Overlaid Motions With Transmit; Monitoring Of Rotary Axis Rotations Over 360º; Constraints - Siemens SINUMERIK Series Function Manual

M1: Kinematic transformation
6.2 TRANSMIT face end transformation (option)
6.2.6

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
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.
6.2.7 Monitoring of rotary axis rotations over 360º
Ambiguity of rotary axis positions
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.
6.2.8

Constraints

Look Ahead
All functions requiring Look Ahead (traversal through pole, Look Ahead) work satisfactorily
only if the relevant axis motions can be calculated exactly in advance. With
applies to the rotary axis and the linear axis perpendicular to it. If one of these axes is the
positioning axis, then the Look Ahead function is deactivated by alarm 10912 and the
conventional online velocity check activated instead.
Selection of method
The user is responsible for making the optimum choice of "Traversal through pole" or
"Rotation around pole".
362
generated internally in the control.
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
, this
TRANSMIT
Extended Functions