Siemens SINUMERIK 828D Function Manual page 634

K1: Mode group, channel, program operation, reset response
9.14 System settings for power-up, RESET/part-program end and part-program start
Example
Orientation transformation and orientation axes with incremental encoders.
Configuration:
MD10720 $MN_OPERATING_MODE_DEFAULT [ 0 ] = 6
MD30240 $MA_ENC_TYPE [ 0, <axis>] = 1
MD34210 $MA_ENC_REFP_STATE [ 0, <axis>] = 3
MD20108 $MC_PROG_EVENT_MASK = 'H9'
MD20152 $MC_GCODE_RESET_MODE [ 52 ] = 1
MD20110 $MC_RESET_MODE_MASK = 'HC1'
MD20144 $MC_TRAFO_MODE_MASK = 'H02'
Event-controlled user program (.../_N_CMA_DIR/_N_PROG_EVENT_SPF):
Program code
; Example with activation of the frame, which aligns the WCS in the tool direction, when powering-up
and resetting with part program start.
IF $P_PROG_EVENT == 4
IF $P_TRAFO <> 0
WAITENC
TOROTZ
ENDIF
M17
ENDIF
IF $P_PROG_EVENT == 1
TOROTOF
RET
ENDIF
The WAITENC command essentially corresponds to the following NC program sequence (example for 5-axis
machine with AB kinematics):
Program code
WHILE TRUE
IF (($AA_ENC_ACTIVE[X]==TRUE) AND ($AA_ENC_ACTIVE[Y]==TRUE) AND ($AA_ENC_ACTIVE[Z]==TRUE) AND
($AA_ENC_ACTIVE[A]==TRUE) AND ($AA_ENC_ACTIVE[B]==TRUE)) GOTOF GET_LABEL
ENDIF
G4 F0.5
ENDWHILE
:Position synchronization
GET_LABEL: GET(X,Y,Z,A,B,)
634
Comment
; Powering-up.
; Transformation has been selected.
; Wait for valid axis positions of the orientation axes.
; Rotate the Z axis of the WCS towards the tool axis.
; Start of the part program.
; Reset the tool frame.
Comment
; Wait for a measuring system.
; 0.5 s wait time
Meaning:
Power-up in JOG mode
Incremental measuring system
Enable the restoration of axis positions for
incremental encoders.
Activate event-controlled using program
PROG_EVENT during power-up and at the start
of the part program.
Obtain TOFRAME via reset.
Obtain transformation and tool offset via reset.
Obtain transformation via POWER OFF.
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Basic Functions