Siemens SINUMERIK 840D sl Function Manual page 615

Parameterization
The following machine data must be set so that the last active transformation is retained after
POWER ON:
● MD20144 $MC_TRAFO_MODE_MASK, bit 1 = 1
● MD20110 $MC_RESET_MODE_MASK, bit 0 = 1
● MD20110 $MC_RESET_MODE_MASK, bit 7 = 1
See also Section "System settings for power-up, RESET / part program end and part program
start (Page 609)".
Programming
Wait for machine reference WAITENC
With the command WAITENC, the system waits channel-specific in a program until there is a
valid machine reference for all the active measuring systems of the parameterized axes. See
the "Requirement" section above. The parameter assignment of the axes is performed via:
MD34800 $MA_WAIT_ENC_VALID = 1
Application
In the user program (.../_N_CMA_DIR/_N_PROG_EVENT_SPF) to be called event-controlled
when running up (requirement: MD20108 bit 3 = 1), the system must wait using the command
WAITENC until the valid axis positions are available.
A frame that positions the tool axis in the direction of the X, Y or Z axis can then be generated
using the NC language command TOROTX/TOROTY/TOROTZ.
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-driven 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 running up and
resetting with part program start.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
9.16 System settings for power-up, RESET / part program end and part program start
Comment
K1: Mode group, channel, program operation, reset response
Meaning:
Run-up in JOG mode.
Incremental measuring system.
Enable the restoration of axis positions for incre‐
mental encoders.
Activate event-controlled using program
PROG_EVENT during run-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.
615