Overlaid Motions With Transmit; Monitoring Of Rotary Axis Rotations Over 360º - Siemens SINUMERIK 840D sl Function Manual

Traverse into working area limitation
Any motion that leads into the working area limitation is rejected with alarm 21619. Any
corresponding parts program block is not processed. The control system stops processing at
the end of the preceding block.
If the motion cannot be foreseen promptly enough (JOG modes, positioning axes), then the
control stops at the edge of the working area limitation.
Response close to working area limitation
If a tool center point traverses past the prohibited range, the control system automatically
reduces the feedrate and path acceleration rate such that the settings in the machine axes
(MD 32000 $MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not
exceeded. The closer the path is to the working area limitation, the greater the reduction in the
feedrate may be.
7.1.1.4

Overlaid motions with TRANSMIT

The control system cannot predict overlaid motions. However, these do not interfere with the
function provided that they are very small (e.g. fine tool offset) in relation to the current distance
from the pole (or from working area limitation). With respect to axes that are relevant for the
transformation, the transformation monitors the overlaid motion and signals any critical quantity
by alarm 21618. This alarm indicates that the block-related velocity planning function no longer
adequately corresponds to the actual conditions on the machine. When the alarm is output,
the conventional, non-optimized online velocity monitor is therefore activated. The
preprocessing routine is re-synchronized with the main run by a REORG generated internally
in the control.
Alarm 21618 should be avoided whenever possible since it indicates a state that can lead to
axis overload and thus abortion of parts program processing.
7.1.1.5 Monitoring of rotary axis rotations over 360º
The positions of the rotary axis are ambiguous with respect to the number of rotations. The
control breaks down blocks containing several rotations around the pole into sub-blocks.
This subdivision must be noted with respect to parallel actions (e.g. output of auxiliary
functions, block-synchronized positioning axis motions) since the programmed block end is
no longer relevant for synchronization, but the end of the first sub-block.
Reference:
Function Manual Basic Functions; "H2: Auxiliary function outputs to the PLC"
Function Manual Synchronized Actions
In single block operation the control system machines individual blocks explicitly. Otherwise
the sub-blocks are traversed with Look Ahead just like a single block. A limitation of the rotary
axis setting range is monitored by the software limit switch monitoring function.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
M1: Kinematic transformation
7.1 TRANSMIT face end transformation (option)
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