index Block-related limit (FOC), 2-21 SD43500, 2-14 SD43510, 2-14, 2-15 SD43520, 2-14 SERUPRO, 2-10 SERUPRO ASUP, 2-12 Channel axis identifiers with FXS, 2-1 Travel to fixed stop FXS REPOS, 2-13 Analog drives, 2-27 Analog drives, diagrams, 2-34 Analog drives, FXS deselection, 2-36 Analog drives, FXS selection, 2-34 MD1012, 2-18 Analog drives, SIMODRIVE 611A (FDD), 2-28...
Page 368 Index Travel to Fixed Stop (F1) Index-2 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 369 Systems, Closed-Loop Control (G2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 370 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 371 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 Velocities, traversing ranges, accuracies .................. 2-1 2.1.1 Velocities............................ 2-1 2.1.2 Traversing ranges ........................2-3 2.1.3 Positioning accuracy of the control system................2-4 2.1.4 Block diagram of resolutions and scaling values ............... 2-5 2.1.5 Input/display resolution, computational resolution ..............
Page 372 Contents Data Lists..............................5-1 Machine data..........................5-1 5.1.1 Memory specific machine data ....................5-1 5.1.2 NC-specific machine data ......................5-1 5.1.3 Channel-specific machine data....................5-2 5.1.4 Axis/spindle-specific machine data .................... 5-2 Index..............................Index-1 Tables Table 2-1 Traversing ranges of axes......................2-4 Table 2-2 Special features of the feedrate weighting for rotary axes in FGROUP: .........
Page 373 Brief Description Brief description The description of functions explains how to parameterize a machine axis in relation to: • Actual-value/measuring systems • Setpoint system • Operating accuracy • Travel ranges • Axis velocities • Control parameters Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 374 Brief Description 1.1 Brief description Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 375 Detailed Description Velocities, traversing ranges, accuracies 2.1.1 Velocities Maximum path and axis velocities and spindle speed The maximum path and axis velocities and spindle speed are influenced by the machine design, the dynamic response of the drive and the limit frequency of the actual-value acquisition (encoder limit frequency).
Page 376 Detailed Description 2.1 Velocities, traversing ranges, accuracies For setting the interpolation cycle, see: References: /FB3/Description of Functions, Special Functions; Cycle Times (G3) With a high feedrate (resulting from programmed feedrates and feedrate override), the maximum path velocity is limited to V This automatic feedrate limiting can lead to a drop in velocity over several blocks with programs generated by CAD systems with extremely short blocks.
Page 377 Detailed Description 2.1 Velocities, traversing ranges, accuracies Example: MD10200 $MN_INT_INCR_PER_MM = 1000 [incr. /mm]; Interpolation cycle = 12 ms; ⇒ V = 10 /(1000 x 12 ms) = 0.005 incr The range of values of the feedrates depends on the computational resolution selected. MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) (1000 incr./mm) MD10210 $MN_INT_INCR_PER_DEG...
Page 378 Detailed Description 2.1 Velocities, traversing ranges, accuracies Table 2-1 Traversing ranges of axes G71 [mm, degrees] G70 [inch, degrees] Range Range Linear axes X, Y, Z, etc. ∓ 999,999.999 ∓ 399,999.999 Rotary axes A, B, C, etc. ∓ 999,999.999 ∓ 999,999.999 Interpolation parameters I, J, K ∓...
Page 379 Detailed Description 2.1 Velocities, traversing ranges, accuracies 2.1.4 Block diagram of resolutions and scaling values Block diagram of units and resolutions Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 380 Detailed Description 2.1 Velocities, traversing ranges, accuracies This diagram shows how input values are converted into internal units. It also shows the following conversion to internal increments/(mm or degrees), which can cause loss of decimal places if the computational resolution was selected to be coarser than the input resolution.
Page 381 Detailed Description 2.1 Velocities, traversing ranges, accuracies The desired computational resolution is defined via machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions). It is independent of the input/display resolution but should have at least the same resolution. The maximum number of places after the decimal point for position values, velocities, etc., in the parts program and the number of places after the decimal point for tool offsets, zero offsets, etc.
Page 382 Detailed Description 2.1 Velocities, traversing ranges, accuracies Physical quantity: Input/output units for standard basic system: Metric Inch Linear position 1 mm 1 inch Angular position 1 degree 1 degree Linear velocity 1 mm/min 1 inch/min Angular velocity 1 rpm 1 rpm Linear acceleration 1 m/s 1 inch/s...
Page 383 Detailed Description 2.1 Velocities, traversing ranges, accuracies The following applies: Selected input/output unit = MD10230 * internal unit The selected input/output unit is input into machine data: MD10230 $MN_SCALING_FACTORS_USER_DEF[n], expressed in internal units of 1 mm, 1 degree or 1 s. Example 1: Machine data input/output of the linear velocities is to be in m/min instead of mm/min (initial state).
Page 384 Detailed Description 2.1 Velocities, traversing ranges, accuracies ⇒ The scaling factor for the linear velocities is to differ from the standard setting. In this case, bit number 2 must be set in machine data: MD10220 $MN_SCALING_USER_DEF_MASK. ⇒ MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value) ⇒...
Page 385 Detailed Description 2.2 Metric/inch measuring system Metric/inch measuring system 2.2.1 General The control system can operate with the inch or the metric system of measurement. Initial state The initial state is defined via the following machine data element: MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic metric system). Depending on the setting in the MD, all geometric values are interpreted either as metric or inch values.
Page 386 MD10250 $MN_SCALING_VALUE_INCH (conversion factor for changing to the inch system). Note The machine data element is not visible unless the password of protection level "Siemens" is set. By changing the default value, the control can be adapted to a customer-specific measuring system.
Page 387 Detailed Description 2.2 Metric/inch measuring system The current setting (selected with G70/G71) and the initial state can be the same or differ at any given time. The current setting is channel-specific, the initial state applies to all channels. Application: With this function it is possible, for example, with a metric basic system, to machine an inch thread in a metric parts program.
Page 388 Detailed Description 2.2 Metric/inch measuring system Examples: If MD10240 $MN_SCALING_SYSTEM_IS_METRIC=1, both part programs are executed with a metric setting. N100 R1=0 R2=0 N120 G01 G70 X1 F1000 N130 $MA_LUBRICATION_DIST[X]=10 N140 NEWCONF N150 IF ($AA_IW[X]>$MA_LUBRICATION_DIST[X]) N160 R1=1 N170 ENDIF N180 IF ($AA_IW[X]>10) N190 R2=1 N200 ENDIF N210 IF ( (R1<>0) OR (R2<>0))
Page 389 Detailed Description 2.2 Metric/inch measuring system Example 2: The definition is made here by programming G71 in the synchronized action. N100 R1=0 N110 G0 X0 Z0 N120 WAITP(X) N130 ID=1 WHENEVER $R1==1 DO G71 POS[X]=10 N140 R1=1 N150 G71 Z10 F10 ;Z=10 mm X=10 mm N160 G70 Z10 F10...
Page 390 G70/G71 G700/G710 Tool offsets Length-related machine data Length-related setting data Length-related system variables R parameters Siemens cycles Jog/handwheel increment factor References: /PG/Programming Guide, Fundamentals; List of Addresses 2.2.3 Manual switchover of the basic system General The relevant softkey on the HMI in the "Machine" operating area is used to change the measuring system of the controller.
Page 391 Detailed Description 2.2 Metric/inch measuring system This process takes place independently of the protection level currently set. Note The availability of the soft key and, therefore, its functionality, can be configured using the compatibility machine data: MD10260 $MN_CONVERT_SCALING_SYSTEM. If several NCUs are linked by NCU-link, the switchover has the same effect on all linked NCUs.
Page 392 Detailed Description 2.2 Metric/inch measuring system Data, for which no unique physical units are defined, is not converted automatically. This includes: • R parameters • GUDs (Global User Data) • LUDs (Local User Data) • PUD (Program global User Data) •...
Page 393 Detailed Description 2.2 Metric/inch measuring system Default settings: Metric system Inch system 1000 (0.001 mm) 0.0001 Example: 1 inch = 25.4 mm ⇒ 0.0001 inch = 0.00254 mm = 2.54 μm To be able to program and display the last 40 mm, MD10200 must be assigned a value of 100000.
Page 394 Detailed Description 2.2 Metric/inch measuring system This information is intended to prevent data sets from being read into the control system with a measuring system, which is different from the active system. In this case, alarm 15030 is triggered and the write process is interrupted. Since the language instruction is also evaluated in parts programs, these can also be "protected"...
Page 395 Detailed Description 2.2 Metric/inch measuring system In order to ensure compatibility with the behavior with no FGREF programming, the factor 1 degree = 1 mm is activated on system powerup and RESET. This corresponds to a reference radius of: FGREF = 360 mm/(2π) = 57.296 mm This default setting is independent of the active basic system: MD10240 $MN_SCALING_SYSTEM_IS_METRIC and of the currently active inch/metric G code.
Page 396 Detailed Description 2.2 Metric/inch measuring system N170 DO $R3=$AC_TIME N180 A10 ; Feedrate=100 degrees/min ; Path=10 degrees ; R3=6 s approx. N190 DO $R4=$AC_TIME N200 X0.001 A10 ; Feedrate=100 mm/min ; Path=10 mm ; R4=6 s approx. N210 G700 F100 ;...
Page 397 Detailed Description 2.3 Setpoint/actual-value system Setpoint/actual-value system 2.3.1 General Control loop A control loop with the following structure can be configured for every closed-loop controlled axis/spindle: Fig. 2-1 Block diagram of a control loop Setpoint output A setpoint can be output for each axis/spindle. Setpoints are output digitally to the actuator on SINUMERIK 840D/810D.
Page 398 Detailed Description 2.3 Setpoint/actual-value system Reference point approach is executed by the selected measuring system. Each positioning measuring system must be referenced separately. For an explanation of actual-value acquisition compensation functions, see: References: /FB2/Description of Functions, Extended Functions; Compensations (K3) For an explanation of encoder monitoring, see: References: /FB1/Description of Functions, Basic Machine;...
Page 399 Detailed Description 2.3 Setpoint/actual-value system MD30240 $MA_ENC_TYPE[n] (actual-value acquisition type) to "0". As soon as the standard machine data have been loaded, the axes become simulation axes. The setpoint and actual value can be set to the reference point value with reference point approach.
Page 400 Detailed Description 2.3 Setpoint/actual-value system Prerequisite for routing All NC machine axes must be uniquely defined in machine data: MD10000 $MN_AXCONF_MACHAX_NAME_TAB[n] (machine axis name). This name must be unique throughout the system (all mode groups and channels). References: /FB1/Description of Functions, Basic Machine; Axes, Coordinate Systems, Frames (K2)/ Mode Group, Channel, Program Operation, Reset Behavior (K1) Speed setpoint routing...
Page 401 Detailed Description 2.3 Setpoint/actual-value system MD30110 $MA_CTRLOUT_MODULE_NR[n] (setpoint assignment: drive number/module number): The number of the module in the bus segment, via which the output is to be addressed, is entered here. The logical drive number of the axis module can be set via machine data: MD13010 $MN_DRIVE_LOGIC_NR[n] for: SINUMERIK 810D...
Page 402 Detailed Description 2.3 Setpoint/actual-value system Machine data actual-value routing The following machine data must be parameterized for each actual-value branch: MD30210 $MA_ENC_SEGMENT_NR[n] (actual-value assignment of bus segment): The number of the bus segment, via which the encoder is addressed, is entered here. Depending on the SINUMERIK version, certain bus segments are preassigned.
Page 403 Detailed Description 2.3 Setpoint/actual-value system MD30242 $MA_ENC_IS_INDEPENDENT[n] (encoder is independent): To prevent actual-value corrections influencing the actual value of an encoder defined in the same axis, the latter must be declared independent. Encoder is independent Encoder is dependent MD index for actual-value routing The coding of the machine data index [n] for actual-value routing is: [Encoder no.] For first encoder...
Page 404 Detailed Description 2.3 Setpoint/actual-value system Fig. 2-2 Example of setpoint/actual-value routing Special features of SINUMERIK 840D/810D with SIMODRIVE 611 digital: • MD30110 $MA_CTRLOUT_MODULE_NR[n] MD30220 $MA_ENC_MODULE_NR[n] always have the same logical drive number with either indirect measuring systems or if the motor encoder has to be evaluated in the NC. •...
Page 405 Detailed Description 2.3 Setpoint/actual-value system Measurement channel no. 6 should be assigned to machine axis "X1": X416 as direct measuring system. The logical number of the drive is set automatically to 4. Fig. 2-3 Example of setpoint/actual-value routing with axis expansion interface Actual-value assignment Machine data parameterization for 810D 1st axis actual value from motor...
Page 406 Detailed Description 2.3 Setpoint/actual-value system Setpoint assignment MD30110 $MA_CTRLOUT_MODULE_NR[0] MD30120 $MA_CTRLOUT_NR[0] MD13010 $MN_DRIVE_LOGIC_NR[3] MD30130 $MA_CTRLOUT_TYPE[0] 2.3.3 Configuration of drives SINUMERIK 840D/810D with SIMODRIVE 611 digital SINUMERIK 840D/810D with 611D drive bus You can configure the drive in the "Diagnostics" operating area on the operator panel (HMI; Human Machine Interface).
Page 407 2.3 Setpoint/actual-value system SINUMERIK 840Di with SIMODRIVE 611 universal SINUMERIK 840Di with PROFIBUS DP When a SINUMERIK 840Di is operated with the PROFIBUS DP drive 611 universal, the following MD are not used: • MD13000 $MN_DRIVE_IS_ACTIVE[n] (activate SIMODRIVE 611 digital drive) •...
Page 408 Detailed Description 2.3 Setpoint/actual-value system Local position of gear unit/encoder Fig. 2-4 Gear unit types and encoder locations Motor/load gear The motor/load gear supported by SINUMERIK is configured via the following machine data: MD31060 $MA_DRIVE_AX_RATIO_NUMERA (Numerator load gearbox) MD31050 $MA_DRIVE_AX_RATIO_DENOM (Denominator load gearbox) The transmission ratio is obtained from the numerator/denominator ratio of both machine data.
Page 409 Detailed Description 2.3 Setpoint/actual-value system Intermediate gear Additional, configurable load intermediate gears are also supported by the control: MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (intermediate gear numerator) MD31064 $MA_DRIVE_AX_RATIO2_DENOM (intermediate gear denominator) Power tools generally have their "own" intermediate gear. Such variable mechanics can be configured by multiplying the active intermediate gearbox and the motor/load gearbox.
Page 410 Detailed Description 2.3 Setpoint/actual-value system Supplementary conditions If the encoder to be used for position control is connected directly at the tool, the gear stage change only affects the physical quantities at the speed interface between the NC and the drive of the motor/load gear.
Page 411 For more information about speed setpoint adjustment, please refer to: References: /HBI/SINUMERIK 840Di Manual; "Axes and Spindles". SINUMERIK 840Di with SIMODRIVE 611 universal The speed setpoint comparison for SINUMERIK 840Di with SIMODRIVE 611 universal drives can be performed automatically or manually. Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) 2-37...
Page 412 Detailed Description 2.3 Setpoint/actual-value system • Automatic adjustment Configuration values for setpoint scaling are adjusted automatically, provided that machine data: MD32250 $MA_RATED_OUTVAL[n] = 0. The speed setpoint comparison through acyclic services at PROFIBUS DP can be performed automatically. SINUMERIK 840D/810D with SIMODRIVE digital Note Velocity adjustment and maximum speed setpoint The velocity does not need to be adjusted on a SINUMERIK 840D/810D due to automatic...
Page 413 Detailed Description 2.3 Setpoint/actual-value system Fig. 2-5 Maximum speed setpoint However, due to control processes, the axes should not reach their maximum velocity (MD32000 $MA_MAX_AX_VELO) at 100% of the speed setpoint, but at 80% to 95%. For axes, which reach their maximum velocity at around 80% of the speed setpoint range, the default setting (80%) of machine data: MD32000 $MA_MAX_AX_VELO (maximum axis velocity) should be applied.
Page 414 Detailed Description 2.3 Setpoint/actual-value system Direct measuring system (DM) is on machine directly: Load-side encoder Indirect measuring system (IM) is on motor indirectly: Motor-side encoder Depending on the type of axis (linear axis, rotary axis) and the type of actual-value acquisition (directly at the machine, indirectly at the motor), the following machine data must be parameterized to calculate the actual-value resolution: Machine data...
Page 415 Detailed Description 2.3 Setpoint/actual-value system Note These machine data are not required for encoder matching (path evaluation). However, they must be entered correctly for the setpoint calculation! Otherwise the required servo gain (K ) factor will not be set. Load revolutions are entered in machine data: MD31050 $MA_DRIVE_AX_RATIO_DENOM and motor revolutions in machine data: MD31060 $MA_DRIVE_AX_RATIO_NUMERA.
Page 416 Detailed Description 2.3 Setpoint/actual-value system For the following machine data, the control does not consider any parameter set nor any indices for coded encoders. NewConfig-dependent machine data Meaning MD31064 $MA_DRIVE_AX_RATIO2_DENOM (Intermediate gear denominator) MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (Intermediate gear numerator) MD31044 $MA_ENC_IS_DIRECT2 (Encoder on intermediate gear) MD32000 $MA_MAX_AX_VELO (Maximum axis velocity)
Page 417 Detailed Description 2.3 Setpoint/actual-value system For raw signal generators on 840D with SIMODRIVE 611 digital • 128 For raw signal generators on 810D Linear axis with linear scale Fig. 2-6 Linear axis with linear scale In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from the "internal increments/mm"...
Page 418 Detailed Description 2.3 Setpoint/actual-value system Linear axis with rotary encoder on motor Fig. 2-7 Linear axis with rotary encoder on motor In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from the "internal increments/mm" and the "encoder increments/mm" as follows: SINUMERIK example Linear axis with rotary encoder (2048 pulses) on motor;...
Page 419 Detailed Description 2.3 Setpoint/actual-value system ⇒ MD30300 $MA_IS_ROT_AX MD31000 $MA_ENC_IS_LINEAR[0] MD31040 $MA_ENC_IS_DIRECT[0] MD31020 $MA_ENC_RESOL[0] = 2048 MD31030 $MA_LEADSCREW_PITCH = 10 MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] MD10200 $MN_INT_INCR_PER_MM = 10000 Result: 1 encoder increment corresponds to 0.004768 increments of the internal unit. In practice, the available encoder resolution should not be resolved more accurately than the internal computational resolution.
Page 420 Detailed Description 2.3 Setpoint/actual-value system In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from the "internal increments/mm" and the "encoder increments/mm" as follows: Rotary axis with rotary encoder on motor Fig. 2-9 Rotary axis with rotary encoder on motor In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from the "internal increments/degree"...
Page 421 Detailed Description 2.3 Setpoint/actual-value system ⇒ MD30300 $MA_IS_ROT_AX MD31000 $MA_ENC_IS_LINEAR[0] MD31040 $MA_ENC_IS_DIRECT[0] MD31020 $MA_ENC_RESOL[0] = 2048 MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] MD10210 $MN_INT_INCR_PER_DEG = 1000 Result: 1 encoder increment corresponds to 0.017166 increments of the internal unit. The encoder resolution is thus coarser than the computational resolution by a factor of 58.
Page 422 Detailed Description 2.3 Setpoint/actual-value system Rotary axis with rotary encoder on the machine Fig. 2-10 Rotary axis with rotary encoder on the machine In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from the "internal increments/degree" and the "encoder increments/degree"...
Page 423 Detailed Description 2.4 Closed-loop control Intermediate gear encoder on tool Fig. 2-11 Intermediate gear with encoder directly on the rotating tool In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from the "internal increments/mm" and the "encoder increments/mm" as follows: Closed-loop control 2.4.1...
Page 424 Detailed Description 2.4 Closed-loop control The speed and current control systems for SIMODRIVE 611 are described in: References: /IAD/ "Installation & Startup Guide" SINUMERIK 840D/611D digital /IAC/ "Installation & Startup Guide" SINUMERIK 810D /PJU/ "Planning Guide" Converters The basic structure of an axis/spindle position control is illustrated below: Fig.
Page 425 Detailed Description 2.4 Closed-loop control The type of fine interpolation can be defined via machine data: MD33000 $MA_FIPO_TYPE (fine interpolation type). A differential FIPO not only performs cycle matching but also calculates a mean value (smoothing) from an IPO cycle. The cubic FIPO, type 3, supplies the best contour accuracy in addition to the cycle adaptation.
Page 426 Detailed Description 2.4 Closed-loop control Servo gain factor (K ) setting for SINUMERIK 840D/810D Fig. 2-13 Dynamic response adaptation Dynamic response adaptation The purpose of dynamic response adaptation is to set an identical following error for axes with different servo gain factors (K ).
Page 427 Detailed Description 2.4 Closed-loop control ⇒ For machine data: MD32910 $MA_DYN_MATCH_TIME[n] (dynamic response adaptation time constant) the following values are achieved: Axis 1: 0 ms Axis 2: 10 ms Axis 3: 6 ms Approximation formulae The equivalent time constant of the position control loop of an axis is calculated according to the following formula: •...
Page 428 Detailed Description 2.4 Closed-loop control 2.4.2 Parameter sets of the position controller Six different parameters sets The position control can operate with 6 different servo parameter sets. They are used as follows 1. Fast adaptation of the position control to altered machine characteristics during operation, e.g.
Page 429 Detailed Description 2.4 Closed-loop control Tapping or thread cutting The following applies to parameter sets for axes: • For machine axes not involved in tapping or thread cutting, parameter set 1 (index=0) is always used. The further parameter sets need not be considered. •...
Page 430 Detailed Description 2.4 Closed-loop control 2.4.3 Extending the parameter set Application Some machines use the same drive for moving various machine parts, which, in view of considerably varying speeds, results in a gear stage change. With each gear stage change, the corresponding parameter set is also switched over.
Page 431 Detailed Description 2.4 Closed-loop control The following existing machine data can be coded using parameter sets and have already been tried and tested during the startup of the NC: Denominator load gearbox MD31050 $MA_DRIVE_AX_RATIO_DENOM Numerator load gearbox MD31060 $MA_DRIVE_AX_RATIO_NUMERO Equivalent time constant current control loop MD32800 $MA_EQUIV_CURRCTRL_TIME Equivalent time constant speed control loop MD32810 $MA_EQUIV_SPEEDCTRL_TIME...
Page 432 Detailed Description 2.4 Closed-loop control Activating the parameter set coding Default setting without parameter set coding Provided that the machine data below retain a value of (1), the control is compatible with earlier software versions: MD32452 $MA_BACKLASH_FACTOR = 1 MD32610 $MA_VELO_FFW_WEIGHT = 1 MD36012 $MA_STOP_LIMIT_FACTOR = 1 Activating the parameter set coding If the default setting in machine data:...
Page 433 Detailed Description 2.5 Optimization of the control Example Effects of various parameter sets with backlash compensation: MD32450 $MA_BACKLASH[AX1] = 0.01 MD32452 $MA_BACKLASH_FACTOR[0,AX1] = 1.0 Parameter set 1 MD32452 $MA_BACKLASH_FACTOR[1,AX1] = 2.0 Parameter set 2 MD32452 $MA_BACKLASH_FACTOR[2,AX1] = 3.0 Parameter set 3 MD32452 $MA_BACKLASH_FACTOR[3,AX1] = 4.0 Parameter set 4...
Page 434 Detailed Description 2.5 Optimization of the control To illustrate this, the difference in position between two measuring systems is generated and injected as an additional current setpoint for the feedforward control, according to the weighting of machine data: MD32950 $MA_POSCTRL_DAMPING. The function is used predominantly for axes with strong tendency to vibrate.
Page 435 Detailed Description 2.5 Optimization of the control Supplementary condition 1. The functional expansion is available for all control variants, which use SIMODRIVE 611 digital drives. 2. The function can only be used on axes with two encoders: MD30200 $MA_NUM_ENCS = 2 One of the encoders must be parameterized as an indirect measuring system and the other as a direct measuring system.
Page 436 Detailed Description 2.5 Optimization of the control Advantages The new balancing filter provides the following improvements: • An axis with feedforward control has a considerably lower inclination to undershoots when positioning. • Achieves a higher accuracy at bent contours (can be measured, e.g. using the circularity test) and can be set more easily.
Page 437 Detailed Description 2.5 Optimization of the control New setting rule for MD32810 and MD32800 If the new filter is active, the setting rule for machine data: MD32810 $MA_EQUIV_SPEEDCTRL_TIME MD32800 $MA_EQUIV_CURRCTRL_TIME are modified. This means that, if the old balancing filter had previously been active and is to be changed to the new filter, the following actions must be considered: Setting the equivalent time constant with speed feedforward control If the previous setting was MD32620 $MA_FFW_MODE = 1:...
Page 438 Detailed Description 2.5 Optimization of the control Setting the equivalent time constant of the speed control loop MD32810 speed feedforward control We recommend that the axis be allowed to move in and out in "AUTOMATIC" mode with a part program and that travel-in to the target position, i.e. the actual position value of the active measuring system, be monitored with servo trace (HMI Advanced or programming device).
Page 439 Detailed Description 2.5 Optimization of the control MD32810 fine adjustment Experience has shown that the initial value is only modified slightly during fine adjustment, typically by adding or deducting 0.25 ms. For example, if the initial value is 1.5 ms, the optimum value calculated manually is usually within the range 1.25 ms to 1.75 ms.
Page 440 Detailed Description 2.5 Optimization of the control With setting: MD32620 $MA_FFW_MODE = 3 or 4, the control takes these changes into account automatically, so that machine data: MD32810 $MA_EQUIV_SPEEDCTRL_TIME no longer has to be reset. After major changes, however, you should nevertheless check the positioning behavior (via servo trace).
Page 441 Detailed Description 2.5 Optimization of the control Setting the equivalent time constant of the current control loop MD32800 torque feedforward control for each additional option The same rules and recommendations apply to setting the time constant of the current control loop as to the speed feedforward control. However, as previously, activation of the torque feedforward control filter via: MD32620 $MA_FFW_MODE = 4 must be enabled both in the drive and via the option in order to set the time constant via:...
Page 442 Detailed Description 2.5 Optimization of the control In this case, the torque feedforward control with X1 is enabled continuously, also in JOG mode. MD20150 $MC_GCODE_RESET_VALUES[ ], FFWON and FFWOF have no effect on X1. This can be practical if the machine is only permitted to run with feedforward control, e.g. for reasons of accuracy, or if you also want to test the feedforward control without a program during startup.
Page 443 Detailed Description 2.5 Optimization of the control A considerably better result is achieved using this new filter type for axial jerk limitation with floating averaging. In this case, filter time constants of approx. 20 to 40 ms can be used, depending on the particular machine.
Page 444 Detailed Description 2.5 Optimization of the control Fine adjustment The fine adjustment of the position setpoint filter is carried out as follows: 1. Assess the traversing response of the axis (e.g. based on positioning processes with servo trace). 2. Modify the filter time in MD32410 $MA_AX_JERK_TIME. 3.
Page 445 Detailed Description 2.5 Optimization of the control 2.5.4 Position control with proportional-plus-integral-action controller Function For standard applications, the core of the position controller is a proportional-action controller with the manipulation options described above connected in series upstream. It is possible to connect an I component for special applications (e.g. electronic gear). The resulting proportional-plus-integral-action controller then corrects the error between setpoint and actual positions down to zero in a finite, settable time period when the appropriate machine data are set accordingly.
Page 446 Detailed Description 2.5 Optimization of the control MD32210 $MA_POSCTRL_INTEGR_TIME ; integral time [sec.] Effect of integral time: – T → 0: The control error is corrected quickly; however, the control loop can become instable. – T → ∞: The control error is corrected more slowly. 4.
Page 447 Detailed Description 2.5 Optimization of the control Fig. 2-14 Following error (1), actual velocity (2), position actual value (3), position setpoint (4) 2.5.5 System variable for status of pulse enable Application For all applications that must quickly react to pulse enabling, the status of the pulse enable is imaged to a new system variable in order to accelerate the braking signal.
Page 448 Detailed Description 2.5 Optimization of the control Description NCK variable Status of the power enable (pulse enable) of a $VA_DPE [machine axis] machine axis Predefined range of values: FALSE: no power enable TRUE: power enable exists Activation The variable is predefined and can be used at any time acc. to the data type BOOL with FALSE or TRUE.
Page 449 Detailed Description 2.5 Optimization of the control Functionality This "deceleration axes" function blocks any path movements, but allows positioning with approach to the target position by reducing the velocity step by step. The response corresponds to that of a multipoint controller. For reasons relating to position control loop stability, the position controller algorithm is extended instead of the special positioning function "deceleration axes".
Page 450 Detailed Description 2.5 Optimization of the control Stability risk The expanded position controller algorithm will reduce the risks that a stable control admits only a rather poor setting of the gain, or that the position control loop does not remain stable despite the effective extensions, to a minimum.
Page 451 Supplementary Conditions Supplementary conditions None Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 452 Supplementary Conditions 3.1 Supplementary conditions Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 453 Examples Examples No examples are available. Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 454 Examples 4.1 Examples Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 455 Data Lists Machine data 5.1.1 Memory specific machine data Number Identifier: $MM_ Description 9004 DISPLAY_RESOLUTION Display resolution 9010 SPIND_DISPLAY_RESOLUTION Display resolution for spindles 9011 DISPLAY_RESOLUTION_INCH Display resolution for INCH system of measurement 5.1.2 NC-specific machine data Number Identifier: $MN_ Description 10000 AXCONF_MACHAX_NAME_TAB[n] Machine axis name...
Page 456 Data Lists 5.1 Machine data Number Identifier: $MN_ Description 13010 DRIVE_LOGIC_NR[n] Logical drive number 13020 DRIVE_INVERTER_CODE[n] Power section code of drive module 13030 DRIVE_MODULE_TYPE[n] Module identifier 13040 DRIVE_TYPE[n] Identifier of drive type 13050 DRIVE_LOGIC_ADDRESS[n] Logical drive addresses 13060 DRIVE_TELEGRAM_TYPE[n] Standard message frame type for PROFIBUS DP 13070 DRIVE_FUNCTION_MASK[n] DP function used...
Page 457 Data Lists 5.1 Machine data Number Identifier: $MA_ Description 31040 ENC_IS_DIRECT[n] Encoder is connected directly to the machine 31044 ENC_IS_DIRECT2 Encoder on intermediate gear 31050 DRIVE_AX_RATIO_DENOM[n] Denominator load gearbox 31060 DRIVE_AX_RATIO_NUMERA[n] Numerator load gearbox 31064 DRIVE_AX_RATIO2_DENOM Intermediate gear denominator 31066 DRIVE_AX_RATIO2_NUMERA Intermediate gear numerator 31070...
Page 458 Data Lists 5.1 Machine data Number Identifier: $MA_ Description 36500 ENC_CHANGE_TOL Max. tolerance for position actual-value switchover 36510 ENC_DIFF_TOL Measuring system synchronism tolerance 36700 ENC_COMP_ENABLE[n] Interpolatory compensation Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 459 Index $AC_TIME, 2-22 Encoder coding, 2-41 $VA_DPE, 2-74 Encoder directly on tool, 2-35 Actual-value acquisition, 2-23 Fine Interpolation, 2-50 Actual-value correction, 2-25 FIPO, 2-50 Actual-value processing, 2-37, 2-56, 2-59 Following error compensation (feedforward control) Actual-value resolution, 2-39 Speed feedforward control, 2-61 Actual-value routing, 2-25 Function overview of inch/metric switchover, 2-20 Adapting the motor/load ratios, 2-33...
Page 460 Index MD10200, 2-2, 2-3, 2-7, 2-18, 2-45 MD32100, 2-37 MD10210, 2-2, 2-3, 2-7, 2-47 MD32200, 2-51, 2-54, 2-64, 2-65, 2-72 MD10220, 2-6, 2-8 MD32210, 2-72 MD10230, 2-6, 2-8, 2-9 MD32220, 2-71, 2-72 MD10240, 2-11, 2-13, 2-16, 2-18, 2-19, 2-20, 2-21 MD32250, 2-37, 2-38 MD10260, 2-11, 2-16, 2-17, 2-19, 2-20 MD32400, 2-65, 2-69...
Page 461 Position control loop, 2-49 Setpoint system, 2-23 Positioning accuracy, 2-4 Setpoint/actual-value system|Configuration of drives for Positioning axes, 2-3 SINUMERIK 840Di, 2-32, 2-33 PROFIBUS DP, 2-33 Simulation axes, 2-24 Pulse multiplication factor, 2-42 Speed control loop, 2-49 Speed setpoint adjustment, 2-37...
Page 462 Index Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) Index-4 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 463 (H2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 464 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 465 Contents Brief Description ............................. 1-1 Function ............................. 1-1 Overview of auxiliary functions ....................1-3 Detailed Description..........................2-1 Predefined auxiliary functions ....................2-1 2.1.1 Predefined auxiliary functions ....................2-1 2.1.2 Parameter: Group assignment....................2-3 2.1.3 Parameter: Type, address extension, and value ............... 2-3 2.1.4 Parameter: Output behavior.......................
Page 466 Contents Supplementary conditions........................3-1 General constraints ........................3-1 Output behavior.......................... 3-2 Examples..............................4-1 Defining auxiliary functions ......................4-1 Data Lists..............................5-1 Machine data..........................5-1 5.1.1 NC-specific machine data ......................5-1 5.1.2 Channel-specific machine data....................5-1 Signals............................5-2 5.2.1 Signals to channel........................5-2 5.2.2 Signals from channel........................
Page 467 Brief Description Function General Auxiliary functions permit activation of NC system functions and PLC user functions. Auxiliary functions can be programmed in part program blocks in the following: • Part programs • Synchronized actions • User cycles Detailed information on using auxiliary function output in synchronized actions is to be found References: /FBSY/ Description of Functions Synchronized Actions Predefined auxiliary functions...
Page 468 Brief Description 1.1 Function Extension of predefined auxiliary functions Extension of predefined auxiliary functions refers to the parameter: "Address extension". The address extension defines the number of the spindle to which the auxiliary function applies. For example, spindle function M3 (spindle right) is predefined for the master spindle of a channel.
Page 469 Brief Description 1.2 Overview of auxiliary functions Overview of auxiliary functions M functions M (special function) Address extension Value Value range Meaning Value range Type Meaning Number 0 (implicit) - - - Up to 8 digits Function Remarks: - - - Value range Meaning Value range...
Page 470 Brief Description 1.2 Overview of auxiliary functions • M-function-specific machine data: – MD10800 $MN_EXTERN_CHAN_SYNC_M_NO_MIN – MD10802 $MN_EXTERN_CHAN_SYNC_M_NO_MAX – MD10804 $MN_EXTERN_M_NO_SET_INT – MD10806 $MN_EXTERN_M_NO_DISABLE_INT – MD10814 $MN_EXTERN_M_NO_MAC_CYCLE – MD10815 $MN_EXTERN_M_NO_MAC_CYCLE_NAME – MD20094 $MC_SPIND_RIGID_TAPPING_M_NR – MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR – MD20096 $MC_T_M_ADDRESS_EXT_IS_SPINO – MD22200 $MC_AUXFU_M_SYNC_TYPE –...
Page 471 Brief Description 1.2 Overview of auxiliary functions H functions H (aux. function) Address extension Value Value range Meaning Value range Type Meaning Number 0 - 99 -2147483648 - +2147483647 0 - +/-3.4028exp38 REAL 2) 3) 4) Remarks: The functionality must be implemented by the user in the PLC user program. Application User-specific auxiliary functions.
Page 472 Brief Description 1.2 Overview of auxiliary functions Remarks • Identification of tools either by means of tool number or location number. References /FBW/ Tool Management /FB/ Description of Functions Basic Machine; Tool Compensation (W1) • When T0 is selected, the current tool is removed from the tool holder but not replaced by a new tool (default setting).
Page 473 Brief Description 1.2 Overview of auxiliary functions DL functions DL (additive tool offset) Address extension Value Value range Meaning Value range Type Meaning Number - - - - - - 0 - 6 Selection of the additive tool offset Remarks: The additive tool offset selected with DL refers to the active D number.
Page 474 Brief Description 1.2 Overview of auxiliary functions FA functions FA (axial feedrate) Address extension Value Value range Meaning Value range Type Meaning Number 1 - 31 Axis number 0.001 - 999 999.999 REAL Axial feedrate Remarks: - - - Application Axial velocity.
Page 475 Detailed Description Predefined auxiliary functions 2.1.1 Predefined auxiliary functions Function Predefined auxiliary functions are auxiliary functions for activating system functions. The assignment of a predefined auxiliary function to system function cannot be changed. During execution of a predefined auxiliary function, the corresponding system function is activated and the auxiliary functions are output to the NC/PLC interface.
Page 476 Detailed Description 2.1 Predefined auxiliary functions Predefined auxiliary functions System function Index n (index for the machine data of the parameters of an auxiliary function) Type: MD22050 $MC_AUXFU_PREDEF_TYPE[ n ] Address extension: MD22060 $MC_AUXFU_PREDEF_EXTENSION[ n ] Value: MD22070 $MC_AUXFU_PREDEF_VALUE[ n ] Group: MD22040 $MC_AUXFU_PREDEF_GROUP[ n ] Output behavior: Bits 0 - 8 MD22080 $MC_AUXFU_PREDEF_SPEC[ n ]...
Page 477 Detailed Description 2.1 Predefined auxiliary functions Nibbling (11) Nibbling (11) Nibbling (12) Nibbling (11) Nibbling (11) Nibbling (12) The value depends on: MD22560 $MC_TOOL_CHANGE_M_MODE A different value can be preset via the following machine data: - MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR or - MD20094 $MC_SPIND_RIGID_TAPPING_M_NR. Value 70 is always output to the PLC.
Page 478 Detailed Description 2.1 Predefined auxiliary functions Parameter: Type The name of an auxiliary function is defined via the "type", e.g.: • M: Special functions • S: Spindle functions • F: Feed The "type" cannot be changed for predefined auxiliary functions. Parameter: Address extension The "address extension"...
Page 479 Detailed Description 2.1 Predefined auxiliary functions 2.1.4 Parameter: Output behavior Function The "output behavior" defines when the auxiliary function is output to the NC/PLC interface and when it is acknowledged by the PLC: MD22080 $MC_AUXFU_PREDEF_SPEC[ index ] (specification of output behavior) Bit Value Meaning Output duration one OB1 cycle (normal acknowledgment)
Page 480 Detailed Description 2.1 Predefined auxiliary functions Bit1: Output duration one OB40 cycle (quick acknowledgment) An auxiliary function with quick acknowledgment is output to the NC/PLC interface before the next OB1 cycle. Auxiliary-function-specific change signals indicate to the PLC user program that the auxiliary function is valid.
Page 481 Detailed Description 2.1 Predefined auxiliary functions Bit6: Output during motion The auxiliary function is output during the traverse movements programmed in the part program block (path and/or block-related positioning axis movements). Bit7: Output at block end The auxiliary function is output after completion of the traverse movements programmed in the part program block (path and/or block-related positioning axis movements).
Page 482 Detailed Description 2.1 Predefined auxiliary functions Output after motion • The traverse movements (path and/or block-related positioning axis movements) of the current part program block end with an exact stop. • The auxiliary functions are output after completion of the traverse movements. •...
Page 483 Detailed Description 2.1 Predefined auxiliary functions Fig. 2-1 Output behavior 1 Auxiliary Function Output to PLC (H2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 484 Detailed Description 2.1 Predefined auxiliary functions Fig. 2-2 Output behavior 2 Auxiliary Function Output to PLC (H2) 2-10 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 485 Detailed Description 2.2 User-defined auxiliary functions Fig. 2-3 Output behavior 3 User-defined auxiliary functions 2.2.1 User-specific and extended predefined auxiliary functions Function There are two uses for user-defined auxiliary functions: • Extension of predefined auxiliary functions • User-specific auxiliary functions Auxiliary Function Output to PLC (H2) 2-11 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 486 Detailed Description 2.2 User-defined auxiliary functions Extension of predefined auxiliary functions Extension of predefined auxiliary functions refers to the parameter: "Address extension". The address extension defines the number of the spindle to which the auxiliary function applies. User-specific auxiliary functions One feature of user-specific auxiliary functions is that the parameter "Type"...
Page 487 Detailed Description 2.2 User-defined auxiliary functions System function Type Address extension Value Tool change Spindle right Spindle left Spindle stop Position spindle Axis mode Automatic gear stage Gear stage 1 Gear stage 2 Gear stage 3 Gear stage 4 Gear stage 5 Spindle speed Tool selection 1) address extension = 1 is the default value used in the auxiliary functions predefined in the machine...
Page 488 Detailed Description 2.2 User-defined auxiliary functions 2.2.4 User-specific auxiliary functions Function User-specific auxiliary functions have the following properties: • For parameter: "Type", only identifier "H" is permitted. • User-specific auxiliary functions only activate user functions. • User-specific auxiliary functions cannot activate system functions. •...
Page 489 Detailed Description 2.2 User-defined auxiliary functions Parameter: Type The name of an auxiliary function is defined via the "Type". Only the following names are permitted for user-defined auxiliary functions: • User-specific auxiliary functions – H: Auxiliary function • Extension of predefined auxiliary functions –...
Page 490 Detailed Description 2.2 User-defined auxiliary functions 2.2.5.3 Parameter: Output behavior Function The "Output behavior" of user-defined auxiliary functions can be parameterized via: MD22035 $MC_AUXFU_ASSIGN_SPEC[ index ] (specification of output behavior) For a description of the individual output parameters, see Section: "Parameter output behavior"...
Page 491 Detailed Description 2.2 User-defined auxiliary functions Parameterization: M4 • Machine data index: 1 (2. user-defined auxiliary function) • Auxiliary function group: 5 • Type and value: M4 (spindle left) • Address extension: 2 as appropriate for the 2nd spindle of the channel •...
Page 492 Detailed Description 2.3 Type-specific output behavior Machine data Machine data index Value MD22000 $MC_AUXFU_ASSIGN_GROUP MD22010 $MC_AUXFU_ASSIGN_TYPE MD22020 $MC_AUXFU_ASSIGN_EXTENSION MD22030 $MC_AUXFU_ASSIGN_VALUE MD22035 $MC_AUXFU_ASSIGN_SPEC Type-specific output behavior Function The output behavior of the auxiliary function relative to a traverse motion programmed in the part program block can be defined type-specifically in the following machine data: •...
Page 493 Detailed Description 2.3 Type-specific output behavior Output behavior The following output behaviors can be parameterized: MD $MC_AUXFU_xx_SYNC_TYPE = <value> Value Meaning Output prior to motion Output during motion Output at block end No output to the PLC Output according to the predefined output specification For a description of the various output behaviors, see Section: "Predefined auxiliary functions"...
Page 494 Detailed Description 2.4 Programmable output duration Time sequence for auxiliary function output Fig. 2-4 Example of auxiliary function output Programmable output duration Function The user-specific auxiliary functions for which the output behavior: "Output duration one OB1 cycle (slow acknowledgment)" was parameterized, can be defined for each output via the part program instruction QU (quick) for auxiliary functions with quick acknowledgment.
Page 495 Detailed Description 2.5 Priorities of the output behavior Programming Comment N10 G94 G01 X50 M100 Output of M100: during movement Acknowledgment: slow N20 Y5 M100 M200 Output of M200: prior to movement Output of M100: during movement Acknowledgment: slow N30 Y0 M=QU(100) M=QU(200) Output of M200: prior to movement Output of M100: during movement Acknowledgment: quick...
Page 496 Detailed Description 2.5 Priorities of the output behavior Priority sequence The rule for the priority sequence is that the parameterized output behavior with lower priority becomes active if no output behavior with higher priority has been parameterized. Area: Output duration The following priorities apply to the output duration: Priority Output behavior...
Page 497 Detailed Description 2.6 Auxiliary function output to the PLC Auxiliary function output to the PLC Function On output of an auxiliary function to the PLC, the following signals and values are passed to the NC/PLC interface: • Change signals • Parameter: "Address extension" •...
Page 498 Detailed Description 2.7 Programming Symbolic addressing The values for parameter: The "Address expansion" and "Value" can also be defined symbolically. The symbolic name for the address extension must then be stated in brackets. Example Symbolic programming of the auxiliary function M3 (spindle right) for the 1st spindle: Programming syntax Meaning DEF SPINDEL_NR = 1...
Page 499 Detailed Description 2.8 Auxiliary functions without block change delay Auxiliary functions without block change delay Function For auxiliary functions with parameterized and/or programmed output behavior, too: • "Output duration one OB40 cycle (quick acknowledgment)" • "Output prior to motion" or "Output during motion" continuous-path mode can cause drops in velocity in continous-path mode (short traverse paths and high velocities).
Page 500 Detailed Description 2.9 Associated auxiliary functions • MD22254 $MC_AUXFU_ASSOC_M0_VALUE (additional M function for program stop) • MD22256 $MC_AUXFU_ASSOC_M1_VALUE (additional M function for conditional stop) Group assignment The group assignment of an associated user-defined auxiliary function is always the group assignment of the corresponding predefined auxiliary function. Application Associated auxiliary functions can be used in: •...
Page 501 Detailed Description 2.10 M function with implicit preprocessing stop Specific NC/PLC interface signals The following specific NCK/PLC interface signals are available: • DB 21, ... DBX318.5 (associated M00/M01 active) Check-back signal • DB 21, ... DBX30.5 (activate associated M01) Activation signal Example Associating the user-defined auxiliary functions M123 with M0: MD22254 $MC_AUXFU_ASSOC_M0_VALUE = 123...
Page 502 Detailed Description 2.11 Response to overstore Constraints If a subroutine called indirectly via an M function in a part program in one of the following ways, no preprocessing stop is performed: • MD10715 $MN_M_NO_FCT_CYCLE (M function to be replaced by subroutine) •...
Page 503 Detailed Description 2.12 Block search 2.12 Block search 2.12 2.12.1 Behavior on block search with calculation Function Block searches with calculation collect up auxiliary functions on a groupspecific basis. The last auxiliary function in each auxiliary function group is output after NC-START, before the actual reentry block, in a separate part program block that has the following output behavior: •...
Page 504 Detailed Description 2.12 Block search Behavior regarding: M19 (position spindle) After block search, the last spindle positioning programmed with M19 is always performed, even if other spindle-specific auxiliary functions are programmed between the part program block with M19 and the target block. Setting the necessary spindle enables must therefore be derived from the interface signals of the traverse commands in the PLC user program: DB31, ...
Page 505 Detailed Description 2.12 Block search System variables The spindle-specific auxilary functions are always stored in the following system variables on block search, irrespective of the programming described above: System variable Description $P_SEARCH_S[n] Collected spindle speed, value range = { 0 ... Smax } $P_SEARCH_SDIR[n] Collected spindle rotation direction, value range = { 3, 4, 5, -5, -19, 70 }...
Page 506 Detailed Description 2.12 Block search Example Block search for contour with suppression of output of the spindle-specific auxiliary functions and start of an ASUB after output of action blocks: MD11450 $MN_SEARCH_RUN_MODE, Bit 2 = 1 The ASUB is started after block search for N55. Part program N05 M3 S200 ;...
Page 507 Detailed Description 2.12 Block search Control response with REPOS If the started ASUB is concluded with REPOSA, spindle 1 remains at 111 degrees while spindle 2 is repositioned at 77 degrees. If a different response is necessary, the program sequence for block search, e.g. "N05 M3 S..."...
Page 508 Detailed Description 2.13 Querying and displaying of output M help functions 2.13 Querying and displaying of output M help functions 2.13.1 Possibilities of information Methods of information Information on the status of M help functions is possible with: • Display on the operator interface •...
Page 509 Detailed Description 2.13 Querying and displaying of output M help functions Miscellaneous Only the M help functions are group-specifically displayed. Additionally, block-by-block display is still possible as before. Up to 15 groups can be displayed whereby per group only the last M function of a group—either collected or output to the PLC—is displayed. The M functions are displayed in various display types according to their status: States and their display Status...
Page 510 Detailed Description 2.13 Querying and displaying of output M help functions 2.13.1.2 Programming status query System variables System variables are available for status queries of group-specific M help functions. The M help functions can be queried group-specifically in the part program and via synchronized actions through the following variables.
Page 511 Supplementary Conditions General constraints Spindle replacement Because the auxiliary functions are parameterized channel-specifically, if function: "Spindle replacement" is used, the spindle-specific auxiliary function must be parameterized immediately in all channels that use the spindles. Tool management If tool management is active, the following constraints apply: •...
Page 512 Supplementary conditions 3.2 Output behavior Output behavior Thread cutting During active thread cutting G33, G34, and G35, the following output behavior is always active for the spindle-specific auxiliary functions: • M3 (spindle right) • M4 (spindle left): • Output duration one OB40 cycle (quick acknowledgment) •...
Page 513 Supplementary conditions 3.2 Output behavior Auxiliary function: M1 (conditional stop) Overlaying parameterized output behavior The parmeterized output behavior of auxiliary function: M1 is overlaid by the output behavior defined in the following machine data: MD20800 $MC_SPF_END_TO_VDI, Bit 1 (end of subroutine/stop to PLC) Bit Value Meaning The auxiliary function M01 (conditional stop) is always output to the PLC.
Page 514 Supplementary conditions 3.2 Output behavior Auxiliary Function Output to PLC (H2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 515 Examples Defining auxiliary functions Task Parameterization of the auxiliary-function-specific machine data for a machine with the following configuration: Spindles • Spindle 1: Master spindle • Spindle 2: Second spindle Gear stages • Spindle 1: 5 gear stages • Spindle 2: No gear stages Switching functions for cooling water on/off •...
Page 516 Examples 4.1 Defining auxiliary functions • The gear stage last programmed is to be output after block search. For this purpose, the following auxiliary functions are assigned to auxiliary function group 9: – M40, M41, M42, M43, M44, M45 – M1=40, M1=41, M1=42, M1=43, M1=44, M1=45 •...
Page 517 Examples 4.1 Defining auxiliary functions Parameterization of the machine data The machine data are parameterized by appropriate programming within a part program. Programming Remarks $MN_AUXFU_MAXNUM_GROUP_ASSIGN = 21 Number of user-defined auxiliary functions per channel $MN_AUXFU_GROUP_SPEC[1] = 'H22' Output behavior of auxiliary function group 2 $MN_AUXFU_GROUP_SPEC[2] = 'H22' Output behavior of auxiliary function group 3 $MN_AUXFU_GROUP_SPEC[8] = 'H21'...
Page 518 Examples 4.1 Defining auxiliary functions Programming Remarks $MC_AUXFU_ASSIGN_TYPE[14] = "M" Description of auxiliary function 15: M2 = 5 $MC_AUXFU_ASSIGN_EXTENSION[14] = 2 $MC_AUXFU_ASSIGN_VALUE[14] = 5 $MC_AUXFU_ASSIGN_GROUP[14] = 10 $MC_AUXFU_ASSIGN_TYPE[15] = "M" Description of auxiliary function 16: M2 = 70 $MC_AUXFU_ASSIGN_EXTENSION[15] = 2 $MC_AUXFU_ASSIGN_VALUE[15] = 70 $MC_AUXFU_ASSIGN_GROUP[15] = 10 $MN_AUXFU_GROUP_SPEC[10] = 'H22'...
Page 519 Data Lists Machine data 5.1.1 NC-specific machine data Number Identifier: $MN_ Description 10713 M_NO_FCT_STOPRE M function with preprocessing stop 10714 M_NO_FCT_EOP M function for spindle active after NC RESET 11100 AUXFU_MAXNUM_GROUP_ASSIGN Maximum number of user-defined auxiliary functions per channel 11110 AUXFU_GROUP_SPEC[n], Group-specific output behavior 5.1.2...
Page 520 Data Lists 5.2 Signals Number Identifier: $MC_ Description 22210 AUXFU_S_SYNC_TYPE Output timing of S functions 22220 AUXFU_T_SYNC_TYPE Output timing of T functions 22230 AUXFU_H_SYNC_TYPE Output timing for H functions 22240 AUXFU_F_SYNC_TYPE Output timing of F functions 22250 AUXFU_D_SYNC_TYPE Output timing of D functions 22252 AUXFU_DL_SYNC_TYPE Output timing of DL functions...
Page 521 Data Lists 5.2 Signals DB number Byte.Bit Description 21, ... 66.0 - 66.4 M function 1 - 5 quick 21, ... 67.0 - 67.5 F function 1 - 6 quick 21, ... 68 - 69 Extended address of M function 1 (binary) 21, ...
Page 522 Data Lists 5.2 Signals DB number Byte.Bit Description 21, ... 170 - 171 Extended address of F function 3 (binary) 21, ... 172 - 175 F function 3 (real format) 21, ... 176 - 177 Extended address of F function 4 (binary) 21, ...
Page 523 Data Lists 5.2 Signals 5.2.4 Signals from axis/spindle DB number Byte.Bit Description 31, ... 86 - 87 M function for spindle (binary) 31, ... 88 - 91 S function for spindle (real) Auxiliary Function Output to PLC (H2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 524 Data Lists 5.2 Signals Auxiliary Function Output to PLC (H2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 525 Index Constraints, 2-25, 2-33 Thread cutting, 3-2 Continuous-path mode, 2-25 $P_SEARCH_S, 2-31 $P_SEARCH_SDIR, 2-31 $P_SEARCH_SGEAR, 2-31 $P_SEARCH_SPOS, 2-31 D functions, 1-6 $P_SEARCH_SPOSMODE, 2-31 Definition of an auxiliary function, 1-2 DL functions, 1-7 Address extension, 2-23 Area Extension of predefined auxiliary functions, 2-12 Output duration, 2-22 Output relative to motion, 2-22 Areas of the output behavior, 2-21...
Page 526 Index MD22020, 2-14, 2-16, 2-17, 2-18 MD22030, 2-14, 2-16, 2-17, 2-18 Parameterized output behavior, 2-8 MD22035, 2-16, 2-17, 2-18, 2-22 Parameters MD22040, 2-1, 2-3 Address extension, 2-4, 2-15 MD22050, 2-1, 2-3 Type, 2-4, 2-15 MD22060, 2-1, 2-3 Value, 2-4, 2-15 MD22070, 2-1, 2-3 Part program blocks without path motion, 2-22 MD22080, 2-1, 2-5, 2-6, 2-8, 2-22...
Page 527 Operation, Reset Response (K1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 528 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 529 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 Mode group ..........................2-1 2.1.1 Mode group Stop ........................2-4 2.1.2 Mode group RESET........................2-4 Mode groups ..........................2-5 2.2.1 Monitoring functions and interlocks of the individual modes ........... 2-11 2.2.2 Mode change ...........................
Page 530 Contents 2.6.9 System variables and variables for SERUPRO sequence ............2-77 2.6.10 Restrictions ..........................2-79 Program operation mode ......................2-79 2.7.1 Initial settings ........................... 2-80 2.7.2 Selection and start of part program or part-program block ............2-80 2.7.3 Part-program interruption ......................2-82 2.7.4 RESET command ........................
Page 531 Contents 5.1.1.1 HMIspecific machine data......................5-1 5.1.1.2 NC-specific machine data ......................5-1 5.1.2 Channel-specific machine data....................5-2 5.1.2.1 Basic machine data........................5-2 5.1.2.2 Block search..........................5-3 5.1.2.3 Reset response .......................... 5-4 5.1.2.4 Auxiliary function settings ......................5-4 5.1.2.5 Transformation definitions......................5-5 5.1.2.6 Memory settings.........................
Page 532 Contents Mode Group, Channel, Program Operation, Reset Response (K1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 533 Brief Description Brief description Channel An NC channel represents the smallest unit for manual traversing of axes and automatic processing of part programs. At any one time, a channel will always be in a particular mode, e.g., AUTOMATIC, MDA, or JOG. A channel can be regarded as an independent NC. Mode group A channel always belongs to a mode group.
Page 534 Brief Description 1.1 Brief description Block search The block search function enables the following program simulations for locating specific program points: • Type 1 without calculation at contour • Type 2 with calculation at contour • Type 4 with calculation at block end point •...
Page 535 Brief Description 1.1 Brief description Single block With the single-block function, the user can execute a part program block-by-block. There are 3 types of setting for the single-block function: • SLB1 := IPO single block • SLB2 := Decoding single block •...
Page 536 Brief Description 1.1 Brief description Program runtime/part counter Information on the program runtime and the part count is provided to assist the machine tool operator. The functions defined for this purpose are not identical to the functions of tool management and are intended primarily for NC systems without tool management.
Page 537 Detailed Description Mode group Mode group A mode group contains the channels that are required to run simultaneously in the same mode from the point of view of the machining sequence. Mode group Definition of a mode group A mode group combines NC channels with axes and spindles to form a machining unit. A mode group contains the channels that are required to run simultaneously in the same mode from the point of view of the machining sequence.
Page 538 Detailed Description 2.1 Mode group Note The control system does not recognize mode group-specific data. However, it is possible to make some channelspecific settings that pertain to the mode group. Channelspecific assignments Axes can be assigned to multiple channels that, in turn, are allocated to different mode groups.
Page 539 Detailed Description 2.1 Mode group Mode groupspecific interface signals The exchange of mode groupspecific signals to/from the mode group is transferred to DB11 in the user interface. In this way, the mode group can be monitored and controlled from the PLC or NCK.
Page 540 Detailed Description 2.1 Mode group Example configuration: MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[0] = 1 MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[1] = 2 MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[3] = 0 ; gap MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[8] = 1 MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP[9] = 2 2.1.1 Mode group Stop Function The following NC/PLC interface signals are used to stop the traversing motions of the axes or of the axes and spindles in all mode group channels and to interrupt part program execution: •...
Page 541 Detailed Description 2.2 Mode groups Completion of mode group Reset Once all mode group channels are in Reset state, mode group Reset is completed as follows: • All alarms with "Mode group reset" criterion are canceled. • The NC/PLC interface indicates completion of the mode group Reset and the mode group's readiness to operate: DB11, ...
Page 542 Detailed Description 2.2 Mode groups • MDA Manual Data Automatic (the NC blocks are entered via the operator panel) – Restricted automatic execution of part programs and sections of part programs (can be only one block or a sequence of blocks). –...
Page 543 Detailed Description 2.2 Mode groups Display The current operating mode of the mode group is displayed via interface signals: DB11, ... DBX6.0 to DBX6.2 (active mode): • JOG (DB11, ... DBX6.2) • MDA (DB11, ... DBX6.1) • AUTOMATIC (DB11, ... DBX6.0) Global machine function for mode group After mode selection, a machine function can be selected, which is then valid globally for the whole mode group.
Page 544 Detailed Description 2.2 Mode groups The chosen machine function TEACH IN, REPOS, or REF is activated in: DB11, ... DBX1.0 to DBX1.2 (machine function). The active machine function TEACH IN, REPOS, or REF is displayed in interface: DB11, ... DBX7.0 to DBX7.2 (active machine function). Operating statuses The following three channel statuses can occur in each mode: 1.
Page 545 Detailed Description 2.2 Mode groups JOG in AUTOMATIC details JOG in AUTOMATIC mode is permitted if the mode group is in RESET state and the axis is jog-capable. RESET for the mode group means: • All channels in RESET state. •...
Page 546 Detailed Description 2.2 Mode groups Features of JOG in AUTOMATIC • The +/– keys cause a JOG movement, and the mode group is switched internally to JOG. (i.e., "Internal JOG"). • Moving the handwheels causes a JOG movement, and the mode group is switched internally to JOG, unless DRF is active.
Page 547 Detailed Description 2.2 Mode groups Boundary conditions "JOG in AUTOMATIC" can only switch internally to JOG if the mode group is in "Mode group RESET" state, i.e., it is not possible to jog immediately in the middle of a stopped program. in all channels The user can jog in this situation by pressing the JOG key or the Reset key the mode group.
Page 548 Detailed Description 2.2 Mode groups 2.2.2 Mode change Introduction A mode change is requested and activated via the mode group interface (DB11, ...). A mode group will either be in AUTOMATIC, JOG, or MDA mode, i.e., it is not possible for several channels of a mode group to take on different modes at the same time.
Page 549 Detailed Description 2.3 Channel The user must configure a message to the operator indicating that mode change is disabled. No signal is set by the system. • Mode change from MDA to JOG If all channels of the mode group are in Reset state after a mode change from MDA to JOG, the NC switches from JOG to AUTO.
Page 550 Detailed Description 2.3 Channel • Channelspecific frames and frames active in the channel for transforming closed calculation rules into Cartesian coordinate systems. Offsets, rotations, scalings, and mirrorings for geometry axes and special axes are programmed in a frame. For more information on frames, refer to: References: /FB1/ Description of Functions, Basic Machine;...
Page 551 Among other functions, this information is used for evaluation in HMI, PLC, and standard cycles. Siemens supplies standard machine data for milling. If the machine tool is not a milling machine, but some other type, a different data/program block can be loaded by the HMI or PLC depending on the technology mode set in the machine data.
Page 552 Detailed Description 2.3 Channel A separate spindle start can be set for each spindle. The following spindle functions can be controlled by PLC via interface signals: • Spindle Stop (corresponds to M5) • Spindle Start clockwise (corresponds to M3) • Spindle Start counterclockwise (corresponds to M4) •...
Page 553 Detailed Description 2.4 Program test Function When Start disable is set, no new program starts are accepted for the selected channel. Start attempts are counted internally. If a start is executed by the PLC before a global block disable is sent from the HMI to the NCK, the program is not stopped by the Start disable and its status is transmitted to the HMI.
Page 554 Detailed Description 2.4 Program test Test options The following test options are described below: • Program execution without setpoint outputs • Program execution in singleblock mode • Program execution with dry run feedrate • Skip part program blocks • Block search with or without calculation. 2.4.1 Program execution without setpoint outputs Functionality...
Page 555 Detailed Description 2.4 Program test Selection This function is selected via the operator interface in the "Program control" menu. This selection sets interface signal: DB21, ...DBX25.7 (program test selected). This does not activate the function. Activation The function is activated via interface signal: DB21, ...
Page 556 Detailed Description 2.4 Program test 2.4.2 Program execution in singleblock mode Functionality The part program can be started via interface signal: DB21, ... DBX7.1 (NC Start). When the "Single block" function is activated, the part program stops executing after every program block.
Page 557 Detailed Description 2.4 Program test Selection of single block type An operator input in the Program control area on the HMI specifies the single block type. Activation On detection of the "Single Block" key on the machine control panel, the basic PLC program sets interface signal: DB21, ...
Page 558 Detailed Description 2.4 Program test 2.4.3 Program execution with dry run feedrate Functionality The part program can be started via interface signal: DB21, ... DBX7.1 (NC Start). If this function is activated, the traversing speeds programmed in conjunction with G01, G02, G03, G33, G34, and G35 are replaced by the feedrate value stored in setting: SD42100 $SC_DRY_RUN_FEED.
Page 559 Detailed Description 2.4 Program test The following options are available for changing the dry run feedrate: 1. Dry run feedrate is the maximum of the programmed feedrate and setting data SD42101. 2. Dry run feedrate is the minimum of the programmed feedrate and setting data SD42101. 3.
Page 560 Detailed Description 2.4 Program test Main program/subroutine %100 N10 ... N20 ... Block being N30 ... processed Skip blocks /N40 ... N40 and N50 during processing /N50 ... N60 ... N70 ... N80 ... N90 ... N100 ... N110 ... N120 M30 Fig.
Page 561 Detailed Description 2.5 Block search Block search Functionality Block search offers the possibility of starting part program execution from almost any part program block. This involves the NC rapidly performing an internal run through the part program (without traversing motions) to the selected target block. Here, every effort is made to achieve to the exact same control status as would result at the target block during normal part program execution (e.g., with respect to axis positions, spindle speeds, loaded tools, NC/PLC interface signals, variable values) in order to be able...
Page 562 Detailed Description 2.5 Block search Note For more information on block searches, refer to: References: /FB1/ Description of Functions Basic Machine; Auxiliary Function Output to PLC (H2), Section: "Behavior on block search" Subsequent actions After completion of a block search, the following subsequent actions may occur: •...
Page 563 Detailed Description 2.5 Block search Last Block search Search target 2 NC Start Block search Search target 1 action block starting found action blocks starting found being output Block search active (DB21, ... DBX33.4) Action block active (DB21, ... DBX32.3) Last action block active (DB21, ...
Page 564 Detailed Description 2.5 Block search Action blocks Action blocks contain the actions accumulated during "Block search with calculation", such as auxiliary function outputs and tool (T, D), spindle (S), and feedrate programming commands. During "Block search with calculation" (contour or block end point), actions such as M function outputs are accumulated in socalled action blocks.
Page 565 Detailed Description 2.5 Block search Block search type 2 In "Block search with calculation at contour", the ASUB must be exited with the REPOSA command. The axes are then automatically moved to the collected block search position. $P_EP then also returns to this value. Block search type 4 After "Block search with calculation at block end point", automatic repositioning is not performed by the REPOS part program command between "Last action block active"...
Page 566 Detailed Description 2.5 Block search Auxiliary spindle functions after block search Control system response and output Machine data: MD11450 MN_SEARCH_RUN_MODE determines the control system response after the end of the block search via the following bits: Bit 0 = 0: NC Stop following output of the last action block (default).
Page 567 Detailed Description 2.5 Block search 2.5.2 Automatic start of an ASUB after block search Activation Automatic ASUB Start after a block search is configured in existing machine data: MD11450 $MN_SEARCH_RUN_MODE with Bit 1 = 1 (TRUE): Bit 1 = 1: Automatic start of user program /_N_CMA_DIR/_N_PROG_EVENT_SPF as an ASUB.
Page 568 Detailed Description 2.5 Block search 2.5.3 Cascaded block search Functionality The "Cascaded block search" function can be used to start another block search from the status "Search target found". The cascading can be continued after each located search target as often as you want and is applicable to the following block search functions: •...
Page 569 Detailed Description 2.5 Block search Example: Sequence with cascaded block search • RESET • Block search up to search target 1 • Block search up to search target 2 → "Cascaded block search" • NC Start for output of the action blocks → Alarm 10208 •...
Page 570 Detailed Description 2.5 Block search Type 4 block search with calculation at block end point Example with automatic tool change after block search with active tool management: 1. Set machine data: MD11450 $MN_ SEARCH_RUN_MODE to 1 MD11602 $MN_ASUP_START_MASK Bit 0 = 1 (ASUB Start from stopped state) 2.
Page 571 Detailed Description 2.5 Block search Tool change point (450,300) Approach movement Target block N220 Approach point (170,30) Fig. 2-4 Approach movement for search to block end point (target block N220) Note "Search to contour" with target block N220 would generate an approach movement to the tool change point (start point of the target block).
Page 572 Detailed Description 2.5 Block search Tool change point (450,300) Approach movement N260 Approach point Fig. 2-5 Approach movement for search to contour (target block N260) Note "Search to block end point" with target block N260 would result in Alarm 14040 (circle end point error).
Page 573 Detailed Description 2.5 Block search N270 G1 X50 N280 Y50 N290 X150 N300 G0 G40 G60 X170 Y30 ; Deselect radius compensation N310 Z100 D0 ; Deselect length correction End of contour section 2 PROC WZW Tool change routine N500 DEF INT TNR_AKTIV ;...
Page 574 Detailed Description 2.6 Block search Type 5 SERUPRO Block search Type 5 SERUPRO SERUPRO The "Search via program test" is from now on referred to as SERUPRO. This acronym has been derived from "SEarch RUn by PROgram test". Function SERUPRO can be used for a cross-channel block search. This search permits a block search with calculation of all necessary data from the previous history, so as to acquire all previously valid status data for a particular overall NC status.
Page 575 Detailed Description 2.6 Block search Type 5 SERUPRO • Tangential follow-up of individual axes • Superimposed motion interpolation • Travel to fixed stop • Synchronous spindle grouping On reaching the beginning of the target block (see "Time sequence of SERUPRO" below), the user can activate a SERUPRO ASUB.
Page 576 Detailed Description 2.6 Block search Type 5 SERUPRO 4. The part program command WAITM/WAITE/WAITMC will wait for the partner channels involved. This waiting occurs if the partner channels are: – In SERUPRO mode – In Program test more or are actually running 5.
Page 577 Detailed Description 2.6 Block search Type 5 SERUPRO Note After program testing has been deactivated, a REPOS operation is initiated that is subject to the same restrictions as a SERUPRO approach operation. Any adverse effects can be inhibited using an ASUB. Controlling SERUPRO behavior Machine data: MD10708 $MN_SERUPRO_MASK...
Page 578 Detailed Description 2.6 Block search Type 5 SERUPRO The new setting must be stored in machine data: MD22620 $MC_START_MODE_MASK_PRT. The meaning of the bits of MD22620 is identical to those of MD20112. Example: The synchronous spindle coupling at the beginning of the SERUPRO operation is retained for the part program start.
Page 579 Detailed Description 2.6 Block search Type 5 SERUPRO For userdefined ASUB after the SERUPRO operation Note If the machine manufacturer decides to start an ASUB after the SERUPRO operation as described in item 7, the following must be observed: Stopped status acc. to point 6. : Machine data: MD11602 $MN_ASUP_START_MASK MD11604 $MN_ASUP_START_PRIO_LEVEL...
Page 580 Detailed Description 2.6 Block search Type 5 SERUPRO 5. The user presses "Start" again. 6. The NCK executes the REPOS movement and continues the part program at the target block. Note The automatic ASUB start with MD11450 requires Starts to continue the program. The procedure is in this respect similar to other search types.
Page 581 Detailed Description 2.6 Block search Type 5 SERUPRO SERUPRO approach The user can change the REPOS behavior of individual axes at specific times to reposition certain axis types either earlier, later, or not at all. This affects SERUPRO approach in particular.
Page 582 Detailed Description 2.6 Block search Type 5 SERUPRO Repositioning with controlled REPOS At any point during processing, a part program can be interrupted and an ASUB started with a REPOS. For path axes, the REPOS mode can be controlled by the PLC via VDI signals to reposition on the contour.
Page 583 Detailed Description 2.6 Block search Type 5 SERUPRO A) Start axes individually The REPOS behavior for SERUPRO approach with several axes is selected with: MD11470 $MN_REPOS_MODE_MASK BIT 3 == 1 The NC commences SERUPRO approach with a block that moves all positioning axes to the programmed end and the path axis to the target block.
Page 584 Detailed Description 2.6 Block search Type 5 SERUPRO Delayed approach of axis with REPOS offset Using the axial, level-triggered axis/spindle VDI signal (PLC→NCK): DB31, ... DBX10.0 (REPOSDELAY) the REPOS offset for the axis is only applied with the edge of DB21, ...
Page 585 Detailed Description 2.6 Block search Type 5 SERUPRO Note In the current ASUB, level: DB21, ... DBX31.4 (REPOSMODEEDGE) does not affect the final REPOS, unless this signal applies to the REPOS blocks. In Case A, the signal is only allowed in the stopped state. Response to RESET: NCK has acknowledged the PLC signal If the level of signals:...
Page 586 Detailed Description 2.6 Block search Type 5 SERUPRO REPOS operations with VDI signals Control REPOS with VDI interface signals REPOS offsets can be positively influenced with the following channelspecific VDI interface signals from the PLC: DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2) channel-specific* DB21, ...
Page 587 Detailed Description 2.6 Block search Type 5 SERUPRO A REPOSMODE specified by the PLC is acknowledged by the NCK with: DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn0 to 2) DB31, ... DBX10.0 (Repos Delay) with: DB31, ... DBX70.2 (Repos Delay Ackn) as follows: A part program is stopped at N20 (→...
Page 588 Detailed Description 2.6 Block search Type 5 SERUPRO Interface signal: DB31, ... DBX70.2 (Repos Delay Ackn) is defined in the same way. DB31, ... DBX70.1 (Repos offset valid) =1 DB21, ... DBX319.1-319.3 (Repos Path Mode Ackn0 to 2) = 4 (RMN). Valid REPOS offset When the SERUPRO operation is complete, the user can read out the REPOS offset via the axis/spindle VDI signal (NCK→PLC):...
Page 589 Detailed Description 2.6 Block search Type 5 SERUPRO Displaying the range of validity The range of validity of the REPOS offset is indicated with interface signal: DB31, ... DBX70 (REPOS offset valid) It is indicated whether the REPOS offset calculation was valid or invalid: Value 0: The REPOS offset of this axis is calculated correctly.
Page 590 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.1.2 Repositioning on contour with controlled REPOS Approach modes Influence path axes individually During SERUPRO approach, a REPOS operation is initiated in order to reposition to the contour. A large number of axes, which the user can control by means of interface signals, is frequently moved.
Page 591 Detailed Description 2.6 Block search Type 5 SERUPRO Application and procedure SERUPRO approach with RMN offers the opportunity of using the application as shown in the figure: If a program abort is forced by RESET at any point when the program is advancing from block 2 to 3, •...
Page 592 Detailed Description 2.6 Block search Type 5 SERUPRO Read REPOS mode in synchronized actions The valid REPOS mode of the interrupted block can be read via synchronized actions using system variable $AC_REPOS_PATH_MODE= 0: not defined Repositioning not defined 1: RMB Repositioning to beginning 2: RMI Repositioning to point of interruption...
Page 593 Detailed Description 2.6 Block search Type 5 SERUPRO Caution The NC as a discrete system generates a sequence of interpolation points. It is possible that a synchronized action that was triggered in normal operation will no longer be triggered in SERUPRO. Mode of functioning with DryRun An active SERUPRO SPEEDFACTOR has the following effect on DryRun: •...
Page 594 Detailed Description 2.6 Block search Type 5 SERUPRO Tool management If tool management is active, the following setting is recommended: Set MD18080 $MA_TOOL_MANAGEMENT_MASK BIT 20 = 0. The tool management command generated during the SERUPRO operation is thus not output to the PLC! The tool management command has the following effect: •...
Page 595 Detailed Description 2.6 Block search Type 5 SERUPRO N600 G0 G40 G60 G90 SUPA X450 Y300 Z300 D0 N610 M206 Execute tool change N620 ENDIF N630 M17 ASUB for calling the tool change routine after block search type 5 PROC ASUPWZV2 N1000 DEF INT TNR_SPINDEL Variable for active T number N1010 DEF INT TNR_VORWAHL...
Page 596 Detailed Description 2.6 Block search Type 5 SERUPRO Spindle ramp-up When the SERUPRO ASUB is started, the spindle is not accelerated to the speed specified in the program because the SERUPRO ASUB is intended to move the new tool into the correct position at the workpiece after the tool change.
Page 597 Detailed Description 2.6 Block search Type 5 SERUPRO Function The "SelfActing SERUPRO" operation cannot be used to find a search target. If the search target is not reached, no channel is stopped. In certain situations, however, the channel is nevertheless stopped temporarily. In this case, the channel will wait for another channel. Examples are: Wait marks, couplings, or axis replacement.
Page 598 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.5 Inhibit specific part of the program in the part program for SERUPRO Programmed interrupt pointer As a general rule, only the user of the machine knows the mechanical situation that is currently being executed in the program.
Page 599 Detailed Description 2.6 Block search Type 5 SERUPRO Nesting rules The following points govern the interaction between language commands IPTRLOCK and IPTRUNLOCK with nesting and the subroutine end. 1. IPTRUNLOCK is activated implicitly at the end of the subprogram in which IPTRLOCK was called.
Page 600 Detailed Description 2.6 Block search Type 5 SERUPRO With implicit IPTRUNLOCK Nesting of search-suppressed program sections in two program levels with implicit IPTRUNLOCK. The implicit IPTRUNLOCK in subprogram1 ends the search-suppressed area. Interpretation of the blocks in an illustrative sequence. Subprogram1 is prepared for the block search: N10010 IPTRLOCK()
Page 601 Detailed Description 2.6 Block search Type 5 SERUPRO section N100 IPTRLOCK() is ineffective An interruption in the search-suppressed program section of the above program always returns block "N10030 G4 F1" in SPARPI. An interruption at N100 then returns N100 again. Automatic interrupt pointer In certain applications it can be useful to automatically define a prespecified type of coupling as a search-suppressed area.
Page 602 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.6 Special features in the part-program target block 2.6.6.1 STOPRE in the part-program target block STOPRE block The STOPRE block receives all modal settings from the preceding block and can, therefore, apply conditions in advance in relation to the following actions: •...
Page 603 Detailed Description 2.6 Block search Type 5 SERUPRO Implicit preprocessing stop Situations in which interpreter issues an implicit preprocessing stop: 1. In all blocks in which one of the following variable access operations occurs: -Programming of a system variable beginning with $A... -Redefined variable with attribute SYNR/SYNRW 2.
Page 604 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.8 Special features of functions supported during SERUPRO SERUPRO supports the following NC functions: • Traversing to fixed stop: FXS and FOC automatically • Force Control • Synchronous spindle: Synchronous spindle grouping with COUPON •...
Page 605 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.8.2 Force Control System variables $AA_FOC, $VA_FOC The meaning of system variable $AA_FOC is redefined for SERUPRO as follows: • $AA_FOC represents the current status of program simulation. • $VA_FOC always describes the real machine status. The FOCREPOS function behaves analogously to the FXSREPOS function.
Page 606 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.8.4 Couplings and master-slave Setpoint and actual value couplings The SERUPRO operation is a program simulation in Program Test mode with which setpoint and actual value couplings can be simulated. Specifications for EG simulation For simulation of EG, the following definitions apply: 1.
Page 607 Detailed Description 2.6 Block search Type 5 SERUPRO Reaching simulated target point for LEAD with JOG At the time of "Search target found", the coupling is already active, especially for the JOG movements. If the target point is not reached, SERUPRO approach can be used to traverse the following axis with active coupling and an overlaid motion to the target point.
Page 608 Detailed Description 2.6 Block search Type 5 SERUPRO For further information about the master/slave link, see: References: /FB3/, TE3, "Speed/Torque Coupling, Master-Slave" The system ASUB is called progevent.spf and must be available in the /_N_CMA_DIR directory. The contents might be as follows: progevent.spf X=master axis, Y=slave axis N10 IF(($S_SEARCH_MASLC[Y]<...
Page 609 Detailed Description 2.6 Block search Type 5 SERUPRO Gantry axes Mechanically linked machine axes can be moved without a mechanical offset using the gantry axis function. This operation is simulated correctly with SERUPRO. For further information about the functionality of gantry axes, refer to References: /FB3/, G1 "Gantry Axes"...
Page 610 Detailed Description 2.6 Block search Type 5 SERUPRO Autonomous axis operations Autonomous singleaxis operations are axes controlled by the PLC that can also be simulated on SERUPRO. During SERUPRO operation, as in normal operation, the PLC can take over or give up control of an axis. If required, this axis can also be traversed using FC18. The PLC takes over control of the axis before the approach block and is responsible for positioning this axis.
Page 611 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.8.6 Gear stage change Operational sequences The gear stage change requires physical movements from the NCK in order to select a new gear. A gear stage change is not required in the SERUPRO operation and is performed as follows: Some gears can only be changed when controlled by the NC, since either the axis must oscillate or a certain position must be approached beforehand.
Page 612 Detailed Description 2.6 Block search Type 5 SERUPRO 2.6.8.8 REPOS offset in the interface REPOS offset provided/valid When the SERUPRO operation is finished, the user can use the OPI to read off the REPOS offset applied via the following REPOS process. An axis-VDI-interface bit "REPOS offset"...
Page 613 Detailed Description 2.6 Block search Type 5 SERUPRO Example: The synchronous spindle coupling at the beginning of the SERUPRO operation is retained for the part program start. Synchronous spindle coupling not configured $MC_START_MODE_MASK = 'H400' Is switched off $MC_START_MODE_MASK_PRT = 'H00' Remains active $MC_ENABLE_START_MODE_MASK_PRT = 'H01' $MC_START_MODE_MASK_PRT is evaluated...
Page 614 Detailed Description 2.6 Block search Type 5 SERUPRO Synchronized action SERUPRO can be scanned in a synchronized action using system variable $AC_SERUPRO = TRUE. SERUPRO Updated REPOS acknowledgements can be scanned via: "Programsensitive system variable" Description $AC_REPOS_PATH_MODE Type of REPOS MODE $AA_REPOS_DELAY REPOS suppression is currently active for this axis...
Page 615 Detailed Description 2.7 Program operation mode 2.6.10 Restrictions Conditional use SERUPRO supports the following NC functions subject to certain restrictions: NCK functionality Restrictions Master/slave for drives Selective enabling and disabling of the master/slave link with and SERUPRO MASLON active Axis enables and SERUPRO Real servo enable missing during program testing Axis replacement and SERUPRO Axes traversing as path axes before RELEASE are ignored on...
Page 616 Detailed Description 2.7 Program operation mode 2.7.1 Initial settings Machine data Conditions for program operation can be set using machine data. MD settings Initial settings Initial settings can be programmed in channelspecific machine data for each channel. These initial settings affect, for example, G groups and auxiliary function output. Auxiliary function output The timing for output of auxiliary functions can be predefined via machine data AUXFU_x_SYNC_TYPE (MD22200, 22210, 22220, 22230, 22240, 22250, 22260), (output...
Page 617 Detailed Description 2.7 Program operation mode Start command, channel status There are two possible START commands for initiating processing of a part program or part program block: • The channel-specific interface DB21, ... DBX7.1 (NC Start), which is usually controlled from the machine control panel key NC Start, starts program execution in the same channel.
Page 618 Detailed Description 2.7 Program operation mode Alarms Under certain conditions the START command will have no effect and one of the following alarms will be triggered: • 10200 "No NC Start permitted with active alarm" • 10202 "No NC Start permitted with active command" (see /DA/) •...
Page 619 Detailed Description 2.7 Program operation mode The following actions are executed when the STOP command is triggered: • Part program execution is stopped at the next block limit (with NC stop at block limit, M00/M01 or single block), processing is stopped immediately with the other STOP commands.
Page 620 Detailed Description 2.7 Program operation mode Commands RESET commands The following Reset commands are available: • Interface signal DB11, ... DBX0.7 ("Mode group reset") • Interface signal DB21, ... DBX7.7 ("Reset") For a further explanation of the individual signals, refer to the data lists. A RESET command can be used to interrupt an active part program or a part program block (in MDA).
Page 621 Detailed Description 2.7 Program operation mode Program statuses The following program states are available: • Interface signal DB21, ... DBX35.4 ("Program status aborted") • Interface signal DB21, ... DBX35.3 ("Program status interrupted") • Interface signal DB21, ... DBX35.2 ("Program status stopped") •...
Page 622 Detailed Description 2.7 Program operation mode 2.7.6 Channel status Interface representation The current channel status is displayed in the interface. The PLC can then trigger certain responses and interlocks configured by the manufacturer depending on the status at the interface. The channel status is displayed in all operating modes.
Page 623 Detailed Description 2.7 Program operation mode 2.7.7 Responses to operator or program actions Status transitions The following table shows the channel and program statuses that result after certain operator and program actions. The lefthand side of the table lists the channel and program statuses as well as the operating modes from which the starting situation must be can be selected.
Page 624 Detailed Description 2.7 Program operation mode 2.7.8 Part-program start Start handling Table 2-4 Typical program sequence Sequence Command Conditions Comments (must be satisfied before the command) Load program (via the operator interface or part program) Select AUTOMATIC mode Program preselection Channel preselected Preselected channel in Re- set state...
Page 625 Detailed Description 2.7 Program operation mode 2.7.9 Example of timing diagram for a program run Signal sequences NC START (from PLC, MMC, COM, X-user language) NC STOP (from PLC, MMC, COM, X-user language) IS "NC START DISABLE" (DB21, ... DBX7.0) IS "Read-in disable"...
Page 626 Detailed Description 2.7 Program operation mode The advantage compared with copying blocks is that you save memory and can make modifications easily. Changes to positions only need to be made at one point. Labels Labels are used within a program to identify a block or a program section. References: /PG/, Programming Guide: Fundamentals The options available for repeating part of a program are: •...
Page 627 Detailed Description 2.7 Program operation mode 2.7.11 Eventdriven program calls Application In the case of certain events, an implied user program is to start. This allows the user to activate the initial settings of functions or carry out initialization routines by part program command.
Page 628 Detailed Description 2.7 Program operation mode Event Part program start Table 2-5 Sequence when starting a part program Sequence Command Boundary conditions Comments (must be satisfied before the command) Channel selection: Defined initial state: Select channel and mode Reset state Channel in Reset state Channel: in reset status and Mode selection:...
Page 629 Detailed Description 2.7 Program operation mode Sequence Command Boundary conditions Comments (must be satisfied before the command) /_N_CMA_DIR/_N_PROG_ As an ASUB Implied call of the path name as EVENT_SPF or name from an ASUB MD11620 MD20110 $MC_ Control activated: Control activated RESET_MODE_MASK, Reset sequence with evaluation Reset sequence with evaluation...
Page 630 Detailed Description 2.7 Program operation mode Event Power-up Table 2-8 Table 1–9 Sequence during power-up Sequence Command Boundary conditions Comments (must be satisfied before the command) Reset after power up MD20110 $MC_ Control activated: After power-up, control enables RESET_MODE_MASK, After power-up: the reset sequence with MD20150 $MC_ Reset sequence with evaluation...
Page 631 Detailed Description 2.7 Program operation mode Part _N_PROG_ _N_PROG_ Part _N_PROG_ program EVENT_SPF program EVENT_SPF EVENT_SPF Start active Program status DB21-30 running , ... DBX35.0) stopped , ... DBX35.2) aborted , ... DBX35.4) Channel status DB21-30 active , ... DBX35.5) interrupted , ...
Page 632 Detailed Description 2.7 Program operation mode Note DB21, ... DBX35.4 ("Program status aborted") and DB21, ... DBX35.7 ("Channel status reset") is are only received if _N_PROG_EVENT_SPF has been completed. Neither DB21, ... DBX35.4 ("Program status aborted") nor DB21, ... DBX35.7 ("Channel status aborted") are received between the program end and the start of the program event.
Page 633 Detailed Description 2.7 Program operation mode • The read-in disable and single-block processing behavior can be controlled using machine data MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK and MD20107 $MC_PROG_EVENT_IGN_INHIBIT as follows. MD20106 $MC_PROG_EVENT_IGN_SINGLEBLOCK _N_PROG_EVENT_SPF makes a block change in spite of single-block mode without an additional Start if Bit 0 = 1 is set after the part program start event Bit 1 = 1 is set after the part program end event...
Page 634 Detailed Description 2.7 Program operation mode Event programs Example for call by all events For MD20108 $MC_PROG_EVENT = 'H0F', i.e. call of _N_PROG_EVENT_SPF for part program start part program end and operator panel reset and power-up: PROC PROG_EVENT DISPLOF Sequence for part program start IF ($P_PROG_EVENT == 1) N 10 MY_GUD_VAR = 0 Initialize GUD variable...
Page 635 Detailed Description 2.7 Program operation mode Example for call of operator panel reset For MD20108 $MC_PROG_EVENT = 'H04' PROC PROG_EVENT DISPLOF N10 DRFOF Deactivate DRF offsets N20 M17 Start with RESET key Control with MD PROG_EVENT_IGN_INHIBIT The part program whose name is in MD11620 $MN_PROG_EVENT_NAME and which was stored in one of the directories /_N_CUS_DIR/, /_N_CMA_DIR/, or /_N_CST_DIR/ or the _N_PROG_ENENT_SPF program (default) is automatically started with the RESET key and executed up to the end, regardless of any read-in disable, if the following MD settings are...
Page 636 Detailed Description 2.7 Program operation mode 2.7.12 Control and effect on stop events Controlling stop events Stop events can be controlled for a particular program area in a program section. This program area is referred to as the stop delay area; it is •...
Page 637 Detailed Description 2.7 Program operation mode Note In addition, there are NCK events that only stop for a short time to perform a switching operation and then restart immediately. These include e.g., the ASUB that stops the contour briefly in order to then start the ASUB program immediately.
Page 638 Alarm 16954 NC prog.: NEWCONF BLOCKSEARCHRUN_NEWCONF Alarm 16954 NC prog.: NEWCONF SET_USER_DATA delayed OPI: PI "_N_SETUDT" SYSTEM_SHUTDOWN immediate System shutdown for SINUMERIK 840Di delayed Extended stop and retract EXT_ZERO_POINT delayed External work offset STOPRUN Alarm 16955 OPI: PI "_N_FINDST" STOPRUN 2.7.13...
Page 639 Detailed Description 2.7 Program operation mode Interrupt routines/ASUBs Term Identical functionality is identified by the terms ASUB and Interrupt routines. For the purposes of simplification, only the term interrupt routine will be used from now on. • Interrupt routines are normal part programs, which are started by interrupt events (interrupt inputs, process or machine status) related to the machining process or the relevant machine status.
Page 640 Detailed Description 2.7 Program operation mode Main program/subroutine Interrupt routine %100 Assign one routine to one event and switch to "ready" N10 SETINT ... N20 ... Block being ABHEB_Z N30 ... processed N40 ... Event N10 R1=34 ... (input switched) N50 ...
Page 641 Detailed Description 2.7 Program operation mode Interrupt signals A total of 8 interrupt signals are available. All inputs can be controlled from the PLC. In addition, the first four interrupt signals are controlled via the 4 rapid NC inputs on the NCU module (X121).
Page 642 Detailed Description 2.7 Program operation mode Exceptions when reorganization is not possible: • In thread cutting blocks • With complex geometries (e.g., spline or radius compensation) Processing of interrupt routine The "Interrupt" program is automatically started on completion of reorganization. It is treated by the system like a normal subroutine (displayed on the operator interface, nesting depth etc.) End of interrupt routine...
Page 643 Detailed Description 2.7 Program operation mode Interrupt disable The DISABLE command can be set to protect part program sections from being interrupted by an interrupt routine. The assignment interrupt signal <-> part program is maintained but the interrupt routine does not respond to the 0/1 signal transition. The DISABLE command can be reset with the ENABLE command.
Page 644 Detailed Description 2.7 Program operation mode Details Explicit ASUB start If MD11602 $MN_ASUP_START_MASK is set such that the ASUB may not be started automatically, the routine can still be activated by the Start key. Any rapid retraction that may be parameterized is always started. Priorities Machine data MD11604 $MN_ASUP_START_PRIO_LEVEL can be used to specify the minimum priority level that the settings in MD11602 $MN_ASUP_START_MASK are to affect...
Page 645 Detailed Description 2.7 Program operation mode Status of NC Start of ASUB Control system reaction Manual mode, Interrupt, (PLC) Control system assumes the status "internal program execution Channel stopped mode" for the addressed channel (not evident externally) and then activates the ASUB. The selected operating mode remains valid. The original status is resumed after execution of the ASUB (M17).
Page 646 Detailed Description 2.7 Program operation mode REPOS ASUB sequences may be generated for which there is no unambiguous return to an interruption point in the block processing sequence. System variable: $P_REPINF can be used to scan the ASUB to determine whether a REPOS is possible. System variable: $P_REPINF Value Meaning...
Page 647 Detailed Description 2.7 Program operation mode Starting ASUBs in spite of active read-in disable and/or IPO single block (SBL1) To start ASUBs in spite of an active read-in disable: DB21, ... DBX6.1 == 1 (read-in disable) and/or IPO single block (SBL1), the following machine data must be parameterized: •...
Page 648 Detailed Description 2.7 Program operation mode Handling Replacement of system routine MD 11610 MN_ASUB_EDITABLE controls which of the system routines are to be replaced by user-defined routines. Value Meaning The user-defined routine stored in _N_ASUP_SPF in directory _N_CUS_DIR is not activated for either RET or REPOS. The user-defined routine is activated for RET, the routine provided in the system is activated for REPOS.
Page 649 Detailed Description 2.7 Program operation mode Installation of user system ASUBs One routine named _N_ASUP_SPF can be loaded in directory _N_CUS_DIR. It must implement the actions desired by the user for: RET on value 1 in MD11610 REPOS on value 2 in MD11610. $AC_ASUP REPOS *) If Bit 9 is set, then the branch is determined by MD20114: MODESWITCH_MASK starting...
Page 650 Internal ASUBs are stopped in every block. Danger The machine manufacturer is responsible for the contents of ASUB routines used to replace ASUP.SYF supplied by Siemens. Mode Group, Channel, Program Operation, Reset Response (K1) 2-114 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 651 Detailed Description 2.8 Single block Single block Block-by-block processing With the single-block function, the user can execute a part program block-by-block. Single-block types There are 3 types of setting for the single-block function: • SBL1 := IPO single block When the SLB1 function is active, machining stops or pauses after each machine action block (Ipo block).
Page 652 Detailed Description 2.8 Single block 2.8.1 Decoding single block SBL2 with implicit preprocessing stop Asynchronicity As a result of preprocessing of part program blocks, the reference between the current block display relative to the main run status of the NCK and the variable values displayed on the HMI can be lost.
Page 653 Detailed Description 2.8 Single block In the program SBLOF must be alone in a block. With effect from this block, single-block stop is deactivated until the next programmed SBLON or until the end of the active subroutine level. If SBLOF is active, this also applies in subroutines, which are called. Area Example: The area between N20 and N60 is executed as one step in single-block mode.
Page 654 Detailed Description 2.8 Single block Cycle Example 1: A cycle is to act like a command for the user. Main program: N10 G1 X10 G90 F200 N20 X-4 Y6 N30 CYCLE1 N40 G1 X0 N50 M30 Program cycle:1 N100 PROC CYCLE1 DISPLOF SBLOF Suppress single block N110 R10=3*SIN(R20)+5 N120 IF (R11 <= 0)
Page 655 Detailed Description 2.8 Single block 2.8.3 Single-block stop: inhibit according to situation Suppress stopping in single cases Depending on MD10702 $MN_IGNORE_SINGLEBLOCK_MASK, setting bits 0 to 12 = 1 can suppress stopping at the end of the block during the following processing operations. Program execution must not stop after single blocks in the case of the following even if block-by-block processing is selected: 1.
Page 656 Detailed Description 2.8 Single block Boundary conditions The following restriction applies to decoding single block SBL2: • Block search approach blocks • Block not in ASUB; DISPLOF, SBLOF • Non-reorganizable and non-repositionable blocks • Blocks that are not generated in the interpreter, e.g., intermediate blocks 2.8.4 Single-block behavior in mode group with type A/B Classifying channels...
Page 657 Detailed Description 2.9 Program control Type B, DB11 DBX1.6=1 - All channels are stopped. - All channels receive a start. - Channel KS stops at the end of the block. - Channels KA receive a STOPATEND (analogous to "NC Stop at block limit"...
Page 658 Detailed Description 2.9 Program control Table 2-10 Program control: Interface signals Function Selection signal Activation signal Feedback signal SKP skip block 0 to 7 DB21, ... DBX26.0- 26.7 DB21, ... DBX2.0- 2.7 - - - SKP skip block 8 to 9 DB21, ...
Page 659 Detailed Description 2.9 Program control Signals Example: It is possible to skip blocks that are not to be executed every time the program runs (e.g., program test blocks): / ; block skipped, (DB21, ... DBX2.0) 1st skip level / N005 ; block skipped, (DB21, ... DBX2.0) 1st " /0 N005 ;...
Page 660 Detailed Description 2.9 Program control SD42990 Setting data SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER can be used to dynamically limit the number of blocks in the interpolation buffer to a smaller value than that in MD28060 $MC_MM_IPO_BUFFER_SIZE; the minimum number is 2 blocks. Values of setting data SD42990 $SC_MAX_BLOCKS_IN_IPOBUFFER: Value Effect <...
Page 661 Detailed Description 2.9 Program control Example N10 ... N20 ..... N100 $SC_MAX_BLOCKS_IN_IPOBUFFER = 5 Limitation of IPO buffer to 5 NC blocks N110 ... N120 ....N200 $SC_MAX_BLOCKS_IN_IPOBUFFER = -1 Cancellation of the IPO buffer limitation N210 ....
Page 662 Detailed Description 2.9 Program control With modulo axes, the programmed value, which may be outside the modulo range, is displayed in the basic block display. Note As a basic rule the positions are represented in the WCS or the SZS. The basic block display can be activated or deactivated with setting data SD42750 $SC_ABSBLOCK_ENABLE.
Page 663 Detailed Description 2.9 Program control The number of blocks before the current block is configured in MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[0] and the number of blocks after the current block is configured in MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1]. Boundary conditions If the length of a display block configured in MD28400 $MC_MM_ABSBLOCK is exceeded, this display block is truncated accordingly.
Page 664 Detailed Description 2.9 Program control To avoid bottlenecks in the NCK performance, the basic block display is deactivated automatically. A display block containing the string "..." is generated as character for missing display blocks. In single-block mode, all the display blocks are always generated. Structure for a DIN block Basic structure of display block for a DIN block •...
Page 665 Detailed Description 2.9 Program control Examples Comparisons between display block (original block) and basic block display: • Programmed positions are represented as absolute references. Addresses AP/RP are represented with their programmed values. Original block: Display block: N10 G90 X10.123 N10 X10.123 N20 G91 X1 N20 X11.123 •...
Page 666 Detailed Description 2.9 Program control • The following rule applies to Spindle programming via S, M3, M4, M5, M41 - M45 and M70 (or MD 20094: SPIND_RIGID_TAPPING_M_NR) with reference to the address extension: If an address extension was programmed, it is also resolved. If several spindles were configured, the address extension is always output as well.
Page 667 Detailed Description 2.9 Program control • With the EXECTAB command (processing a table of contour elements), the block generated by EXECTAB is shown in the display block. Original block: Display block: N810 EXECTAB (KTAB[5]) N810 G01 X46.147 Z-25.38 2.9.5 Execution from external source (buffer size and number) Application Individual machining steps for producing complex workpieces may involve program sequences that require so much memory they cannot be stored in the NC memory.
Page 668 Detailed Description 2.9 Program control Buffer interpretation • Settable size of reload memory / FIFO buffer: A FIFO buffer must be set up in the NCK in order to execute a program (main program or subroutine) in "Execution from external" mode. The default setting for this buffer size is 30KB.
Page 669 Detailed Description 2.9 Program control Path compilation An external subroutine is called by means of parts program command EXTCALL. From • - The subroutine name programmed in EXTCALL and - Setting data SD42700 $SC_EXT_PROG_PATH results the program path for the external subroutine call through a character string comprising •...
Page 670 Detailed Description 2.9 Program control Subroutine_N_ROUGHING_SPF (stored in HMI memory under workpieces->WP1) N010 PROC ROUGHING N020 G1 F1000 N030 X= ... Y= ... Z= ... N040 ..... N999999 M17 Windows path name Program to be reloaded is stored on network drive or ATA card •...
Page 671 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start 2.10 System settings for power-up, RESET/part-program end and part- 2.10 program start Concept The control system response can be altered for functions such as G codes, tool length compensation, transformation, coupled axis groupings, tangential followup, and programmable synchronous spindle after •...
Page 672 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Run-up (POWER ON) Bit 0=1 - Transformation active MD 20110: in MD 20140 RESET_MODE_MASK - Geo axis replacement active Bit 0 in MD 20118 with MD 20050 Bit 0=0 (default) Bit 2=1 Bit 6=1...
Page 673 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Fig. 2-17 System settings after RESET/part program end and part program start Mode Group, Channel, Program Operation, Reset Response (K1) 2-137 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 674 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-12 Selection of RESET and powerup response RESET_MODE_MASK number Definition of control initial setting after power-up and reset/part program end Response Bit 0 = 0 Bit 0 = 1 after Power ON - Transformation not active...
Page 675 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-13 Effect of MD20110 $MC_RESET_MODE_MASK Bits 0 to 6 Bit 0 = 1 Bit 1 = 1 Bit 2 = 1 Bit 3 = 1 Bit 4 = 1 Bit 5 = 1 Bit 6 = 1 Initial setting...
Page 676 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-15 Effect of MD20110 $MC_RESET_MODE_MASK Bits 13 to 17 (in SW 6.4 and higher, Bit 16 to Bit 17) Bit 13 = 1 Bit 14 = 1 Bit 15 = 1 Bit 16 = 1 Bit 17 = 1...
Page 677 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Note The previous setting option in machine data MD20110 $MC_RESET_MODE_MASK is omitted! The corresponding bits of this MD are tagged as reserved. Write operations involving these bits are automatically redirected to the corresponding array elements of MD20150 $MC_GCODE_RESET_MODE and Alarm 4502 is output.
Page 678 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Bit 1 = 0 Bit 2 = 0 Bit 3 = 0 Bit 4 = 0 Bit 5 = 0 Bit 6 = 0 Bit 7 = 0 D, T, M output Reserved Reserved...
Page 679 Detailed Description 2.10 System settings for power-up, RESET/part-program end and part-program start Note In MD20110 $MC_RESET_MODE_MASK, bits set to 1 cause settings to be retained, In MD20112 $MC_START_MODE_MASK, bits set to 0 cause settings to be retained. Meaning of the machine data The channelspecific machine data in the table has the following meanings.
Page 680 Detailed Description 2.11 Subroutine call with M, T, and D functions Example: 1. Activate RESET setting on RESET: MD20110 = 'H01' (Bit 0) MD20112 = '0' 2. Transformation remains active on RESET/part program start: MD20110 = 'H81' (Bit 0 + Bit 7) MD20112 = '0' 3.
Page 681 Detailed Description 2.11 Subroutine call with M, T, and D functions The following machine data can be used to configure subroutine calls with M, T, and D auxiliary functions: Machine data Meaning MD10715 $MN_M_NO_FCT_CYCLE M function to be replaced by a subroutine MD10716 $MN_M_NO_FCT_CYCLE_NAME Name of subroutine for M function MD10717 $MN_T_NO_FCT_CYCLE_NAME...
Page 682 Detailed Description 2.11 Subroutine call with M, T, and D functions Machine data Specific tasks MD22254 $MC_AUXFU_ASSOC_M0_VALUE Additional M function for program stop MD22256 $MC_AUXFU_ASSOC_M1_VALUE Additional M function for conditional stop MD26008 $MC_NIBBLE_PUNCH_CODE Definition of M functions (for nibble-specific) MD26012 $MC_PUNCHNIB_ACTIVATION Activation of punching and nibbling functions Note Exceptions...
Page 683 Detailed Description 2.11 Subroutine call with M, T, and D functions 2.11.2 M function replacement Subroutine call via M function Note Subroutine calls using an M function are referred to below as M function replacement. The following machine data are used to configure M function replacement: •...
Page 684 Detailed Description 2.11 Subroutine call with M, T, and D functions 2.11.3 Replacement of tool programming 2.11.3.1 T and D function replacement Subroutine call via T function and D or DL function Note The subroutine call via T function is referred to hereinafter as T function replacement, and the subroutine call via D or DL function is referred to hereinafter as D function replacement.
Page 685 Detailed Description 2.11 Subroutine call with M, T, and D functions Configurable time behavior for D/T function replacement The timing of the call of the replacement subroutine can be parameterized as follows with (Bit 1 and Bit 2): MD10719 Bit 1 MD10719 Bit 2 Timing of call of replacement subroutine At block end (default)
Page 686 Detailed Description 2.11 Subroutine call with M, T, and D functions MD10719 Bit0 Transfer to the replacement subroutine D or DL number is transferred to the cycle via a system variable (default value) D or DL number is calculated directly in the block. This function is active only if the tool change has been configured with M function, otherwise the D or DL values are always transferred.
Page 687 Detailed Description 2.11 Subroutine call with M, T, and D functions Programming the M function replacement with parameter transfer The address extension and function value of the M function must be explicitly, i.e., constantly, programmed for M function replacements with parameter transfer. An indirection definition via variables is not allowed.
Page 688 Detailed Description 2.11 Subroutine call with M, T, and D functions N170 ENDIF N190 M17 A comprehensive example for M/T function replacement with tool change including the associated replacement subroutines can be found in the next section. 2.11.3.3 Example of M/T function replacement for tool change Replacement of T address and D or DL addresses at block start •...
Page 689 Detailed Description 2.11 Subroutine call with M, T, and D functions This causes part program line "N410 G01 F1000 X10 T1=5 D1" to execute the following program: N1000 PROC D_T_SUB_PROG DISPLOF Replacement subroutine SBLOF N4100 IF $C_T_PROG == TRUE Scan whether address T has been programmed N4110 Replacement for address T with tool no.
Page 690 Detailed Description 2.11 Subroutine call with M, T, and D functions • For replacement of the T or D/DL address and the M function for the call of the tool change program, the same subroutine can be configured in which the function to be replaced is determined by scanning system variables.
Page 691 Detailed Description 2.11 Subroutine call with M, T, and D functions Example of tool change with M6 active and MD10719: T_NO_FCT_CYCLE_MODE= 0 MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0 MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" ; T replacement cycle N210 D1 N220 G90 G0 X100 Y100 Z50 ;...
Page 692 Detailed Description 2.11 Subroutine call with M, T, and D functions Conflict resolution in case of multiple replacements with the same name The following table provides information on how conflicts are resolved if all three replacement subroutines have been configured with different names. Replacement Configuration of replacement subroutines For Address D and DL:...
Page 693 Detailed Description 2.11 Subroutine call with M, T, and D functions 2.11.5 Properties of replacement subroutines General rules for replacement subroutines • Like any other subroutine, a replacement subroutine can contain a PROC statement. • If the replacement subroutine is called from ISO mode, the PROC statement of the replacement subroutine causes an implicit switchover to the standard language mode.
Page 694 Detailed Description 2.12 Program runtime/workpiece counter Boundary condition for replacement subroutines The following supplementary conditions apply to replacement subroutines: • Replacements in synchronized actions are not permitted • Replacements in technology cycles are not permitted • A part program line that contains language constructs to be replaced at the block start may not be placed in front of any block-wise synchronized actions.
Page 695 Detailed Description 2.12 Program runtime/workpiece counter NC-specific system variables The following NC-specific system variables are available: Names Meaning Description $AN_SETUP_TIME Time since the last control powerup Counts the time since the last control powerup with default values ("Cold start" in min.) with default values.
Page 696 Detailed Description 2.12 Program runtime/workpiece counter Names Meaning Description The timers of the system variables must be activated channel-specifically: MD27860 $MC_PROCESSTIMER_MODE The system variables are reset to default values on each control power-up. The timers are automatically activated with the standard machine data for SINUMERIK 802D. Note The system variables can be accessed at any time by reading from the HMI operator interface.
Page 697 Detailed Description 2.12 Program runtime/workpiece counter Note The "Workpiece counter" function is independent of the tool management functions. Activation The workpiece counters are activated or the reset timing and counting algorithm are specified via the following two channel-specific machine data: MD27880 $MC_PART_COUNTER (activation of workpiece counters) Value Meaning...
Page 698 Detailed Description 2.12 Program runtime/workpiece counter Examples Activation of workpiece counter $AC_REQUIRED_PARTS MD27880 $MC_PART_COUNTER = 'H3' Alarm displayed with: $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS Activation of workpiece counter $AC_TOTAL_PARTS MD27880 $MC_PART_COUNTER = 'H10' MD27882 $MC_PART_COUNTER_MCODE[0] = 80 For each M02: $AC_TOTAL_PARTS += 1 Note: $MC_PART_COUNTER_MCODE[0] has no meaning.
Page 699 Supplementary Conditions Supplementary conditions There are no supplementary conditions to note. Mode Group, Channel, Program Operation, Reset Response (K1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 700 Supplementary Conditions 3.1 Supplementary conditions Mode Group, Channel, Program Operation, Reset Response (K1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 701 Examples Examples The examples appear with the descriptions in the individual sections of the function descriptions. Mode Group, Channel, Program Operation, Reset Response (K1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 702 Examples 4.1 Examples Mode Group, Channel, Program Operation, Reset Response (K1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 703 Data Lists Machine data 5.1.1 General machine data 5.1.1.1 HMIspecific machine data Number Identifier: $MM_ Description 9421 9421 MA_AXES_SHOW_GEO_FIRST Display geo axes of channel first 9422 9422 MA_PRESET_MODE PRESET/basic offset in JOG. 9423 9423 MA_MAX_SKP_LEVEL Maximum number of skip levels 5.1.1.2 NC-specific machine data Number...
Page 704 Data Lists 5.1 Machine data Number Identifier: $MN_ Description 11450 SEARCH_RUN_MODE Block search parameter settings 11470 REPOS_MODE_MASK Repositioning properties 11600 BAG_MASK Mode group response to ASUB 11602 ASUP_START_MASK Ignore stop conditions for ASUB 11604 ASUP_START_PRIO_LEVEL Priorities for "ASUP_START_MASK effective" 11610 ASUP_EDITABLE Activation of a user ASUB for RET/REPOS 11612...
Page 705 Data Lists 5.1 Machine data Number Identifier: $MC_ Description 20170 COMPRESS_BLOCK_PATH_LIMIT Maximum traversing length of NC block for compression 20210 CUTCOM_CORNER_LIMIT Max. angle for intersection calculation with tool radius compensation 20220 CUTCOM_MAX_DISC Maximum value with DISC 20230 CUTCOM_CURVE_INSERT_LIMIT Maximum angle for intersection calculation with tool radius compensation 20240 CUTCOM_MAXNUM_CHECK_BLOCKS...
Page 706 Data Lists 5.1 Machine data 5.1.2.3 Reset response Number Identifier: $MC_ Description 20110 RESET_MODE_MASK Initial setting at RESET 20112 START_MODE_MASK Initial setting at special NC Start after power-up and at RESET 20118 GEOAX_CHANGE_RESET Allow automatic geometry axis change 20120 TOOL_RESET_VALUE Tool whose length compensation is selected during powerup (Reset/part program end) 20121...
Page 707 Data Lists 5.1 Machine data 5.1.2.5 Transformation definitions Number Identifier: $MC_ Description 24100 TRAFO_TYPE_1 Definition of transformation 1 in channel 24110 TRAFO_AXES_IN_1 Axis assignment for transformation 24120 TRAFO_GEOAX_ASSIGN_TAB_1 Assignment between GEO axis and channel axis for transformation 1 24200 TRAFO_TYPE_2 Definition of transformation 2 in channel 24210 TRAFO_AXES_IN_2...
Page 708 Data Lists 5.1 Machine data Number Identifier: $MC_ Description 24560 TRAFO5_JOINT_OFFSET_1 Vector of kinematic offset for 5-axis transformation 1 24600 TRAFO5_PART_OFFSET_2 Offset vector of 5-axis transformation 2 24610 TRAFO5_ROT_AX_OFFSET_2 Position offset of rotary axes 1/2 for 5axis transformation 2 24620 TRAFO5_ROT_SIGN_IS_PLUS_2 Sign of rotary axis 1/2 for 5axis transformation 2 24630...
Page 709 Data Lists 5.2 Setting data 5.1.2.7 Program runtime and workpiece counter Number Identifier: $MC_ Description 27860 PROCESSTIMER_MODE Activate the runtime measurement 27880 PART_COUNTER Activate the workpiece counter 27882 PART_COUNTER_MCODE[ ] Workpiece counting via M command 5.1.3 Axis/spindlespecific machine data Number Identifier: $MA_ Description 30550...
Page 710 Data Lists 5.3 Signals Signals 5.3.1 Signals to NC DB number Byte.Bit Description 56.1 EMERGENCY STOP 5.3.2 Signals to mode group DB number Byte.Bit Description 11, ... AUTOMATIC mode 11, ... MDA mode 11, ... JOG mode 11, ... Mode change disable 11, ...
Page 711 Data Lists 5.3 Signals DB number Byte.Bit Description 11, ... Active machine function TEACH-IN 11, ... Active machine function REPOS 11, ... Active machine function REF 5.3.4 Signals to channel DB number Byte.Bit Description 21, ... Activate DRF 21, ... Activate single block 21, ...
Page 712 Data Lists 5.3 Signals DB number Byte.Bit Description 21, ... 32.3 Action block active 21, ... 32.4 Approach block active 21, ... 32.5 M00/M01 active 21, ... 32.6 Last action block active 21, ... 33.0 Referencing active 21, ... 33.4 Block search active 21, ...
Page 713 Index DBX0.5, 2-4 DBX0.6, 2-4 DBX0.7, 2-4 DBX1.0, 2-8 $AC_ACTUAL_PARTS, 2-160 DBX1.1, 2-8 $AC_REQUIRED_PARTS, 2-160 DBX1.2, 2-8 $AC_SPECIAL_PARTS, 2-160 DBX4.0, 2-6 $AC_TOTAL_PARTS, 2-160 DBX4.1, 2-6 DBX4.2, 2-6 DBX5.0, 2-7 DBX5.1, 2-7 Acceptance timing, 2-48 DBX5.2, 2-7 Action single block, 2-20 DBX6.0, 2-7 Asynchronous subroutines (ASUBs), 2-102 DBX6.1, 2-7...
Page 714 Index DBX24.6, 2-22 DBX76.4, 2-50, 2-53 DBX25.7, 2-19 DB31, ... DBX26.0, 2-24 DBX70.2, 2-51 DBX31.0-31.2, 2-48, 2-50, 2-55 DB31, ... DBX31.4, 2-48, 2-49, 2-50 DBX70.1, 2-52 DBX310.1-319.3, 2-50 DB31, ... DBX318.1, 2-42 DBX70.0, 2-52 DBX319.0, 2-49, 2-50 DB31, ... DBX319.1-319.3, 2-49 DBX10.0, 2-55 DBX319.5, 2-50, 2-53 DB31, ...
Page 715 Index Interrupt pointer Mode group Automatically., 2-65 Number, 2-3 Interrupt routines, 2-102 LIFTFAST, 2-104 NC instruction, 2-81 NC Start, 2-81, 2-159 Program, 2-160 Reset, 2-159 Stop, 2-86 Main technological application, 2-15 NEWCONF_PREP_STOP, 2-102 MD10010, 2-1, 2-3, 2-4 MD10702, 2-21, 2-28 MD10707, 2-40 MD10708, 2-40, 2-41 MD10714, 2-145...
Page 716 Index STOPALL, 2-101 STOPATEND_ALARM, 2-102 Rapid traverse, 2-159 STOPATIPOBUF_EMPTY_ALARM_REORG, 2-102 Reaching simulated target point for LEAD with JOG, STOPATIPOBUFFER_ISEMPTY_ALARM, 2-102 2-71 STOPPROG, 2-101 Read-in disable, 2-86 STOPPROGATASUPEND, 2-102 REPOS acknowledgments, 2-50 STOPPROGATBLOCKEND, 2-101 REPOS operation, 2-44 STOPRUN, 2-102 Reposition positioning axes, 2-47 System variable Repositioning neutral axes after SERUPRO, 2-47 Channel-specific, 2-159...
Page 717 Frames (K2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 718 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 719 Contents Brief Description ............................. 1-1 Axes ............................1-1 Coordinate systems ........................1-3 Frames ............................1-4 Detailed Description..........................2-1 Axes ............................2-1 2.1.1 Overview ............................ 2-1 2.1.2 Machine axes ..........................2-2 2.1.3 Channel axes ..........................2-4 2.1.4 Geometry axes........................... 2-4 2.1.5 Replaceable geometry axes ......................
Page 720 Contents 2.4.4 Frames in data management and active frames..............2-49 2.4.4.1 Overview ..........................2-49 2.4.4.2 Activating data management frames ..................2-51 2.4.4.3 NCU global frames........................2-52 2.4.5 Frame chain and coordinate systems ..................2-52 2.4.5.1 Overview ..........................2-52 2.4.5.2 Configurable SZS........................2-54 2.4.5.3 Manual traverse in the SZS coordinate system ...............
Page 721 Contents Data Lists..............................5-1 Machine data..........................5-1 5.1.1 Memory specific machine data ....................5-1 5.1.2 NC-specific machine data ......................5-2 5.1.3 Channel-specific machine data....................5-2 5.1.4 Axis/spindle-specific machine data.................... 5-3 Setting data ..........................5-4 5.2.1 Channel-specific setting data..................... 5-4 System variables........................5-4 Signals ............................
Page 722 Contents Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 723 Brief Description Axes Machine axes Machine axes are the axes that actually exist on a machine tool. Channel axes Every geometry axis and every special axis is assigned to a channel and, therefore, a channel axis. Geometry axes and additional axes are always traversed in "their" channel. Geometry axes The three geometry axes always make up a fictitious rectangular coordinate system, the basic coordinate system (BCS).
Page 724 Brief Description 1.1 Axes Synchronized axes Synchronous axes are interpolated together with path axes (all path axes and synchronous axes of one channel have a common path interpolator). All path axes and all synchronous axes of a channel have the same acceleration phase, constant travel phase and deceleration phase.
Page 725 Brief Description 1.2 Coordinate systems This type of reference consists of: • Axis container number • A slot (circular buffer location within the corresponding container) The entry in a circular buffer location contains: • A local axis • A link axis The axis container function is described in: References: /FB2/ Multiple Operator Panels on Multiple NCUs, Distributed Systems (B3)
Page 726 Brief Description 1.3 Frames The workpiece coordinate system (WCS) has the following properties: • In the workpiece coordinate system all the axes coordinates are programmed (parts program). • It is made up of geometry axes and special axes. • Geometry axes always form a perpendicular Cartesian coordinate system. •...
Page 727 Brief Description 1.3 Frames FRAME components Fig. 1-1 FRAME components A FRAME consists of the following components: Offset Rough offset Programmable with: TRANS • ATRANS (additive translation component) • CTRANS (zero offset for multiple axes) • G58 (axial zero offset) •...
Page 728 Brief Description 1.3 Frames Features in relation to axes The rough and fine offsets, scaling and mirroring can be programmed for geometry and special axes. A rotation can also be programmed for geometry axes. Rough and fine offsets The translation component of FRAMES comprises: •...
Page 729 Brief Description 1.3 Frames Mirroring You can set the axis, about which mirroring is performed, via MD10610 MIRROR_REF_AX: MD10610 = 0: Mirroring is performed around the programmed axis. MD10610 = 1 or 2 or 3: Depending on the input value, mirroring is mapped onto the mirroring of a specific reference axis and rotation of two other geometry axes.
Page 730 Brief Description 1.3 Frames Properties of the NCU global basic frames: • Can be read and written from all channels. • Can only be activated in the channels. • Up to 16 NCU global basic frames are available. Global frames can be used to apply offsets, scale factors and mirroring operations to channel and machine axes.
Page 731 Detailed Description Axes 2.1.1 Overview Fig. 2-1 Relationship between geometry axes, special axes and machine axes Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 732 Detailed Description 2.1 Axes Fig. 2-2 Local and external machine axes (link axes) 2.1.2 Machine axes Meaning Machine axes are the axes that actually exist on a machine tool. Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 733 Detailed Description 2.1 Axes Fig. 2-3 Machine axes X, Y, Z, B, S on a Cartesian machine Application The following can be machine axes: • Geometry axes X, Y, Z • Orientation axes A, B, C • Loader axes • Tool turrets •...
Page 734 Detailed Description 2.1 Axes 2.1.3 Channel axes Meaning Each geometry axis and each special axis is assigned to a channel. Geometry axes and additional axes are always traversed in "their" channel. 2.1.4 Geometry axes Meaning The three geometry axes always make up a fictitious rectangular coordinate system. By using FRAMES (offset, rotation, scaling, mirroring), it is possible to image geometry axes of the workpiece coordinate system (WCS) on the BCS.
Page 735 Detailed Description 2.1 Axes Activation Axis replacement is activated by the program command: GEOAX([n, channel axis name]...) n=0: Removes an axis from the geometry axis grouping n=1, 2, 3: Index of the geometry axis GEOAX( ): Establishes the basic setting defined via MD for the assignment of channel axes to geometry axes Channel axis name: Name of channel axis, which is to operate as a geometry axis...
Page 736 Detailed Description 2.1 Axes Tool Length Compensation Any active tool length compensation remains operative and is applied to the new geometry axes after replacement. The system treats tool length compensations as not yet applied for the following geometry axes: • All geometry axes, which have been newly added to the geometry axis grouping. •...
Page 737 Detailed Description 2.1 Axes Approaching a reference point When the "Reference point approach" mode is selected, the geometry axis configuration defined by the machine data is automatically set. M code 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 MD22532 GEOAX_CHANGE_M_CODE.
Page 738 Detailed Description 2.1 Axes Example In the example below, it is assumed that there are 6 channel axes with channel axis names XX, YY, ZZ, U, V, W and three geometry axes with names X, Y, Z. The basic setting is defined in machine data such that the geometry axes are imaged on the first three channel axes, i.e., on XX, YY and ZZ.
Page 739 Detailed Description 2.1 Axes 2.1.6 Special axes Meaning In contrast to geometry axes, no geometrical relationship is defined between the special axes. Note Note: Geometry axes have an exactly defined relationship in the form of a rightangled coordinate system. Special axes are part of the basic coordinate system (BCS). With FRAMES (translation, scaling, mirroring), special axes of the workpiece coordinate system can be mapped on the basic coordinate system.
Page 740 Detailed Description 2.1 Axes 2.1.8 Positioning axes Meaning Positioning axes are interpolated separately (each positioning axis has its own axis interpolator). Each positioning axis has its own feedrate and acceleration characteristic. Positioning axes can be programmed in addition to path axes (even in the same block). Path axis interpolation (path interpolator) is not affected by the positioning axes.
Page 741 Detailed Description 2.1 Axes 2.1.9 Main axes Meaning A main axis is an axis that is interpolated by the main run. This interpolation can be started: • From synchronized actions (as command axes due to an event via block-related, modal or static synchronized actions) •...
Page 742 Detailed Description 2.1 Axes 2.1.10 Synchronized axes Meaning Synchronous axes are components of the path axes, which are not referenced in order to calculate the tool path velocity. They are interpolated together with path axes (all path axes and synchronous axes of one channel have a common path interpolator). All path axes and all synchronous axes of a channel have the same acceleration phase, constant travel phase and deceleration phase.
Page 743 Detailed Description 2.1 Axes Application In the case of helical interpolation FGROUP can be programmed to determine whether: • The programmed feedrate should be valid on the path (all 3 programmed axes are path axes) • The programmed feedrate should be valid on the circuit (2 axes are path axes and the infeed axis is a synchronous axis) 2.1.11 Axis configuration...
Page 744 Detailed Description 2.1 Axes Fig. 2-4 Axis configuration Note Leading zeroes in user-defined axis identifiers are ignored. Example: MD10000 AXCONF_MACHAX_NAME_TAB[0] = X01 is equivalent to X1 The geometry axes must be assigned to the channel axes in ascending order leaving no gaps.
Page 745 Detailed Description 2.1 Axes Special points to be noted • Three geometry axes are assigned to the channel axes in the MD. • All channel axes that are not assigned to the three geometry axes are special axes. • The channel axes are assigned to machine axes. •...
Page 746 Detailed Description 2.1 Axes Example In the example below, a machine tool channel axis is specified without a real machine axis. Fig. 2-5 Axis configuration with channel axis gap Axis Types, Coordinate Systems, Frames (K2) 2-16 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 747 Detailed Description 2.1 Axes Note The gaps count as axes with reference to the number of channel axes and their indices. If an attempt is made to define a channel axis gap on the geo axis via the machine data MD20050 AXCONF_GEOAX_ASSIGN_TAB, the attempt is rejected without an alarm.
Page 748 /FB2/ Description of Functions, Expansion Functions; Multiple Operator Panels on Multiple NCUs, Distributed Systems (B3) Note The link axis functionality is currently not available with the SINUMERIK 840Di. Axis container An axis container is a circular buffer data structure, in which local axes and/or link axes are assigned to channels.
Page 749 Detailed Description 2.1 Axes The entry in a circular buffer location contains: • A local axis • A link axis Fig. 2-7 Mapping of channel axes onto axis containers via logical machine axis image Axis container entries contain local machine axes or link axes from the perspective of an individual NCU.
Page 750 Detailed Description 2.2 Zeros and reference points Note The axis container functionality is currently not available with the SINUMERIK 840Di. The axis container function is described in References: /FB2/ Description of Functions, Expansion Functions; Multiple Operator Panels on Multiple NCUs, Distributed Systems (B3) Zeros and reference points 2.2.1...
Page 751 Detailed Description 2.2 Zeros and reference points Fig. 2-8 Zeros and reference points on a turning machine The zero of the coordinate system MCS corresponds to M and the zero of the WCS corresponds to W. In the working space of the machine the reference point is defined as R and the toolholder reference point with T.
Page 752 Detailed Description 2.2 Zeros and reference points Fig. 2-9 Position of coordinate systems by machine zero M and workpiece zero W Fig. 2-10 Position of reference point in relation to machine zero Axis Types, Coordinate Systems, Frames (K2) 2-22 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 753 Detailed Description 2.3 Coordinate systems Coordinate systems 2.3.1 Overview Meaning DIN 66217 stipulates that machine tools must use right-handed, rectangular (Cartesian) coordinate systems. Fig. 2-11 Clockwise, rectangular Cartesian coordinate system The following coordinate systems are defined: Machine Coordinat System Basic Coordinate System Basic Zero System Settable Zero System Workpiece Coordinate System...
Page 754 Detailed Description 2.3 Coordinate systems Fig. 2-12 Interrelationship between coordinate systems 2.3.2 Machine coordinate system (MCS) The machine coordinate system (MCS) is made up of all physically available machine axes. Axis Types, Coordinate Systems, Frames (K2) 2-24 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 755 Detailed Description 2.3 Coordinate systems Fig. 2-13 MCS with machine axes X, Y, Z, B, C (5-axis milling machine) Fig. 2-14 MCS with machine axes X, Z (turning machine) Axis Types, Coordinate Systems, Frames (K2) 2-25 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 756 Detailed Description 2.3 Coordinate systems Axial preset offset The "Preset" function can be used to redefine the control zero in the machine coordinate system. The preset values act on machine axes. Axes do not move when "Preset" is active. Note After Preset, the reference points are invalid! If possible do not use this function.
Page 757 Detailed Description 2.3 Coordinate systems On such machines the machine axes and geometry axes must have different names. Fig. 2-16 Kinematic transformation between the MCS and BCS Machine kinematics The workpiece is always programmed in a two or threedimensional, rightangled coordinate system (WCS).
Page 758 Detailed Description 2.3 Coordinate systems 2.3.4 Additive offsets Zero offsets external The "Zero offset external" is an axial offset. Unlike with frames, no components for rotation, scaling and mirroring are possible. Fig. 2-17 Zero offset external between BCS and BZS Setting the offset values The offset values are set: •...
Page 759 Detailed Description 2.3 Coordinate systems Effect of activation The offset for an axis becomes active when the first motion block for this axis is executed after the offset is activated. Example of possible chronological sequence: G0 X100 X150 ; A new "Zero offset external" is activated by the PLC during this motion.
Page 760 Detailed Description 2.3 Coordinate systems Overlaid movements The "Superimposed motion" for the programmed axis can only be accessed from synchronized actions via the system variable $AA_OFF[axis]. Run-up After run-up (POWER ON), the last used offset values for the "Zero offset external" are stored and do not become effective again until there is a renewed activation signal.
Page 761 Detailed Description 2.3 Coordinate systems 2.3.5 Basic zero system (BZS) The basic zero system (BZS) is the basic coordinate system with a basic offset. Fig. 2-18 Basic offset between BCS and BZS Basic offset The basic offset describes the coordinate transformation between BCS and BZS. It can be used, for example, to define the palette window zero.
Page 762 Detailed Description 2.3 Coordinate systems Fig. 2-19 Example of the use of the basic offset The following settings apply: • The user can change the basic offset from the part program by means of an operator action and from the PLC. •...
Page 763 Detailed Description 2.3 Coordinate systems 2.3.6 Settable zero system (SZS) The "Settable zero system" (SZS) is the workpiece coordinate system WCS with a programmable frame (viewed from the perspective of the WCS). The workpiece zero is defined by the settable FRAMES G54 to G599. Fig.
Page 764 Detailed Description 2.3 Coordinate systems WCS actual-value display in WCS or SZS The actual values of the axes in the machine coordinate system (MCS) or the WCS can be displayed on the HMI operator interface. For displays in WCS, the actual values can also be displayed in relation to the SZS.
Page 765 Detailed Description 2.3 Coordinate systems The WCS is, therefore, modified by cycles. A cycle interrupted by the user should thus also be executed in the programmed WCS. The SZS can be used to display the last valid coordinates. The machine data MD24030 FRAME_ACS_SET can then be set to define whether the SZS must be interpreted with or without the currently programmed frame $P_PFRAME and the transformation frame $P_TRAFRAME.
Page 766 Detailed Description 2.3 Coordinate systems Manual traverse in SZS The geometry axes are traversed in the WCS in JOG mode. It is also possible to carry out manual traversing in the SZS coordinate system. Using variable $AC_JOG_COORD it is possible to switch between manual traverse in the WCS or SZS. Fig.
Page 767 Detailed Description 2.3 Coordinate systems 2.3.8 Workpiece coordinate system (WCS) The workpiece coordinate system (WCS) is the programming basis. Fig. 2-24 Programmable FRAME between SZS and WCS Axis Types, Coordinate Systems, Frames (K2) 2-37 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 768 Detailed Description 2.4 Frames Frames 2.4.1 Coordinate axes, zeros and reference points As a rule, a coordinate system is formed of three mutually perpendicular coordinate axes. The positive directions of the coordinate axes are determined using the right hand rule. The coordinate system is related to the workpiece and programming takes place independently of whether the tool or the workpiece is being traversed.
Page 769 Detailed Description 2.4 Frames The position of the reference point R is defined by cam switches. The reference point must be approached each time the control is activated. The control can only then work with the measuring system and transfer all position values to the coordinate systems. The machine zero M defines the machine coordinate system MCS.
Page 770 Detailed Description 2.4 Frames 2.4.3 Frame components 2.4.3.1 Translation The program commands below are used to program the translation: $P_UIFR[1] = CTRANS(x,10,y,10) $P_UIFR[1,x,tr] = 10 ; Frame components TRANS x = 10 y = 10 ; Prog. frame only 2.4.3.2 Fine offset The machine data MD18600 $MN_MM_FRAME_FINE_TRANS...
Page 771 Detailed Description 2.4 Frames A fine offset can only be programmed if machine data MD18600 $MN_FRAME_FINE_TRANS is predefined with a value of 1. If this is not the case, every assignment of a fine offset to settable frames and the basic frame is rejected with the alarm "FRAME: fine offset not possible".
Page 772 Detailed Description 2.4 Frames If the rotary motion is in a clockwise direction when looking in the positive direction of the coordinate axis, the direction of rotation is positive. A, B and C identify rotations whose axes are parallel to X, Y and Z. The machine data below is used to configure the rotation in the frame: MD10600 $MN_FRAME_ANGLE_INPUT_MODE RPY notation...
Page 773 Detailed Description 2.4 Frames Rotations with a RPY angle are carried out in the order Z, Y', X''. The angles are only defined ambiguously in the following ranges: -180 <= x <= 180 -90 < y < 90 -180 <= z <= 180 Axis Types, Coordinate Systems, Frames (K2) 2-43 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 774 Detailed Description 2.4 Frames Euler angle Rotations with a Euler angle are carried out in the order Z, X', Z''. The angles are only defined ambiguously in the following ranges: <= < -180 <= <= -180 <= <= The written angles can be uniquely read back again in these areas. When rotations that are larger than the specified angles are entered, these are converted to a mode of representation that does not exceed the specified range limits.
Page 775 Detailed Description 2.4 Frames The program commands below are used to program the rotation: $P_UIFR[1] = CROT(x, 10, y, 10) ROT x = 10 y = 10 $P_UIFR[1,x, rt] = 10 CRPL - Constant Rotation Plane The predefined function Constant Rotation Plane: FRAME CRPL( INT, REAL) allows a rotation to be programmed in any plane for each frame.
Page 776 Detailed Description 2.4 Frames 2.4.3.4 Scaling The program commands below are used to program the scaling: $P_UIFR[1] = CSCALE(x, 1, y, 1) SCALE x = 1 y = 1 $P_UIFR[1,x, sc] = 1 2.4.3.5 Mirroring Axis Types, Coordinate Systems, Frames (K2) 2-46 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 777 Detailed Description 2.4 Frames The program commands below are used to program a mirroring: $P_UIFR[1] = CMIRROR(x, 1, y, 1) MIRROR x = 1 y = 1 $P_UIFR[1,x, mi] = 1 2.4.3.6 Chain operator Frame components or complete frames can be combined into a complete frame using the chain operator ( : ).
Page 778 Detailed Description 2.4 Frames Programming examples: $P_PFRAME[SPI(1),TR]=22.22 $P_PFRAME=CTRANS (X, axis value, Y, axis value, SPI(1), axis value) $P_PFRAME=CSCALE (X, scale, Y, scale, SPI(2), scale) $P_PFRAME=CMIRROR (S1, Y, Z) $P_UBFR=CTRANS(A, 10) : CFINE(SPI(1), 0.1) 2.4.3.8 Coordinate transformation The formulae below are used to discover the coordinate transformation for geometry axes: Position vector in BCS Position vector in WCS Axis Types, Coordinate Systems, Frames (K2)
Page 779 Detailed Description 2.4 Frames 2.4.4 Frames in data management and active frames 2.4.4.1 Overview There are various types of frame: system frames, basic frames, settable frames and the programmable frame. Apart from the programmable frame, all types have a frame in the data management and an active frame.
Page 780 Detailed Description 2.4 Frames Axis Types, Coordinate Systems, Frames (K2) 2-50 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 781 Detailed Description 2.4 Frames 2.4.4.2 Activating data management frames Data management frames become active frames by executing G500, G54 to G599, or RESET with the appropriate machine data setting, transformation change, GEOAX. The HMI writes to data management frames and, on RESET, activates the frames by means of a PI service. If a change is made to a frame via HMI with the aid of the PI _N_SETUDT, it has no effect on the program until it is restarted or is in a reset state, provided that HMI machine data MD9440 ACTIVATE_SEL_USER_DATA...
Page 782 Detailed Description 2.4 Frames 2.4.4.3 NCU global frames All settable frames G54 to G599 and all basic frames can be configured NCU globally or channel-specifically. A combination of these is also possible with basic frames. Global frames affect all channels on an NCU. All channels have read and write access to the NCU. Global frames only have axial frame components, such as translations, scales and mirrors of individual axes.
Page 783 Detailed Description 2.4 Frames WCS: Workpiece Coordinate System PCS: Part Coordinate System SZS: Settable Zero System ACS: Adjustable Coordinate System BZS: Basic Zero System FCS: Foot Coordinate System BCS: Basic Coordinate System BCS: Basic Coordinate System MCS: Machine Coordinate System MCS: Machine Coordinate System The current complete frame is calculated according to the formula below:...
Page 784 Detailed Description 2.4 Frames 2.4.5.2 Configurable SZS The function of the SZS coordinate system is to display actual values and move the axes during a cycle interruption. Cycles utilize frames in the frame chain to perform their functions. They input translations or rotations into either the programmable frame or the cycle system frame.
Page 785 Detailed Description 2.4 Frames The machine data MD24030 $MC_FRAME_ACS_SET can be used to set whether the SZS is with or without the prog. frame and the transformation frame. The value 0 is only made available for reasons of compatibility. The value 1 is set as a default, and should be retained.
Page 786 Detailed Description 2.4 Frames 2.4.5.4 Suppression of frames Non-modal suppression of the following frames: System frame for cycles Programmable frame System frame for transformations, workpieces, TOROT and TOFRAME Active settable frame Non-modal suppression of the following frames: G153 System frame for cycles Programmable frame System frame for TOROT and TOFRAME, workpieces Active settable frame...
Page 787 Detailed Description 2.4 Frames Frame suppressions SUPA, G153 and G53 lead to the WCS, SZS and possibly the BZS jumping when frame suppression is active. The machine data MD24020 $MC_FRAME_SUPPRESS_MODE enables this characteristic for the position display and the predefined position variables to be changed.
Page 788 Detailed Description 2.4 Frames 2.4.6 Frame chain frames 2.4.6.1 Overview There are up to four frame variants: • Settable frames (G500,G54 to G599) • Basic frames • Programmable frame • System frames 2.4.6.2 Settable frames $P_UIFR[n] The number of NCU global settable frames is set via machine data MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES.
Page 789 Detailed Description 2.4 Frames 2.4.6.3 Channel basic frames $P_CHBFR[n] The number of basic frames can be configured in the channel via machine data MD28081 $MC_MM_NUM_BASE_FRAMES. The minimum configuration is designed for at least one basic frame per channel. A maximum of 16 basic frames per channel is possible.
Page 790 Detailed Description 2.4 Frames Programming basic frames Basic frames can be read and written via the part program and via the OPI by operator actions and by the PLC. However, only data management frames can be written by the OPI. 2.4.6.4 NCU global basic frames $P_NCBFR[n] The number of global basic frames can be configured via machine data...
Page 791 Detailed Description 2.4 Frames Rotations cannot be used on global frames. The programming of a rotation is denied with alarm: "18310 Channel %1 Block %2 Frame: rotation not allowed" is displayed. It is not possible to program chaining of global frames and channel-specific frames, and any attempt at this is rejected with the alarm 18314 "Frame: Type conflict".
Page 792 Detailed Description 2.4 Frames 2.4.6.5 Complete basic frame $P_ACTBFRAME The chained complete basic frame is determined by the variable. The variable is readonly. $P_ACTBFRAME corresponds to $P_NCBFRAME[0] : ... : $P_NCBFRAME[n] : $P_CHBFRAME[0] : ... : $P_CHBFRAME[n]. Programmability of the complete basic frame System variables $P_CHBFRMASK and $P_NCBFRMASK can be used to select, which basic frames to include in the calculation of the "complete"...
Page 793 Detailed Description 2.4 Frames After RESET and in the default setting, the value of $P_CHBFRMASK equals $MC_CHBFRAME_RESET_MASK and the value of $P_NCBFRMASK equals $MN_NCBFRAME_RESET_MASK. $P_NCBFRMASK = 'H81' $P_NCBFRAME[0] : $P_NCBFRAME[7] $P_CHBFRMASK = 'H11' $P_CHBFRAME[0] : $P_CHBFRAME[4] 2.4.6.6 Programmable frame $P_PFRAME The programmable frame is only available as an active frame.
Page 794 Detailed Description 2.4 Frames A value = 0 means that the axis is not mirrored and a value = 1 means that the axis will always be mirrored, irrespective of whether it has already been mirrored or not. $P_NCBFR[0,x,mi] = 1 ;...
Page 795 Detailed Description 2.4 Frames The fine component is transferred on saving the programmable frame in a local frame variable (LUD or GUD) and on rewriting. The table below shows the effect of various program commands on the absolute and additive translation. Coarse or absolute translation Fine or additive translation TRANS X10 Unchanged...
Page 796 Detailed Description 2.4 Frames The system frame mask is used to define if the corresponding function has a system frame. With non-configured frames, in certain circumstances the function will be rejected with an alarm. System frames in data management The system frames are stored in the SRAM and can, therefore, be archived and reloaded. System frames in data management can be read and written in the program using the following variables: $P_SETFR...
Page 797 Detailed Description 2.4 Frames • $P_PARTFRAME In the part program, the variable $P_PARTFRAME can be used to read and write the current system frame for TCARR and PAROT for toolholders with orientation capability. If the system frame has not been configured using machine data MD28082 $MC_MM_SYSTEM_FRAME_MASK, the variable returns a zero frame.
Page 798 Detailed Description 2.4 Frames 2.4.7 Implicit frame changes 2.4.7.1 Frames and switchover of geometry axes In the channel, the geometry axis configuration can be changed by switching a transformation on and off and with the GEOAX() command (R3). Machine data MD10602 $MN_FRAME_GEOAX_CHANGE_MODE can be used to configure, for all channels of the system, whether the current complete frame is calculated again on the basis of the new geometry axes or whether the complete frame is...
Page 799 Detailed Description 2.4 Frames The workpiece geometry is described by a coordinate system that is formed by the geometry axes. A channel axis is assigned to each geometry axis and a machine axis is assigned to each channel axis. An axial frame exists for each machine axis and for each frame (system frame, basic frame, settable frame, programmable frame).
Page 800 Detailed Description 2.4 Frames $MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1 $MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 2 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3 $MC_AXCONF_GEOAX_NAME_TAB[0] = "X" $MC_AXCONF_GEOAX_NAME_TAB[1]="Y" $MC_AXCONF_GEOAX_NAME_TAB[2] = "Z" $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=5 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=6 $MC_TRAFO_AXES_IN_1[0] = 4 $MC_TRAFO_AXES_IN_1[1] = 5 $MC_TRAFO_AXES_IN_1[2] = 6 $MC_TRAFO_AXES_IN_1[3] = 1 $MC_TRAFO_AXES_IN_1[4] = 2 Program: $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6) $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6) $P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45) $P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)
Page 801 Detailed Description 2.4 Frames 2.4.7.2 Frame for selection and deselection of transformations This function is available with NCK 51.00.00 and higher. Transformations TRANSMIT, TRACYL and TRAANG are supported. As a rule, the assignment of geometry axes to channel axes changes when selecting and deselecting transformations.
Page 802 Detailed Description 2.4 Frames A rotary axis offset can, for example, be entered by compensating the oblique position of a workpiece in a frame within a frame chain. As a rule, this offset can also be included in the transformation as an offset in the rotary axis. A c axis offset, as in the figure above, then leads to corresponding x and y values.
Page 803 Detailed Description 2.4 Frames Example: Machine data for TRANSMIT ; FRAME configurations $MC_MM_SYSTEM_FRAME_MASK = 'H41' ; TRAFRAME, SETFRAME $MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after Reset $MC_CHSFRAME_POWERON_MASK = 'H41' ; Frames are deleted on POWER ON $MN_FRAME_GEOAX_CHANGE_MODE = 1 ;...
Page 804 Detailed Description 2.4 Frames $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=6 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3 $MC_TRANSMIT_BASE_TOOL_1[0]=0.0 $MC_TRANSMIT_BASE_TOOL_1[1]=0.0 $MC_TRANSMIT_BASE_TOOL_1[2]=0.0 $MC_TRANSMIT_ROT_AX_OFFSET_1 = 0.0 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_1 = TRUE $MC_TRANSMIT_ROT_AX_FRAME_1 = 1 ; TRANSMIT is 2nd transformer $MC_TRAFO_TYPE_2 = 256 $MC_TRAFO_AXES_IN_2[0] = 1 $MC_TRAFO_AXES_IN_2[1] = 6 $MC_TRAFO_AXES_IN_2[2] = 2 $MC_TRAFO_AXES_IN_2[3] = 0 $MC_TRAFO_AXES_IN_2[4] = 0 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] = 1 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] = 6 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] = 2...
Page 805 Detailed Description 2.4 Frames Part program: ; Frame settings N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,c,4) N830 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30) N840 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,c) N850 N860 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,c,15) N870 ; Tool selection, clamping compensation, plane selection N890 T2 D1 G54 G17 G90 F5000 G64 SOFT N900 ;Approach start position N920 G0 X20 Z10...
Page 806 Detailed Description 2.4 Frames N1190 setal(61000) N1200 endif N1240 if $P_ACTFRAME <> CTRANS(X,11,Y,0,Z,22,CAZ,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C) N1250 setal(61001) N1260 endif N1270 N1280 N1290 $P_UIFR[1,x,tr] = 11 N1300 $P_UIFR[1,y,tr] = 14 N1310 N1320 g54 N1330 ; Set frame N1350 ROT RPL=-45 N1360 ATRANS X-2 Y10 N1370 ;...
Page 807 Detailed Description 2.4 Frames ; Deselect frame N2950 m30 N1580 Z20 G40 N1590 TRANS N1600 N1610 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,20,CAZ,30,C,15) N1620 setal(61000) N1630 endif N1640 if $P_BFRAME <> $P_CHBFR[0] N1650 setal(61000) N1660 endif N1670 if $P_IFRAME <> TRANS(X,11,Y,0,Z,2,CAZ,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C) N1680 setal(61000) N1690 endif N1730 if $P_ACTFRAME <>...
Page 808 Detailed Description 2.4 Frames N2021 G0 X20 Y0 Z10 C0 N2030 TRANSMIT(1) N2040 TRANS x10 y20 z30 N2041 ATRANS y200 N2050 G0 X20 Y0 Z10 N2051 if $P_IFRAME <> CTRANS(X,1,Y,0,Z,3,CAY,2) N2052 setal(61000) N2053 endif N2054 if $P_ACTFRAME <> CTRANS(X,11,Y,20,Z,33,CAY,2):CFINE(Y,200) N2055 setal(61002) N2056 endif N2060 TRAFOOF N2061 if $P_IFRAME <>...
Page 809 Detailed Description 2.4 Frames Tracyl expansions: The machine data below can be used to take the axial complete frame of the tracyl rotary axis, i.e., the translation, fine offset, mirroring and scaling, into account in the transformation: MD24805 $MC_TRACYL_ROT_AX_FRAME_1 = 1 MD24855 $MC_TRACYL_ROT_AX_FRAME_2 = 1 A rotary axis offset can, for example, be entered by compensating the oblique position of a workpiece in a frame within a frame chain.
Page 810 Detailed Description 2.4 Frames Example: Machine data for TRACYL: ; FRAME configurations $MC_MM_SYSTEM_FRAME_MASK = 'H41' ; TRAFRAME, SETFRAME $MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after Reset $MC_CHSFRAME_POWERON_MASK = 'H41' ; Frames are deleted on POWER ON $MN_FRAME_GEOAX_CHANGE_MODE = 1 ;...
Page 811 Detailed Description 2.4 Frames $MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] = 1 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] = 5 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] = 3 $MC_TRACYL_BASE_TOOL_1[0] = 0.0 $MC_TRACYL_BASE_TOOL_1[1] = 0.0 $MC_TRACYL_BASE_TOOL_1[2] = 0.0 $MC_TRACYL_ROT_AX_OFFSET_1 = 0.0 $MC_TRACYL_ROT_SIGN_IS_PLUS_1 = TRUE $MC_TRACYL_ROT_AX_FRAME_1 = 1 Part program: ;Simple traversing test with groove side offset N450 G603 N460 ;...
Page 812 Detailed Description 2.4 Frames N700 if $P_IFRAME <> $P_UIFR[1] N710 setal(61000) N720 endif N730 if $P_ACTFRAME <> TRANS(X,11,Y,22,Z,33,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B) N740 setal(61000) N750 endif N760 ; Transformation ON N780 TRACYL(40.) N790 N800 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15) N810 setal(61000) N820 endif N830 if $P_CHBFR[0] <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15) N840 setal(61000) N850 endif N860 if $P_IFRAME <>...
Page 813 Detailed Description 2.4 Frames TRANS(X,11,Y,0,Z,3,CAY,2,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B) N1080 setal(61000) N1090 endif N1100 if $P_IFRAME <> $P_UIFR[1] N1110 setal(61000) N1120 endif N1130 if $P_ACTFRAME <> TRANS(X,21,Y,0,Z,33,CAY,22,B,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,B) N1140 setal(61001) N1150 endif N1160 ; Transformation off N1180 TRAFOOF N1190 N1200 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,15) N1210 setal(61000) N1220 endif N1230 if $P_BFRAME <>...
Page 814 Detailed Description 2.4 Frames TRAANG Frame expansions: The expansions described below are only valid for the machine data MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1 MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2 Translations: On selecting traang, translations of the virtual axis are retained. Rotations: Rotations before the transformation are taken over. Mirrorings: Mirrorings of the virtual axis are taken over.
Page 815 Detailed Description 2.4 Frames Example: Machine data for TRAANG: ; FRAME configurations $MC_MM_SYSTEM_FRAME_MASK = 'H1' ; SETFRAME $MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after RESET $MC_CHSFRAME_POWERON_MASK = 'H41' ; Frames are deleted on POWER ON $MN_FRAME_GEOAX_CHANGE_MODE = 1 ; Frames are calculated after switchover of the geo axis.
Page 816 Detailed Description 2.4 Frames $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=4 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3 $MC_TRAANG_ANGLE_1 = 85. $MC_TRAANG_PARALLEL_VELO_RES_1 = 0. $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0. $MC_TRAANG_BASE_TOOL_1[0] = 0.0 $MC_TRAANG_BASE_TOOL_1[1] = 0.0 $MC_TRAANG_BASE_TOOL_1[2] = 0.0 ; TRAANG is 2nd transformer $MC_TRAFO_TYPE_2 = 1024 $MC_TRAFO_AXES_IN_2[0] = 4 $MC_TRAFO_AXES_IN_2[1] = 3 $MC_TRAFO_AXES_IN_2[2] = 0 $MC_TRAFO_AXES_IN_2[3] = 0 $MC_TRAFO_AXES_IN_2[4] = 0 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] = 4...
Page 817 Detailed Description 2.4 Frames ; Tool selection, clamping compensation, plane selection N890 T2 D1 G54 G17 G90 F5000 G64 SOFT N900 ; Approach start position N920 G0 X20 Z10 N930 N940 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,40,C,15) N950 setal(61000) N960 endif N970 if $P_BFRAME <> $P_CHBFR[0] N980 setal(61000) N990 endif N1000 if $P_IFRAME <>...
Page 818 Detailed Description 2.4 Frames N1250 setal(61001) N1260 endif N1270 N1280 N1290 $P_UIFR[1,x,tr] = 11 N1300 $P_UIFR[1,y,tr] = 14 N1310 N1320 g54 N1330 ; Set frame N1350 ROT RPL=-45 N1360 ATRANS X-2 Y10 N1370 ; Four-edge roughing N1390 G1 X10 Y-10 G41 OFFN=1; allowance 1 mm N1400 X-10 N1410 Y10 N1420 X10...
Page 819 Detailed Description 2.4 Frames ; Deselect frame N1580 Z20 G40 N1590 TRANS N1600 N1610 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,CAX,10,B,40,C,15) N1620 setal(61000) N1630 endif N1640 if $P_BFRAME <> $P_CHBFR[0] N1650 setal(61000) N1660 endif N1670 if $P_IFRAME <> TRANS(X,11,Y,14,Z,3,CAX,1,B,4,C,5):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,C) N1680 setal(61000) N1690 endif N1700 if $P_IFRAME <>...
Page 820 Detailed Description 2.4 Frames 2.4.7.3 Adapting active frames The geometry axis configuration can change during program execution or on RESET. The number of available geometry axes can vary from zero to three. With unavailable geometry axes, components in the active frames (e.g., rotations) can lead to the active frames for this axis configuration becoming invalid.
Page 821 Detailed Description 2.4 Frames 2.4.8 Predefined frame functions 2.4.8.1 Inverse frame To round off the frame arithmetic, the part program provides a function which calculates the inverse frame from another frame. The chaining between a frame and its inverse frame always produces a zero frame.
Page 822 Detailed Description 2.4 Frames $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. ; 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,rt] = -45 ;...
Page 823 Detailed Description 2.4 Frames ; Set position setpoint of the corner $AA_MEAS_SETPOINT[x] = 0 $AA_MEAS_SETPOINT[y] = 0 $AA_MEAS_SETPOINT[z] = 0 ; Define setpoint angle of intersection $AC_MEAS_CORNER_SETANGLE = 90 $AC_MEAS_WP_SETANGLE = 30 ; Measuring plane is G17 $AC_MEAS_ACT_PLANE = 0 ;...
Page 824 Detailed Description 2.4 Frames ; Approach the corner g1 x0 y0 ; Retract the rectangle rotated about 30 degrees g1 x10 2.4.8.2 Additive frame in frame chain Measurements on the workpiece or calculations in the part program and cycles generally produce a frame that is applied additively to the current complete frame.
Page 825 Detailed Description 2.4 Frames If a current frame has been specified as a target frame, then the new complete frame becomes active at the preprocessing stage. If the target frame is a data management frame, then the frame is not operative until it is explicitly activated in the part program. The function does not set any alarms, but returns the error codes via the return value.
Page 826 Detailed Description 2.4 Frames If a level change of the axis signal from 0 to 1 is detected, the movement is stopped immediately, the preprocessing is reorganized and the current system frame is written and activated with the axis value of $AA_ETRANS[axis]. The system frame in the data management is also described.
Page 827 Detailed Description 2.4 Frames The ratios are shown in the figure below: Fig. 2-25 Frame on activation of a rotary table with TCARR With kinematics of type M (tool and table are each rotary around one axis), the activation of a toolholder with TCARR simultaneously produces a corresponding change in the effective tool length (if a tool is active) and the zero offset.
Page 828 Detailed Description 2.4 Frames Up to and including SW P6.1, the rotation activated by PAROT is calculated in the programmable frame ($P_PFRAME), thus changing its rotation component. With SW P6.2 and higher, the entire programmable frame remains unchanged, including its rotation component.
Page 829 Detailed Description 2.4 Frames The end point of such a motion is programmed with MOVT= ..The programmed value is effective incrementally in the tool direction as standard. The positive direction is defined from the tool tip to the tool adapter. The content of MOVT is thus generally negative for the infeed motion (when drilling), and positive for the retraction motion.
Page 830 Detailed Description 2.4 Frames If MOVT is programmed, linear or spline interpolation must be active (G0,G1, ASPLINE, BSPLINE, CSPLINE). Otherwise, an alarm is produced. If a spline interpolation is active, the resultant path is generally not a straight line, since the end point calculated by MOVT is treated as if it had been programmed explicitly with X, Y, Z.
Page 831 Detailed Description 2.4 Frames It is permissible to specify a single solid angle. The rotations which are performed with ROTS or AROTS in this case are identical to those for ROT and AROT. An expansion of the existing functionality arises only in cases where exactly two solid angles are programmed.
Page 832 Detailed Description 2.4 Frames Frame rotation in tool direction With the language command TOFRAME, which also existed in older software versions, it is possible to define a frame whose Z axis points in the tool direction. An already programmed frame is then overwritten by a frame, which describes a pure rotation.
Page 833 Detailed Description 2.4 Frames TOROT or TOFRAME, etc., are disabled with language command TOROTOF. TOROTOF deletes the entire system frame $P_TOOLFR. If the programmable frame (old variant) and not the system frame is described by commands TOFRAME, etc., TOROT only deletes the rotation component and leaves the remaining frame components unchanged.
Page 834 Detailed Description 2.4 Frames If one of the G codes TOFRAMEX, TOFRAMEY, TOROTX, TOROTY is programmed in place of TOFRAME(Z) or TOROT(Z), the descriptions for adapting the axis directions perpendicular to the main direction are also valid for the cyclically exchanged axes. The assignments in the table below are then valid: TOFRAME, TOFRAMEZ TOFRAMEY...
Page 835 Detailed Description 2.4 Frames The old and new X axes X and X' coincide in the projection in the direction of the old Z axis. The old and new Y axes Y and Y' form an angle of 8.13 degrees (right angles are generally not retained in the projection).
Page 836 Detailed Description 2.4 Frames The system frame for TCARR and PAROT is configured with bit 2 in machine data MD28082 $MC_MM_SYSTEM_FRAME_MASK. Machine data MD20184 $MC_TOCARR_BASE_FRAME_NUMBER is then no longer evaluated. If the system frame for TCARR is configured, TCARR and PAROT describe that system frame; otherwise the basic frame identified by machine data MD20184 $MC_TOCARR_BASE_FRAME_NUMBER is described.
Page 837 Detailed Description 2.4 Frames Example Example of using an orientational toolholder with deactivated kinematics: $TC_DP1[1,1]= 120 $TC_DP3[1,1]=13 ; Tool length 13 mm ; Definition of toolholder 1: $TC_CARR1[1] = 0 ; X components of 1st offset vector $TC_CARR2[1] = 0 ;...
Page 838 Detailed Description 2.4 Frames 2.4.10 Subroutine return with SAVE Settable frames G54 to G599 If the same G code is active on the subroutine return as in the subroutine call, then the active settable frame is retained. If this is not the case, the settable frame at the instant the subroutine was called is reactivated (response as now).
Page 839 Detailed Description 2.4 Frames A separate data block _N_NC_UFR is used to archive global frames. The block requested by the HMI is created if the machine data MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES has a value greater than zero. Channel-specific frames are saved in data block _N_CHANx_UFR. In certain circumstances, alarms could be triggered when reintroducing saved data, if the frame affiliates, be they NCU global or channel-specific, have been changed using machine data.
Page 840 Detailed Description 2.4 Frames 2.4.13 Control system response 2.4.13.1 Power on The table below describes the frame states after POWER ON: Programmable frame Deleted Settable frames Retained, depending on MD20110 $MC_RESET_MODE_MASK Complete basic frame Retained, depending on MD20110 $MC_RESET_MODE_MASK bit 0 and bit 14 Individual basic frames can be deleted with MD10615 $MN_NCBFRAME_POWERON_MASK MD24004 $MC_CHBFRAME_POWERON_MASK.
Page 841 Detailed Description 2.4 Frames 2.4.13.3 Reset, program end The Reset response of the basic frame is set via MD20110 $MC_RESET_MODE_MASK. The system frames are retained in the data management after a Reset. The machine data below can be used to configure the activation of individual system frames: MD24006 $MC_CHSFRAME_RESET_MASK Bit 0: System frame for PRESET and scratching is active after RESET.
Page 842 Detailed Description 2.4 Frames MD20110 $MC_RESET_MODE_MASK Bit 0 = 1 and bit 14 = 0 Chained complete basic frame is deleted. Bit 0 = 1 and bit 14 = 1 The complete basic frame results from $MC_BASEFRAMES_RESET_MASK $MN_BASEFRAMES_RESET_MASK. $MC_BASEFRAMES_RESET_MASK: Bit 0 = 1: 1st channel basic frame is calculated into the chained complete basic frame.
Page 843 Detailed Description 2.4 Frames Bitmask for clearing channel-specific system frames in the data management on Reset. Bit 0: System frame for PRESET and scratching is cleared on RESET. Bit 1: System frame for zero offset external is cleared on RESET. Bit 2: Reserved, for TCARR and PAROT see MD20150 $MC_GCODE_RESET_VALUES[ ].
Page 844 Detailed Description 2.5 Workpiece-related actual-value system Workpiece-related actual-value system 2.5.1 Overview Definition The term "Workpiece-related actual-value system" designates a series of functions that permit the user: • To use a workpiece coordinate system defined in machine data after powerup. Features: –...
Page 845 Detailed Description 2.5 Workpiece-related actual-value system 2.5.2 Use of workpiece-related actual-value system Requirements, basic settings The settings described in the previous Section have been made for the system. The predefined setting after power-up of the MMC is MCS. Switchover to WCS The change to the WCS via the user interface causes the axis positions relative to the origin of the WCS to be displayed.
Page 846 Detailed Description 2.5 Workpiece-related actual-value system Fig. 2-26 Interrelationship between coordinate systems References: /PG/ Programming Guide, Fundamentals /FB1/ Description of Functions, Basic Machine; Tool Offset (W1) /FB1/ Description of Functions, Basic Machine; Auxiliary Function Outputs to PLC (H2) /FB2/ Description of Functions, Expansion Functions; Kinematic Transformation (M1) /FB3/ Description of Functions, Special Functions;...
Page 847 Detailed Description 2.5 Workpiece-related actual-value system 2.5.3 Special reactions Overstore Overstoring in RESET state of: • Frames (zero offsets) • Active plane • Activated transformation • Tool offset immediately affects the actualvalue display of all axes in the channel. MMC inputs If operations on the operator panel are used to change the values for "Active frame"...
Page 848 Detailed Description 2.5 Workpiece-related actual-value system The actual values in the settable zero system (SZS) can be read from the part program for each axis using the variable $AA_IEN[axis]. The actual values in the basic zero system (BZS) can be read from the part program for each axis using the variable $AA_IBN[axis].
Page 849 Supplementary Conditions Supplementary conditions There are no supplementary conditions to note. Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 850 Supplementary Conditions 3.1 Supplementary conditions Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 851 Examples Axes Axis configuration for a 3-axis milling machine with rotary table 1. Machine axis: X1 Linear axis 2. Machine axis: Y1 Linear axis 3. Machine axis: Z1 Linear axis 4. Machine axis: B1 Rotary table (for turning for multiface machining) 5.
Page 852 Examples 4.1 Axes Parameterization of the machine data Machine data Value MD10000 AXCONF_MACHAX_NAME_TAB[0] = X1 MD10000 AXCONF_MACHAX_NAME_TAB[1] = Y1 MD10000 AXCONF_MACHAX_NAME_TAB[2] = Z1 MD10000 AXCONF_MACHAX_NAME_TAB[3] = B1 MD10000 AXCONF_MACHAX_NAME_TAB[4] = W1 MD10000 AXCONF_MACHAX_NAME_TAB[5] = C1 MD20050 AXCONF_GEOAX_ASSIGN_TAB[0] MD20050 AXCONF_GEOAX_ASSIGN_TAB[1] MD20050 AXCONF_GEOAX_ASSIGN_TAB[2] MD20060 AXCONF_GEOAX_NAME_TAB[0] MD20060 AXCONF_GEOAX_NAME_TAB[1] MD20060 AXCONF_GEOAX_NAME_TAB[2]...
Page 853 Examples 4.1 Axes Machine data Value MD20070 AXCONF_MACHAX_USED[1] MD20070 AXCONF_MACHAX_USED[2] MD20070 AXCONF_MACHAX_USED[3] MD20070 AXCONF_MACHAX_USED[4] MD20070 AXCONF_MACHAX_USED[5] MD20080 AXCONF_CHANAX_NAME_TAB[0] MD20080 AXCONF_CHANAX_NAME_TAB[1] MD20080 AXCONF_CHANAX_NAME_TAB[2] MD20080 AXCONF_CHANAX_NAME_TAB[3] MD20080 AXCONF_CHANAX_NAME_TAB[4] = WZM MD20080 AXCONF_CHANAX_NAME_TAB[5] = S1 MD30300 IS_ROT_AX[3] MD30300 IS_ROT_AX[4] MD30300 IS_ROT_AX[5] MD30310 ROT_IS_MODULO[3] MD30310 ROT_IS_MODULO[4] MD30310 ROT_IS_MODULO[5] MD30320 DISPLAY_IS_MODULO[3]...
Page 854 Examples 4.2 Coordinate systems Coordinate systems Configuring a global basic frame An NC with 2 channels is required. The following applies: • The global basic frame can then be written by either channel. • The other channel recognizes this change when the global basic frame is reactivated. •...
Page 855 Examples 4.3 Frames Part program in first channel Code (excerpt) Comment . . . N100 $P_NCBFR[0] = CTRANS( x, 10 ) Activation of the NC global basic frame . . . N130 $P_NCBFRAME[0] = CROT(X, 45) Activation of the NC global basic frame with rotation => alarm 18310, since rotations of NC global frames are not permitted .
Page 856 Examples 4.3 Frames Example 2 Channel axes 4, 5 and 6 become the geometry axes of a 5-axis orientation transformation. The geometry axes are thus all substituted before the transformation. The current frames are changed when the transformation is activated. The axial frame components of the channel axes, which become geometry axes, are taken into account when calculating the new WCS.
Page 857 Examples 4.3 Frames Program: $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6) $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6) $P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45) $P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30) TRAORI ; Geo axis (4,5,6) sets transformer ; $P_NCBFRAME[0] = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3) ; $P_ACTBFRAME = ctrans(x,8,y,10,z,12,cax,2,cay,4,caz,6) ; $P_PFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3): ; crot(x,10,y,20,z,30) ; $P_IFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(z,45) TRAFOOF;...
Page 858 Examples 4.3 Frames Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 859 Data Lists Machine data 5.1.1 Memory specific machine data Number Identifier: $MM_ Description Advanced Embedded 9242 MA_STAT_DISPLAY_BASE Numerical basis for display of moving joint STAT 9243 MA_TU_DISPLAY_BASE Numerical basis for display of rotary axis position TU 9244 MA_ORIAXES_EULER_ANGLE_NAME Display of orientation axes as Euler angle 9245 MA_PRESET_FRAMEIDX...
Page 860 Data Lists 5.1 Machine data Number Identifier: $MM_ Description 9449 WRITE_TOA_LIMIT_MASK Applicability of MD9203 to edge data and locationdependent offsets 9450 9450 MM_WRITE_TOA_FINE_LIMIT Limit value for wear fine 9451 9451 MM_WRITE_ZOA_FINE_LIMIT Limit value for offset fine 9459 PA_ZOA_MODE Display mode of zero offset 5.1.2 NC-specific machine data Number...
Page 861 Data Lists 5.1 Machine data Number Identifier: $MC_ Description 24000 FRAME_ADD_COMPONENTS Separate programming/modification of additively programmable frame components 24002 CHBFRAME_RESET_MASK RESET response of channelspecific basic frames 24004 CHBFRAME_POWERON_MASK POWER ON response of channelspecific basic frames 24006 CHSFRAME_RESET_MASK RESET response of channelspecific system frames 24007 CHSFRAME_RESET_CLEAR_MASK Clear system frames on RESET...
Page 862 Data Lists 5.2 Setting data Setting data 5.2.1 Channel-specific setting data Number Identifier: $SC_ Description 42440 FRAME_OFFSET_INCR_PROG Zero offsets are traversed on incremental programming 42980 TOFRAME_MODE Determination of the direction of X and Y axes for frame definition System variables Names Description $AC_DRF[axis]...
Page 863 Data Lists 5.4 Signals Names Description $P_CHBFRAME[n] Current basic frame in channel, 0 to 15 NCU basic frames can be configured via machine data MD28081 MM_NUM_BASE_FRAMES. $P_NCBFRAME[n] Current NCU basic frame, 0 to 15 NCU basic frames can be configured via machine data MD18602 MM_NUM_GLOBAL_BASE_FRAMES.
Page 864 Data Lists 5.4 Signals 5.4.2 Signals to axis/spindle DB number Byte.Bit Description 31, ... Zero offset external 31, ... 60.0 Spindle/no axis Axis Types, Coordinate Systems, Frames (K2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 865 Index Actual-value system Loader axes, 2-9 Workpiece-related, 2-114 ATRANS, 1-5 Axis configuration, 2-13 Machine axes, 2-2 Machine coordinate system (MCS), 1-3, 2-24 Machine tool axes, 2-9 Basic coordinate system (BCS), 1-3, 2-26 Machine zero M, 2-20 Main axes, 2-11 Manual traverse in SZS, 2-36 MD10000, 1-2, 2-14 MD10002, 2-15 CFINE, 1-5...
Page 866 Index MD24030, 2-35, 2-55 Replaceable geometry axes, 2-4 MD24040, 2-90 Rotary axes, 2-9 MD24050, 2-51 Rough offset, 1-5 MD24110, 2-17 MD24120, 2-17 MD24805, 2-79 MD24855, 2-79 SD42980, 2-103, 2-104, 2-105 MD24905, 2-71 Special axes, 2-9 MD28080, 2-52, 2-58 Synchronized axes, 2-12 MD28081, 2-52 MD28082, 2-29, 2-51, 2-65, 2-66, 2-67, 2-95, 2-96, 2-98, 2-102, 2-106, 2-108...
Page 867 Data Lists Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 868 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 869 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 Relevant standards ........................2-1 Emergency stop control elements ..................... 2-2 Emergency stop sequence ......................2-3 Emergency stop acknowledgement................... 2-5 Supplementary Conditions........................3-1 Supplementary conditions ......................3-1 Examples..............................4-1 Examples ...........................
Page 870 Contents Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 871 Brief Description Brief description Function The control system supports the machine manufacturer in implementing an emergency stop function on the basis of the following functions: • An emergency stop button is installed in a location easily accessible to the machine operator on all SINUMERIK machine control panels.
Page 872 Brief Description 1.1 Brief description Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 873 Detailed Description Relevant standards Relevant standards Compliance with the following standards is essential for the emergency stop function: • EN 292 Part 1 • EN 292 Part 2 • EN 418 • EN 60204 Part 1:1992 Section 10.7 VDE 0113 Part 1 only applies for a transitional period and will be replaced by EN 60204. EMERGENCY STOP In accordance with EN 418, an emergency stop is a function that: •...
Page 874 Detailed Description 2.2 Emergency stop control elements Exceptions No emergency stop device is required on machines: • Where an emergency stop device would not reduce the risk, either because the shutdown time would not be reduced or because the measures to be taken would not be suitable for controlling the risk.
Page 875 Detailed Description 2.3 Emergency stop sequence Resetting of the emergency stop button or a signal derived directly from the button must be routed to the controller (PLC) as a PLC input. In the PLC user program, this PLC input must be forwarded to the NC to interface signal DB10, DBX56.2 (acknowledge emergency stop).
Page 876 Detailed Description 2.3 Emergency stop sequence 5. After elapse of a time configurable in machine data: MD36620 $MA_SERVO_DISABLE_DELAY_TIME (cutout delay servo enable), the servo enables of the machine axes are cancelled. Please note the configuration rule below: MD36620 $MA_SERVO_DISABLE_DELAY_TIME ≥ MD36610 $MA_AX_EMERGENCY_STOP_TIME 6.
Page 877 Detailed Description 2.4 Emergency stop acknowledgement Emergency stop acknowledgement EN 418 standard The emergency stop control element may only be reset as a result of manual manipulation of the emergency stop control element. Resetting of the emergency stop control element alone must not trigger a restart command.
Page 878 Detailed Description 2.4 Emergency stop acknowledgement Fig. 2-1 Resetting the emergency stop state DB10, DBX56.2 (acknowledge emergency stop) is inoperative DB21, ... DBX7.7 (Reset) is inoperative DB10, DBX56.2 AND DB21, ... DBX7.7 reset DB10 DBX106.1(emergency stop active) Effects Resetting the emergency stop state has the following effects: •...
Page 879 Supplementary Conditions Supplementary conditions No supplementary conditions apply. Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 880 Supplementary Conditions 3.1 Supplementary conditions Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 881 Examples Examples No examples are available. Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 882 Examples 4.1 Examples Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 883 Data Lists Machine data 5.1.1 Drive-specific machine data Number Identifier: $MD_ Description 1404 PULSE_SUPPRESSION_DELAY Time for pulse suppression 5.1.2 Axis/spindlespecific machine data Number Identifier: $MA_ Description 36610 AX_EMERGENCY_STOP_TIME Length of the braking ramp for error states 36620 SERVO_DISABLE_DELAY_TIME Cutout delay servo enable Signals 5.2.1 Signals to NC...
Page 884 Data Lists 5.2 Signals 5.2.2 Signals from NC DB number Byte.Bit Description 106.1 EMERGENCY STOP active 5.2.3 Signals to BAG DB number Byte.Bit Description 11, ... Mode group reset Emergency Stop (N2) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 885 Index EMERGENCY STOP MD36620, 2-4 Acknowledgment, 2-5 Interface, 2-2 Sequence, 2-3 Emergency stop key, 2-2 Reset, 2-5 Emergency Stop (N2) Index-1 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 886 Index Emergency Stop (N2) Index-2 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 887 Data Lists Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl NCU system software for 840D/840DE NCU system software for 840Di/840DiE...
Page 888 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 889 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 Defining a geometry axis as transverse axis ................2-1 Dimensional information for transverse axes................2-2 Supplementary Conditions........................3-1 Supplementary conditions......................3-1 Examples..............................4-1 Examples ........................... 4-1 Data Lists..............................5-1 Machine data..........................
Page 890 Contents Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 891 Brief Description Brief description Within the framework of "milling" technology, the transverse axis refers to the machine axis that travels perpendicular to the axis of symmetry of the spindle, in other words, to longitudinal axis Z. The traverse paths of a transverse axis programmed in the part program may be either radius- or diameter-based.
Page 892 Brief Description 1.1 Brief description Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 893 Detailed Description Defining a geometry axis as transverse axis Transverse axis Within the framework of "milling" technology, the transverse axis refers to the machine axis that travels perpendicular to the axis of symmetry of the spindle, in other words, to longitudinal axis Z.
Page 894 Detailed Description 2.2 Dimensional information for transverse axes Dimensional information for transverse axes Transverse axes can be programed with respect to both diameter and radius. Generally, they are diameter-related, i.e. programmed with doubled path dimension so that the corresponding dimensional information can be transferred to the part program directly from the technical drawings.
Page 895 Detailed Description 2.2 Dimensional information for transverse axes DIAMON • Display data of transverse axis in the workpiece coordinate system: – Setpoint and actual position – Distance-to-go – Repos offset • "JOG" mode: – Increments for incremental dimension (INC) and travel with handwheel •...
Page 896 Detailed Description 2.2 Dimensional information for transverse axes Permanently radius-related data For transverse axes, the following data is always entered, programmed and displayed in relation to radius: • Offsets: – Tool offsets – Programmable and configurable frames – External work offset –...
Page 897 Supplementary Conditions Supplementary conditions There are no supplementary conditions to note. Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 898 Supplementary Conditions 3.1 Supplementary conditions Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 899 Examples Examples No examples are available. Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 900 Examples 4.1 Examples Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 901 Data Lists Machine data 5.1.1 Channelspecific machine data Number Identifier: $MC_ Description 20050 AXCONF_GEOAX_ASSIGN_TAB[n] Assignment of geometry axis to channel axis 20060 AXCONF_GEOAX_NAME_TAB[n] Geometry axis name in channel 20100 DIAMETER_AX_DEF Geometry axis with transverse axis function 20150 GCODE_RESET_VALUES[n] Reset G groups Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 902 Data Lists 5.1 Machine data Transverse Axes (P1) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 903 Index DIAM90, 2-2 MD20100, 2-1 DIAMOF, 2-2 MD20150, 2-2 DIAMON, 2-2 Transverse Axes (P1) Index-1 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 904 Index Transverse Axes (P1) Index-2 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 905 ______________ Brief Description SINUMERIK 840D/840Di/810D Power Line Basic PLC Program (P3) ______________ Detailed Description ______________ Supplementary Conditions SINUMERIK 840D/840Di/810D ______________ Examples Power Line ______________ Data Lists Basic PLC Program (P3 Pl) Function Manual Valid for Control SINUMERIK 840D powerline/840DE powerline SINUMERIK 840D powerline/840DE powerline SINUMERIK 840D powerline/840DE powerline Software...
Page 906 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 907 Contents Brief Description ............................. 1-1 Brief description ......................... 1-1 Detailed Description..........................2-1 Key PLC CPU data for 810D, 840D and 840Di ................. 2-1 Reserve resources (timers, FC, FB, DB, I/O) ................2-8 Starting up hardware configuration of PLC CPUs ..............2-9 Starting up the PLC program ....................
Page 908 Contents 2.10 Memory requirements of basic PLC program for 810D, 840D..........2-74 2.11 Supplementary conditions and NC VAR selector ..............2-77 2.11.1 Supplementary conditions......................2-77 2.11.1.1 Programming and parameterizing tools ................... 2-77 2.11.1.2 SIMATIC documentation required.................... 2-79 2.11.1.3 Relevant SINUMERIK documents ................... 2-80 2.11.2 NC VAR selector ........................
Page 909 Contents 2.14.3.3 Use of POINTER and ANY in FB if POINTER or ANY is available as parameter....2-259 2.14.3.4 POINTER or ANY variable for transfer to FC or FB............... 2-260 2.14.4 Multiinstance DB ........................2-262 2.14.5 Strings ............................ 2-264 2.14.6 Determining offset addresses for data block structures ............
Page 910 Contents Power Line Basic PLC Program (P3) Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 911 Brief Description Brief description General The PLC basic program organizes the exchange of signals and data between the PLC user program and the NCK (Numerical Control Kernel), MMC (Man Machine Communication) and MCP (Machine Control Panel) areas. A distinction is made between the following groups for signals and data: •...
Page 912 Brief description 1.1 Brief description Data transfer must be as fast and yet as reliable as possible, in order to minimize the effect on the NC machining process. Data transfer is therefore controlled by alarms and acknowledgments. The basic program evaluates the signals and data, acknowledges this to the NCK and transfers the data to the application interface at the start of the cycle.
Page 913 Detailed Description Key PLC CPU data for 810D, 840D and 840Di The tables below show the performance range of the PLC CPUs and the scope of the basic PLC program relative to the various controller types. Type of control: 810D and 840D Key CPU data 810D / 840D 810D / 840D...
Page 914 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di 810D / 840D 810D / 840D 810D / 840D Inputs/outputs 1) Subrack 0 is not available for Through optional configuring Through optional configuring (addressing) I/O devices: of I/O devices: of I/O devices: - digital from I/O byte 32 onwards...
Page 915 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di 840Di 810D 840D Program/data blocks 1, 10, 20, 35, 40, 1, 10, 20, 35, 40, 1, 10, 20, 35, 40, 80-82, 85-87, 100, 80-82, 85-87, 100, 80-82, 85-87,100, 121-122 121-122 121-122...
Page 916 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di Types of control: 840Di and 840D Key CPU data 840Di 840D PLC CPU Integrated PLC 317-2DP Integrated PLC 317-2DP master/slave master/slave MLFB 6FC5 317-2AJ10-0AB0 6FC5 317-2AJ10-1AB0 Memory for user 128 to 768 KB 128 to 768 KB and basic program...
Page 917 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di 840Di 840D PBC (programmable block communication) Consistent data to standard slave via SFC 14, 15 1) Notice: The inputs/outputs above 4096 are reserved for integrated drives. 2) Subrack 0 is integrated in the NC. Subracks 1 to 3 are available for I/O devices. I/O expansion 840Di 840D...
Page 918 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di Version code: XX.YY.ZZ • XX: SIMATIC CPU PLC version • YY: Firmware transfer increment • ZZ: Internal increment Example PLC 315-2DP with MLFB 6ES7 315-2AF00-0AB0: 04.02.14 PLC 315-2DP with MLFB 6ES7 315-2AF01-0AB0: 03.10.23 PLC 314: 07.02.12...
Page 919 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di 810 D, 840D The tables below show the key data of the OPI interface and the PLC basic program functionality with reference to SINUMERIK 810D, 840D and 840Di: OPI interface 840Di 810D...
Page 920 1) The data blocks for channels, axes/spindles and tool management functions that are not activated may be assigned as required by the user. PLC 317-2DP PLC CPU: PLC 317-2DP are reserved for further number bands for SIEMENS applications referring to FC, FB, DB and I/O areas. FC, FB and DB...
Page 921 Detailed description 2.3 Starting up hardware configuration of PLC CPUs Starting up hardware configuration of PLC CPUs General procedure STEP 7 is used to define the hardware configuration for a PLC CPU, including the associated I/O. The procedure to be followed is shown below: 1.
Page 922 Detailed description 2.3 Starting up hardware configuration of PLC CPUs Comparable Selection from STEP7 hardware MLFB SIMATIC CPU MLFB catalog included SINUMERIK 840DE NCU 6FC5 356-0BB11-0AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01 561.2 without system sw SINUMERIK 840D NCU 571 6FC5 357-0BA10-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314 (export version)
Page 923 Detailed description 2.3 Starting up hardware configuration of PLC CPUs Comparable Selection from STEP7 hardware MLFB SIMATIC CPU MLFB catalog included SINUMERIK 840D NCU 6FC5 357-0BY24-1AE0 6ES7 315-2AF01-0AB0 810D/840D with PLC3152AF01 572.2 (export version) with digitizing and PROFIBUS DP SINUMERIK 840D NCU 573 6FC5 357-0BA30-0AE0 6ES7 314-1AE01-0AB0 810D/840D with PLC314...
Page 924 573.2 (Pentium Pro) (export version) for digitizing with PROFIBUS DP SINUMERIK 840Di 6FC5 220-0AA00-1AA0 6ES7 315-2AF03-0AB0 810D/810Di with PLC315-2AF03 SINUMERIK 840Di with PK 6ES7 315-2AF03-0AB0 810D/810Di with PLC315-2AF03, PK bus SINUMERIK 840D NCU 6FC5 357-0BB22-0AE0 with operating system 810D/840D with PLC3152AF01 572.3...
Page 925 Detailed description 2.3 Starting up hardware configuration of PLC CPUs Note On the SINUMERIK 810D or 840D, SIMATIC subrack 0 is integrated in the NC. The following components are plugged into this subrack: - Slot 2: The integrated PLC (PLC 314 or PLC 315-2DP) - Slot 3: An IM 360 - Slot 4: The FM NCU With PLC 314, NC software version 3.5 and higher, the FM NCU must also be defined if...
Page 926 Detailed description 2.4 Starting up the PLC program MCP (Machine Control Panel) and HHU (HandHeld Unit) (only for SINUMERIK 810D to SW 3.x) If the MCP or HHU is configured (deviation from the norm), an additional SIMATIC 300 station must be inserted into the machine project for each operator component. Any type of CPU must be inserted in location 2 on row 0 in this station by means of the hardware configuration (HW config.).
Page 927 Detailed description 2.4 Starting up the PLC program General The OB source programs, including standard parameterization, interface symbols and DB templates for handheld unit and M decoding functions are enclosed in the SIMATIC project or SIMATIC library of the basic program. STEP 7 must be installed before the basic program.
Page 928 Detailed description 2.4 Starting up the PLC program 2.4.2 Application of basic program A new CPU program (e.g., "Turnma1") must be set up in a project by means of the STEP7 software for each installation (machine). Comment The catalog structures of a project and the procedure for creating projects and user programs are described in the relevant SIMATIC documentation.
Page 929 The type of control is encoded as follows: Leftaligned decade of DB17.DBD0 (byte 0) Type of control FM-NC SINUMERIK 810D SINUMERIK 840D (571, 572, 573) SINUMERIK 840Di Power Line Basic PLC Program (P3) 2-17 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 930 Detailed description 2.4 Starting up the PLC program User program In SW 4 and higher, users can also display the version codes of their own user programs on the MMC. For this purpose, a data of type STRING containing a maximum of 54 characters must be defined in any data block.
Page 931 Detailed description 2.4 Starting up the PLC program 2.4.6 PLC series startup, PLC archives: After the blocks have been loaded to the PLC CPU, a series archive can be generated via the MMC operator interface to back up data on the machine. To ensure data consistency, this backup must be created immediately after block loading when the PLC is in the Stop state.
Page 932 Detailed description 2.4 Starting up the PLC program "Option" parameter: Normal series startup file with general reset Bit 0 = 1: Series startup file without general reset. When project contains SDBs, this option is inoperative. A general reset is then always executed. Bit 1 = 1: Series startup file with PLC restart (supported in MMC SW 6.2 and higher) Return parameter value:...
Page 933 Detailed description 2.4 Starting up the PLC program 2.4.7 Software upgrades Software upgrade Whenever you update the PLC or NCK software, always reset the PLC to its initial state first. This initial clear state can be achieved by means of a general PLC reset. All existing blocks are cleared when the PLC is reset.
Page 934 Detailed description 2.4 Starting up the PLC program NC variables The latest NC VAR selector can be used for each NC software version (even earlier versions). The variables can also be selected from the latest list for earlier NC software versions.
Page 935 Detailed description 2.5 Linking PLC CPUs to 810D, 840D Errors, cause/description and remedy Serial Error Cause/description Remedy error inform ation A system data block SDB 0 has Disconnect all MPI cables to other cannot been loaded with a modified components. Create the link "Direct_PLC" with MPI address.
Page 936 Detailed description 2.5 Linking PLC CPUs to 810D, 840D 2.5.1 Properties of PLC CPUs SINUMERIK 810D/840D/840Di PLC CPUs are based on standard SIMATIC CPUs in the S7- 300 family. As a result, they generally possess the same functions. Functional deviations are shown in the table above.
Page 937 Detailed description 2.5 Linking PLC CPUs to 810D, 840D Fig. 2-2 NCK/PLC connection on 810D, 840D (integrated PLC) NCK/PLC interface NCK/PLC data exchange is organized by the basic program in the PLC. The status information (e.g., "Program running") stored in the internal DPR is copied to data blocks by the basic program at the beginning of the cycle (OB1), which the user can then access (user interface).
Page 938 Detailed description 2.5 Linking PLC CPUs to 810D, 840D In the case of NC actions triggered and assigned with parameters by the PLC (e.g., traverse concurrent axes), triggering and parameter assignment is performed using FCs and FBs, not interface data blocks. The FCs and FBs belonging to the actions are supplied together with the basic program.
Page 939 Detailed description 2.5 Linking PLC CPUs to 810D, 840D 2.5.3 Diagnostic buffer on PLC General The diagnostic buffer on the PLC, which can be read out using STEP 7, displays diagnostic information about the PLC operating system. In addition, 10 entries are made to the diagnostic buffer via the FC by means of the basic program and the "Alarms/Messages"...
Page 940 Detailed description 2.5 Linking PLC CPUs to 810D, 840D All values must be converted to decimal values and lined up in order of alarm or message number: Event ID: Supplementary information 1 Supplementary information 2 Alarm number (OM) 70 00 32 1) controlled by DB2.DBX184.0 OM = operational message This signifies the event with Event ID 16# B046 and the indicated supplementary information...
Page 941 Detailed description 2.6 Interface structure Interface structure Interface data blocks The PLC user interfaces on the 840D and 810D are identical except for the data volume. Mapping in interface data blocks is required on account of the large number of signals. These are global data blocks from the viewpoint of the PLC program.
Page 942 Detailed description 2.6 Interface structure Fig. 2-3 PLC/NCK interface Power Line Basic PLC Program (P3) 2-30 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 943 Detailed description 2.6 Interface structure Compile-cycle signals In addition to the standard signals exchanged between the PLC and NCK, an interface DB for compile cycles is also generated if required (DB 9). The signals, which are dependent on the compile cycles, are transmitted cyclically at the start of OB1. Signals PLC/NC The group of signals from the PLC to NC includes: •...
Page 944 Detailed description 2.6 Interface structure Fig. 2-4 PLC/NC interface Digital/analog inputs/outputs of the NCK The following must be noted with respect to the digital and analog inputs and outputs of the NCK: Inputs: • All input signals or input values of the NCK are also transferred to the PLC. •...
Page 945 Detailed description 2.6 Interface structure Outputs: • All signals or values to be output are also transferred to the PLC. • The NCK can also transfer signals or values to the PLC even if there is no hardware for this channel on the NCK side. •...
Page 946 Detailed description 2.6 Interface structure The control/status functions are transmitted cyclically at the start of OB1. The signals* entered in the channelspecific interface by the MMC (MMC signals are entered by the PLC operating system) are also transferred at this time if the signals have been defined on the NC OP, not on the MCP.
Page 947 Detailed description 2.6 Interface structure Fig. 2-6 PLC/NC channel interface PLC/axis, spindle, drive signals The axis-specific and spindle-specific signals are divided into the following groups: • Shared axis/spindle signals • Axis signals • Spindle signals • Drive signals The signals are transferred cyclically at the start of OB 1, with the following exceptions: Exceptions include: MMC INC mode, axial F value, M/S value An axial F value is entered via the M, S, F distributor of the basic program if it is transferred...
Page 948 Detailed description 2.6 Interface structure Fig. 2-7 Interface between PLC and axes/spindles/drives 2.6.2 PLC/MMC interface General The following groups of functions are required for the PLC/MMC interface: • Control signals • Machine operation • PLC messages • PLC status display Control signals In some cases, signals are input via the machine control panel and must be taken into account by the MMC.
Page 949 Detailed description 2.6 Interface structure Machine operation All operator inputs, which lead to response actions on the machine, are monitored by the PLC. Operator actions are usually performed on the machine control panel. However, it is also possible to perform some operator actions on the MMC (e.g., mode selection, INC mode selection).
Page 950 Detailed description 2.6 Interface structure • Bit fields are evaluated at several levels by FC10. – Evaluation 1; Acquisition of group signals A group signal is generated for each group of signals when at least one bit signal is set to "1". This signal is generally linked to the disable signal of the VDI interface (on modules with diagnostic functions).
Page 951 Detailed description 2.6 Interface structure Fig. 2-8 Acquisition and signaling of PLC events 2.6.3 PLC/MCP/HHU interface General On the SINUMERIK 840D/810D, the machine control panel (MCP) is connected on the same bus that connects the OP with the NC. The advantage of this is that only one bus cable is required to connect the operator unit.
Page 952 Detailed description 2.6 Interface structure The signals arriving from the machine control panel are copied by the COM module into the DPR (dualport RAM) for transfer to the NC. The NC in turn transmits them to the PLC (VDI task). The basic program of the PLC enters the incoming signals in the input image. The NC- related signals are generally distributed by the basic program to the VDI interface.
Page 953 Detailed description 2.6 Interface structure Fig. 2-10 Connection of the machine control panel for 810D Bus addresses The default bus addresses for the standard configurations are entered in the "Connecting the MCP on the 810D" figures. In addition to the bus addresses, the implicit communication service (global data) also requires the definition of a GD circle number.
Page 954 Detailed description 2.6 Interface structure MCP interface in the PLC The signals from the machine control panel are routed via the I/O area by default. A distinction is made between NC and machinespecific signals. NCspecific key signals are normally distributed by FC 19 to the various mode group, NCK, axis and spindlespecific interfaces.
Page 955 Detailed description 2.7 Structure and functions of the basic program Structure and functions of the basic program General The program is modular in design, i.e., it is structured according to NCK functions. In the operating system, a distinction is made between the following levels of execution: •...
Page 956 Detailed description 2.7 Structure and functions of the basic program Fig. 2-12 Structure of the PLC program Power Line Basic PLC Program (P3) 2-44 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0...
Page 957 Detailed description 2.7 Structure and functions of the basic program 2.7.1 Startup and synchronization of NCK PLC Loading the basic program The basic program must be loaded with the S7 tool when the PLC is in the Stop state. This ensures that all blocks in the basic program will be initiated correctly the next time they are called.
Page 958 Detailed description 2.7 Structure and functions of the basic program The following functions are performed in the cyclic part of the basic program: • Transmission of the control/status signals • Distribution of the auxiliary and G functions • M decoding (M00 - M99), •...
Page 959 Detailed description 2.7 Structure and functions of the basic program The M, S, T, H, D and F values sent by the NCK are output together with the accompanying change signals to the CHANNEL DB interface via the auxiliary/G functions (see documentation "Lists of SINUMERIK 840D, 810D").
Page 960 Detailed description 2.7 Structure and functions of the basic program 2.7.3 Time-alarm processing (OB 35) General The user must program OB 35 for time-alarm processing. The default time base setting of OB 35 is 100 ms. Another time base can be selected using the STEP7 application "S7 Configuration".
Page 961 Detailed description 2.7 Structure and functions of the basic program Signals NCK to PLC The signals sent by the NCK to the PLC are divided into the following groups: • Status signals from the NCK, channels, axes and spindles • Modification signals of the auxiliary functions •...
Page 962 Detailed description 2.7 Structure and functions of the basic program 2.7.6 Functions of the basic program called from the user program General In addition to the modules of the basic program, which are called at the start of OBs 1, 40 and 100, functions are also provided, which can be called at a suitable point in the user program and supplied with parameters.
Page 963 Detailed description 2.7 Structure and functions of the basic program ASUBs Asynchronous subprograms (ASUBs) can be used to activate any selected function in the NC. Before an asynchronous subprogram can be started from the PLC, it must be ensured that it is available and prepared by the NC program or by FB 4 PI services (ASUB). ASUBs can only be started in MDA or Automatic mode with running parts program.
Page 964 Detailed description 2.7 Structure and functions of the basic program Read/write NC variables NCK variables can be read with FB GET while values can be entered in NCK variables with FB PUT. The NCK variables are addressed via identifiers at inputs Addr1 to Addr8. The identifiers (symbols) point to address data, which must be stored in a global DB.
Page 965 Detailed description 2.7 Structure and functions of the basic program Symbolic names of virtually all the interface signals are defined in these UDT blocks. The UDT numbers 2, 10, 11, 19, 21, 31, 71, 72, 73 are used. The assignments have been made as follows: UDT assignments Assignment to interface DB Meaning...
Page 966 Detailed description 2.7 Structure and functions of the basic program Note Unused bits and bytes are listed, for example, with the designation "f56_3". "56": Byte address of the relevant data block "3": Bit number in this byte English versions of the UDT interfaces are available in SW 4.4 and higher under NST_UDTB.AWL and TM_UDTB.AWL.
Page 967 Detailed description 2.7 Structure and functions of the basic program The figure below shows the structure of the M decoding according to list: Fig. 2-13 M decoding acc. to list Structure of decoding list There must be an entry in decoding list DB 75 for every group of M functions to be decoded. A maximum of 16 groups can be created.
Page 968 Detailed description 2.7 Structure and functions of the basic program Assignment of groups Group Extended First M address in group Last M address in group M address MSigGrp[1].MExtAdr MSigGrp[1].MFirstAdr MSigGrp[1].MLastAdr MSigGrp[2].MExtAdr MSigGrp[2].MFirstAdr MSigGrp[2].MLastAdr MSigGrp[16].MExtAdr MSigGrp[16].MFirstAdr MSigGrp[16].MLastAdr Type and value range for signals Signal Type Value range...
Page 969 Detailed description 2.7 Structure and functions of the basic program Signal list Data block DB 76 is set up when the function is activated. A bit is set in the appropriate group in DB 76 for an M signal decoded in the list. At the same time, a readin disable is set in the channel in which the M function has been output.
Page 970 Detailed description 2.7 Structure and functions of the basic program DATA_BLOCK DB 75 TITLE = VERSION : 0.0 STRUCT MSigGrp : ARRAY [1 .. 16 ] OF STRUCT MExtAdr : INT ; MFirstAdr : DINT; MLastAdr : DINT; END_STRUCT; END_STRUCT; BEGIN MSigGrp[1].MExtAdr := 2;...
Page 971 Detailed description 2.7 Structure and functions of the basic program The basic program stores the data in DB 20 in the following order: Integer MD, Hex field MD, Real MD. The integer and real values are stored in DB 20 in S7 format. Hexadecimal data are stored in DB20 in the order in which they are input (use as bit fields).
Page 972 Detailed description 2.7 Structure and functions of the basic program Example The project in the example requires 4 integer values, 2 hexadecimal fields with bit information and 1 real value. Machine data: MD14510 USER_DATA_INT[0] MD14510 USER_DATA_INT[1] MD14510 USER_DATA_INT[2] MD14510 USER_DATA_INT[3] 1011 MD14512 USER_DATA_HEX[0] MD14512 USER_DATA_HEX[1]...
Page 973 Detailed description 2.7 Structure and functions of the basic program The structure of the machine data used is specified in a UDT: TYPE UDT 20 STRUCT UDInt : ARRAY [0 .. 3 ] OF INT ; UDHex0 : ARRAY [0 .. 15]OF BOOL; UDReal : ARRAY [0 ..
Page 974 Detailed description 2.7 Structure and functions of the basic program "UData".UDInt[0]; "UData".UDInt[1]; "UData".UDInt[2]; "UData".UDInt[3]; "UData".UDHex0[0]; "UData".UDHex0[1]; "UData".UDHex0[2]; "UData".UDHex0[3]; "UData".UDHex0[4]; "UData".UDHex0[5]; "UData".UDHex0[6]; "UData".UDHex0[7]; "UData".UDHex0[15]; "UData".UDReal[0]; 2.7.10 Configuration of machine control panel, handheld unit General The communications system integrated in the NC permits a maximum of 2 machine control panels and one handheld unit to exchange data with the 810D and the 840D.
Page 975 Detailed description 2.7 Structure and functions of the basic program Activation Each component is activated either via the number of machine control panels (parameter MCPNum) or, in the case of the handheld unit, parameter BHG := 2 (BHG := 1 corresponds to a link via the MPI interface in conjunction with an SDB 210).
Page 976 Detailed description 2.7 Structure and functions of the basic program As described in Section Control signals, all parameters must be programmed according to data type. Switching off flashing MCP: With MCP firmware V5.01.01 and higher, flashing can be suppressed in offline mode. No communication takes place in offline mode (e.g., if the MCP connection fails).
Page 977 Detailed description 2.7 Structure and functions of the basic program Relevant parameters (FB1) MCPNum=1 or 2 (number of MCPs) BHG=2 (transfer via COM module) MCP1In MCP2In BHGIn MCP1Out MCP2Out BHGOut MCP1StatSend MCP2StatSend BHGStatSend MCP1StatRec MCP2StatRec BHGStatRec MCP1BusAdr MCP2BusAdr BHGInLen MCP1Timeout MCP2Timeout BHGOutLen MCP1Cycl...
Page 978 Detailed description 2.7 Structure and functions of the basic program An MCP or HHU failure is detected immediately after a cold restart even if no data have yet been exchanged between the MCP/HHU and PLC. The monitoring function is activated as soon as all components have signaled "Ready" after powerup.
Page 979 Detailed description 2.7 Structure and functions of the basic program resulting in the following error message on the MMC: • 400262: HHU failure An HHU failure is only recognized if data exchange has taken place previously with the HHU. The first exchange of data with the HHU activates the monitoring function. MPI connection Communication starts from the PLC BP via the NCK and COM mode, i.e., even a link via the MPI does not require an SDB210.
Page 980 Detailed description 2.7 Structure and functions of the basic program Status information Available in Bit No. Description MCP1StatSendMCP2Stat Syntax error in GD package: Send Error in parameter set (FB1) BHGStatSend MCP1StatSendMCP2Stat Transmitter: SendB Timeout HGStatSend MCP1StatRec Receiver: MCP2StatRec Timeout BHGStatRec An error entry is also made in the PLC diagnostic buffer for timeouts (bits 10 and 27), resulting in the following error messages on the MMC: •...
Page 981 Detailed description 2.7 Structure and functions of the basic program Relevant parameters (FB1) (all entries as parameterized in SDB210 global data) MCPNum=1 or 2 (number of MCPs) BHG=1 (MPI) MCP1In MCP2In BHGIn MCP1Out MCP2Out BHGOut MCP1StatRec MCP2StatRec BHGStatRec MCP1Timeout MCP2Timeout BHGTimeout Status information Available in...
Page 982 Detailed description 2.7 Structure and functions of the basic program Relevant parameters (FB1) MCPNum = 1 or 2 (number of MCPs) HHU = 2 (via COM module) MCP1In MCP2In BHGIn MCP1Out MCP2Out BHGOut MCP1StatSend (n.r.) MCP2StatSend (n.r.) BHGStatSend MCP1StatRec (n.r.) MCP2StatRec (n.r.) BHGStatRec MCP1BusAdr...
Page 983 /LIS/ Lists 2.9.2 Assignment: FB/FC FB number FC number Meaning Basic program 2 - 29 Reserved for Siemens Initialization of basic program 2 - 29 Reserved for Siemens 30 - 35 See below: ShopMill, ManualTurn 30 – 127 User area 30 –...
Page 984 Only as many data blocks as are required according to the NC machine data configuration are set up. Overview of data blocks DB no. Designation Name Package Reserved for Siemens PLC-MELD PLC messages Reserved for Siemens NC-COMPILE Interface for NC compile cycles NC INTERFACE...
Page 985 71 - 74 Tool management 75 - 76 M group decoding 77 - 80 Reserved for Siemens 81 - 89 See below: ShopMill, ManualTurn 81 –127 user area The actual upper limit of the block number (DB) depends on the current PLC CPU. See section "Key PLC CPU data for 810D, 840D".
Page 986 Assignment: Timers Timer No. Meaning 0 - 9 Reserved for Siemens 10 – 127 User area The actual upper limit of the block number (timer) depends on the current PLC CPU. See section "Key PLC CPU data for 810D, 840D".
Page 987 Detailed description 2.10 Memory requirements of basic PLC program for 810D, 840D PLC/NCK, PLC/MMC interface DB 10 PLC/NCK signals Must be loaded DB 11 Signals PLC/Mode group Is generated by BP DB 21, 30 PLC/channel signals Are generated by BP as a function of NCMD 352 each 316 each DB 31, ...61...
Page 988 Detailed description 2.10 Memory requirements of basic PLC program for 810D, 840D Basic program options DB o1) PI services One instance DB per FB 4 call 234 each 130 each DB 16 PI services description Load for PI services 1190 FB 5 Read GUD variables Load for PI services...
Page 989 Detailed description 2.11 Supplementary conditions and NC VAR selector Block size (bytes) Block Function Remark Load Working type no. memory memory Maximum configuration (2 channels, 4 spindles, 4 axes, TMCP) See above Basic program, base 14796 11720 See above Interface DBs 2542 2090 See above...
Page 990 Detailed description 2.11 Supplementary conditions and NC VAR selector Minimum Recommendation Processor 80486 Pentium RAM (MB) Or more Hard disk, > 400 free capacity (MB) Interfaces MPI incl. cable Memory card Graphics VGA or TIGA SVGA Mouse Operating system Windows 95/98/NT Windows 95/98/NT or higher STEP 7 and higher...
Page 991 Detailed description 2.11 Supplementary conditions and NC VAR selector • Documentation – Printout of individual or all blocks – Allocation of symbolic names (also for variables in data blocks) – Input and output of comments within each block – Printout of test and diagnostics displays –...
Page 992 Detailed description 2.11 Supplementary conditions and NC VAR selector 2.11.1.3 Relevant SINUMERIK documents References: /IAD/ 840D, 611D Installation and Startup Guide; PLC Interface /IAG/ 810D, 611D Installation and Startup Guide; PLC Interface /BH/ Operator Components Manual (HW)/840D/FM NC/810D /FB/ 840D, 810D Description of Functions /LIS/ 840D/810 D Lists /FBP/ PLC C Programming 2.11.2...
Page 993 Detailed description 2.11 Supplementary conditions and NC VAR selector Fig. 2-19 NC VAR selector After the "NC VAR selector" application has been started, select a list of variables of an NC variant (hard disk → file Ncv.mdb) to display all the variables contained in this list in a window.
Page 994 Detailed description 2.11 Supplementary conditions and NC VAR selector The variable list supplied with the "NC VAR selector" tool is adapted to the current NC software version. This list does not contain any variables (GUD variables) defined by the user. These variables are processed by the function block FB 5 in the basic program. Note The latest version of the "NC VAR selector"...
Page 995 Detailed description 2.11 Supplementary conditions and NC VAR selector 2.11.2.2 Description of functions Overview The figure below illustrates how the NC VAR selector is used within the STEP 7 environment. Fig. 2-20 Application of NC VAR selector in the STEP 7 environment The NC VAR selector is used to generate a list of selected variables from a list of variables and then to generate an .awl file that can be compiled by the STEP 7 compiler.
Page 996 Detailed description 2.11 Supplementary conditions and NC VAR selector • The generated data blocks must always be stored in the machinespecific file storage according to STEP 7 specifications. • To ensure that the parameterization of the GET/PUT (FB 2/3) blocks with respect to NC addresses can be implemented with symbols, the freely assignable, symbolic name of the generated data block must be included in the STEP 7 symbol table.
Page 997 Detailed description 2.11 Supplementary conditions and NC VAR selector Fig. 2-22 Window with selected variables for new project The selected variables are displayed in a window. Opening an existing project Select "Open" under the "Project" menu item to open an existing project (variables already selected).
Page 998 Detailed description 2.11 Supplementary conditions and NC VAR selector Storing a project The variable list is stored using the "Project", "Save" or "Save As.." menu items. "Save" stores the variable list under a path, which is already specified. If the project path is not known, then the procedure is as for "Save As..".
Page 999 Detailed description 2.11 Supplementary conditions and NC VAR selector Fig. 2-24 Window with selected Complete List The field variables (e.g., axis area, T area data, etc.) are indicated by means of brackets ([.]). Additional information must be specified here. When the variables are transferred to the project list, the additional information required is requested.
Page 1000 Detailed description 2.11 Supplementary conditions and NC VAR selector The following wildcards can also be used: To extend the search criterion as required Example search criteria Name search criterion: CHAN* Found: CHAN_NAME chanAlarm chanStatus channelName chanAssignment Selecting variables A variable is selected by means of a simple mouse click and transferred to the window of selected variables by double-clicking.

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