Page 1 Emergency Stop (N2) Transverse axes (P1) PLC Basic program Valid for powerline (P3 pl) Control PLC basic program solution SINUMERIK 840D sl/840DE sl line (P3 sl) SINUMERIK 840Di sl/840DiE sl Reference point approach SINUMERIK 840D powerline/840DE powerline (R1) SINUMERIK 840Di powerline/840DiE powerline...
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 • Manufacturer/service documentation A monthly updated publications overview with respective available languages can be found in the Internet under: http://www.siemens.com/motioncontrol Select the menu items "Support" → "Technical Documentation" → "Overview of Publications". The Internet version of DOConCD (DOConWEB) is available under: http://www.automation.siemens.com/doconweb...
Page 4 Preface Standard version This documentation only describes the functionality of the standard version. Extensions or changes made by the machine tool manufacturer are documented by the machine tool manufacturer. Other functions not described in this documentation might be executable in the control. This does not, however, represent an obligation to supply such functions with a new control or when servicing.
Page 5 Preface Technical information The following notation is used in this documentation: Signal/Data Notation Example NC/PLC interface ... NC/PLC interface signal: When the new gear step is engaged, the following NC/PLC signals interface signals are set by the PLC program: Signal data (signal name) DB31, ...
Page 6 The EC Declaration of Conformity for the EMC Directive can be found/obtained • in the internet: http://www.ad.siemens.de/csinfo under product/order no. 15257461 • with the relevant branch office of the A&D MC group of Siemens AG. Basic Functions Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 7 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Various NC/PLC interface signals and Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
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 Brief description ............................5 Detailed description ........................... 7 NC/PLC interface signals.......................7 2.1.1 General ............................7 2.1.2 Ready signals to PLC ........................9 2.1.3 Alarm signals to PLC ........................10 2.1.4 SINUMERIK 840Di-specific interface signals ................10 2.1.5 Signals to/from panel front ......................11 2.1.6 Signals to channel........................13 2.1.7...
Page 10 Table of contents Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 11 Brief description 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 Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 13 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 • HMI (operator components) •...
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 Detailed description 2.1 NC/PLC interface signals 2.1.2 Ready signals to PLC DB10 DBX104.7 (NC-CPU-Ready) The NC CPU is ready and registers itself cyclically with the PLC. DB10 DBX108.1 (HMI-CPU2-Ready) HMI CPU2 is ready and registers itself cyclically to NC. References: /FB2/ Function Manual, Expansion Functions;...
Page 16 Detailed description 2.1 NC/PLC interface signals 2.1.3 Alarm signals to PLC DB10 DBX103.0 (HMI Alarm pending) The HMI component signals that at least one HMI alarm is pending. DB10 DBX109.6 (ambient temperature alarm) The ambient temperature or fan monitoring function has responded. DB10 DBX109.7 (NCK battery alarm) The battery voltage has dropped below the lower limit value.
Page 17 Detailed description 2.1 NC/PLC interface signals 2.1.5 Signals to/from panel front DB19 DBX0.0 (screen bright) The screen blanking is disabled. DB19 DBX0.1 (darken screen) The operator panel screen is darkened. If the interface signal is used to actively darken the screen: •...
Page 18 Detailed description 2.1 NC/PLC interface signals DB19 DBX0.7 (Actual value in WKS, 0=MKS) Switching over of actual-value display between machine and workpiece coordinate system: • DB19 DBX0.7 = 0: Machine coordinate system (MCS) • DB19 DBX0.7 = 1: Workpiece coordinate system (WCS) DB19 DBB12 (control of V24 interface) (HMI Embedded only) Job interface to control RS-232C.
Page 19 Detailed description 2.1 NC/PLC interface signals DB19 DBB25 (control of V24 interface) (HMI Embedded only) Output byte for RS-232 data transmission error values. DB19 DBB26 (control of the file transfer via hard disk) (HMI advanced only) Status byte for current status of data transfer for "select", "load" or "unload", or if an error occurred during data transmission.
Page 20 Detailed description 2.1 NC/PLC interface signals DB31, ... DBX1.3 == 1 (axis- / spindle disable). The traversing request is maintained. If the axis disable is cancelled when a traversing request is pending DB31, ... DBX1.3 = 0 the movement is carried out. Axis disable when machine axis in motion When machine axis is in motion and NC/PLC interface signal DB31, ...
Page 21 Detailed description 2.1 NC/PLC interface signals Function: Hold The hold function does not correct the setpoint position of the machine axis to the actual position. If the machine axis moves away from the setpoint position, a following error (difference between setpoint and actual position) is generated. This error is corrected "suddenly"...
Page 22 Detailed description 2.1 NC/PLC interface signals Figure 2-2 Trajectory for clamping and "hold" Figure 2-3 Trajectory for clamping and "follow-up" Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 23 Detailed description 2.1 NC/PLC interface signals 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 Monitoring If a machine axis is in follow-up mode, the following monitoring mechanisms will not act: • Zero-speed monitoring • Clamping monitoring • Positioning monitoring Effects on other interface signals: • DB31, ... DBX60.7 = 0 (position reached with exact stop fine) •...
Page 25 Detailed description 2.1 NC/PLC interface signals DB31, ... DBX1.5 DB31, ... DBX1.6 DB31, ... DBX2.1 Function 0 (or 1) Position measuring system 1 active Position measuring system 2 active "Parking" active Spindle without position measuring system (speed- controlled) 1 -> 0 0 ->...
Page 26 Detailed description 2.1 NC/PLC interface signals An alarm is displayed: Alarm: "21612 Servo enable reset during movement" Note The servo enable is canceled at the latest when the cutout time expires: MD36610 $MA_AX_EMERGENCY_STOP_TIME • The machine axis position control loop opens. Interface signal: DB31, ...
Page 27 Detailed description 2.1 NC/PLC interface signals Figure 2-5 Canceling the servo enable when the machine axis is in motion DB31, ... DBX2.2 (Delete distance-to-go/Spindle reset (axis-/spindle-specific)) "Delete distance-to-go" is effective in AUTOMATIC and MDA modes only in conjunction with positioning axes. The positioning axis is decelerated to standstill following the current brake characteristic.
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 Detailed description 2.1 NC/PLC interface signals Parameter set changeover from the parts program For parameter-set changeover from the parts program, the user (machine manufacturer) must define corresponding user-specific auxiliary functions and evaluate them in the PLC user program. The PLC user program will then set the changeover request on the corresponding parameter set.
Page 30 Detailed description 2.1 NC/PLC interface signals DB31, ... DBX61.7 (current controller active) The machine axis current control loop is closed and current control is active. DB31, ...DBX69.0 / 69.1 / 69.2 (controller parameter set) Active parameter set Coding accordingly: DB31, ... DBX9.0 / 9.1 / 9.2 (controller parameter set selection) DB31, ...
Page 31 Detailed description 2.1 NC/PLC interface signals The feedback signal is sent via the interface signals: DB31, ... DBX93.0,1 / 93.2 (active drive parameter set) 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...
Page 32 Detailed description 2.1 NC/PLC interface signals • Stored hardware input • 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 lower than the parameterized threshold torque M MD1428 $MD_TORQUE_THRESHOLD_X (threshold torque) The threshold torque is entered as a percentage of the current speeddependent torque limitation.
Page 35 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 Detailed description 2.2 Functions 2.2.2 Settings for involute interpolation Introduction The involute of the circle is a curve traced out from the end point on a "piece of string" unwinding from the curve. Involute interpolation allows trajectories along an involute. Φ...
Page 37 Detailed description 2.2 Functions 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 (see illustration below). The maximum deviation of the end point is determined by the machine data: MD21015 $MC_INVOLUTE_RADIUS_DELTA(end point monitoring for involute) Figure 2-7 MD21015 specifies the max.
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. Figure 2-8 Limited angle of rotation towards base circle The alarm display can be suppressed using the following parameter settings:...
Page 39 Detailed description 2.2 Functions Dynamic response Involutes that begin or end on the base circle have an infinite curvature at this point. To ensure that the velocity is adequately limited at this point when tool-radius compensation is active, without reducing it too far at other points, the "Velocity limitation profile" function must be activated: MD28530 $MC_MM_PATH_VELO_SEGMENTS >...
Page 40 Detailed description 2.2 Functions 2.2.4 Read/write PLC variable High-speed data channel For highspeed exchange of information between the PLC and NC, a memory area is reserved in the communications buffer on these modules (dualport RAM). Variables of any type (I/O, DB, DW, flags) may be exchanged within this memory area. The PLC accesses this memory using 'Function Calls' (FC) while the NCK uses '$ variables'.
Page 41 Detailed description 2.2 Functions Access from PLC The PLC uses function calls (FC) to access the memory. These FCs ensure that data are read and written in the DPR immediately, i.e., not just at the beginning of the PLC cycle. FCs receive data type information and the position offset as parameters.
Page 42 Detailed description 2.2 Functions If a read/write access is made from the NCK to a variable in the dualport RAM, the conversion is performed twice. It is impossible to prevent differences between read and written values because the data are stored in both formats. Example Bypassing the problem by means of comparison on "EPSILON"...
Page 43 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 Basic logic functions: Various NC/PLC interface signals and functions (A2)
Page 44 • 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 • Options can be protected on each protection level. However, option data can only be entered in protection levels 0 and 1. • Access rights for protection levels 4 to 7 are only suggestions and can be altered by the machine tool manufacturer or end user.
Page 46 Detailed description 2.2 Functions Note Following NC-CPU ramp-up in commissioning mode (NCK commissioning switch: position 1) the passwords for protection levels 1 – 3 are reset to the default settings. For reasons of data protection, we strongly recommend that you change the default settings. 2.2.5.3 Keyswitch settings (DB10, DBX56.4 to 7) Key switch...
Page 47 Detailed description 2.2 Functions Default settings via the PLC user program The keyswitch switch positions are transferred to the NC/PLC interface via the basic PLC program. The corresponding interface signals can be modified via the PLC user program. In this context, from the point of view of the NC, only one switch position should ever be active, i.e,.
Page 48 Detailed description 2.2 Functions Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 49 Supplementary conditions There are no supplementary conditions to note. Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 50 Supplementary conditions Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 51 Examples 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 The parameter set changeover must be enabled by the machine data: MD35590 $MA_PARAMSET_CHANGE_ENABLE [AX1] = 1 or 2 (parameter set change possible) The 1st parameter set for machine axis X1 is set, in accordance with machine data with...
Page 52 Examples Machine data Remarks 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] Setting for each parameter set*) MD32910 $MA_DYN_MATCH_TIME [0...5, AX1] Setting for each parameter set*) *) The appropriate line must be specified separately for each parameter set according to the applicable syntax rules.
Page 53 Data lists Machine data 5.1.1 Drive-specific machine data Number Identifier: $MD_ Description 1403 PULSE_SUPPRESSION_SPEED Shutoff speed for pulse suppression 1404 PULSE_SUPPRESSION_DELAY Time for pulse suppression 1417 SPEED_THRESHOLD_X for n < n signal setp 1418 SPEED_THRESHOLD_MIN for n < n signal setp 1426 SPEED_DES_EQ_ACT_TOL...
Page 54 Data lists 5.1 Machine data Number Identifier: $MM_ Description 9007 TABULATOR_SIZE Tabulator length 9008 9008 KEYBOARD_TYPE Keyboard type (0: OP, 1: MFII/QWERTY) 9009 9009 KEYBOARD_STATE Shift behavior of keyboard during booting 9010 SPIND_DISPLAY_RESOLUTION Display resolution for spindle values 9011 9011 DISPLAY_RESOLUTION_INCH Display resolution for INCH_system of units 9012...
Page 55 Data lists 5.1 Machine data Number Identifier: $MM_ Description 9224 USER_CLASS_READ_IN Protection level for import data 9225 USER_CLASS_READ_CST Protection level standard cycles 9226 USER_CLASS_READ_CUS Protection level user cycles 9227 USER_CLASS_SHOW_SBL2 Skip single block2 (SBL2) 9228 USER_CLASS_READ_SYF Access level select directory SYF 9229 USER_CLASS_READ_DEF Access level select directory DEF...
Page 56 Data lists 5.1 Machine data 5.1.3 NC-specific machine data Number Identifier: $MN_ Description 10350 FASTIO_DIG_NUM_INPUTS Number of active digital NCK input bytes 10360 FASTIO_DIG_NUM_OUTPUTS Number of active digital NCK output bytes 10361 FASTIO_DIG_SHORT_CIRCUIT Short-circuit digital inputs and outputs 11120 LUD_EXTENDED_SCOPE Activate programglobal variables (PUD) 11270 DEFAULT_VALUES_MEM_MSK...
Page 57 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 Data lists 5.3 Signals 5.3.3 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 59 Data lists 5.3 Signals DB number Byte.Bit Description 24.7 RS232 ON (Acknowledgment byte for current RS232 status) 26.0 Error (Part program handling status) 26.1 O.K. (Part program handling status) 26.3 Active (Part program handling status) 26.5 Unload (Part program handling status) 26.6 Load (Part program handling status) 26.7...
Page 60 Data lists 5.3 Signals DB number Byte.Bit Description 31, ... Servo enable 31, ... Delete distancetogo (axisspecific)/Spindle reset 31, ... 1, 2 Parameter set switchover (request) 31, ... 20.0 Rampup times 31, ... 20.1 Rampfunction-generator fast stop 31, ... 20.2 Torque limit 2 31, ...
Page 61 Data lists 5.3 Signals DB number Byte.Bit Description 31, ... 94.3 | < M 31, ... 94.4 | < n 31, ... 94.5 | < n 31, ... 94.6 31, ... 94.7 Variable signaling function 31, ... 95.0 <warning threshold DC link Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 62 Data lists 5.3 Signals Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 63 Index DBX56.5, 38 DBX56.6, 38 DBX56.7, 38 DB19 611D Ready, 9 DBB12, 11, 12 DBB13, 12 DBB14, 11, 12 DBB15, 11, 12 Access authorization, 35 DBB16, 12 Access features, 36 DBB17, 12 Access security, 35 DBB24, 12 Actual value synchronization, 20 DBB25, 12 Actual value in workpiece coordinate system, 11 DBB26, 12...
Page 64 Index DBX60.4, 17 Display resolution, 28 DBX60.6, 18 Drive-test travel enable, 13 DBX60.7, 18 Drive-test travel request, 22 DBX61.0, 13, 22 DBX61.3, 14, 22 DBX61.4, 22 DBX61.5, 19, 22 Followup mode active, 22 DBX61.6, 20, 23 Foreground language, 28 DBX61.7, 23 DBX69.0, 23, 44 DBX69.1, 44 DBX69.2, 44...
Page 65 Index MD28150, 34 PLC/NCK interface, 7 MD28530, 31 Position controller active, 22 MD31050, 43 Position measuring system, 18 MD31060, 43 Protection levels, 38 MD32200, 21, 43 MD32800, 44 MD32810, 44 MD32910, 44 Ramp-up function completed, 26 MD33050, 23 Read/write PLC variable, 32 MD35130, 44 Recall alarms, 11 MD35590, 21, 43...
Page 66 Index Basic logic functions: Various NC/PLC interface signals and functions (A2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 67 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Axis monitoring, protection zones (A3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
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 Table of contents Brief Description ............................5 Axis monitoring functions .......................5 Protection zones ..........................5 Detailed description ........................... 7 Axis monitoring..........................7 2.1.1 Contour monitoring ........................7 2.1.1.1 Contour error..........................7 2.1.1.2 Following Error Monitoring ......................8 2.1.2 Positioning, zero speed and clamping monitoring ...............10 2.1.2.1 Correlation between positioning, zero-speed and clamping monitoring ........10 2.1.2.2...
Page 70 Table of contents 4.1.1 Working area limitation in WKS/ENS ..................65 Protection zones ......................... 68 4.2.1 Definition and activation of protection zones ................68 Data lists..............................79 Machine data..........................79 5.1.1 NC-specific machine data ......................79 5.1.2 Channelspecific machine data ....................79 5.1.3 Axis/spindlespecific machine data ....................
Page 71 Brief Description Axis monitoring functions Function Comprehensive monitoring functions are present in the control for protection of people and machines: • Contour monitoring • Position monitoring • Zero-speed monitoring • Clamping monitoring • Speed-setpoint monitoring • Actual-velocity monitoring • Measuring System- Monitoring •...
Page 72 Brief Description 1.2 Protection zones Basic logic functions: Axis monitoring, protection zones (A3) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 73 Detailed description Axis monitoring 2.1.1 Contour monitoring 2.1.1.1 Contour error Contour errors are caused by signal distortions in the position control loop. Signal distortions can be linear or nonlinear. Linear signal distortions Linear signal distortions are caused by: • Speed and position controller not being set optimally •...
Page 74 Detailed description 2.1 Axis monitoring 2.1.1.2 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 Axis monitoring Figure 2-1 Following-Error Monitoring Effectivity The following-error monitoring only operates with active position control and the following axis types: • Linear axes with and without feedforward control • Rotary axes with and without feedforward control •...
Page 76 Detailed description 2.1 Axis monitoring 2.1.2 Positioning, zero speed and clamping monitoring 2.1.2.1 Correlation between positioning, zero-speed and clamping monitoring Overview The following overview shows the correlation between the positioning, zero speed and clamping monitoring functions: 2.1.2.2 Positioning monitoring Function At the end of a positioning operation: •...
Page 77 Detailed description 2.1 Axis monitoring MD36020 $MA_POSITIONING_TIME (delay time exact stop fine) After reaching "Exact stop fine", the position monitoring is deactivated. Note The smaller the exact stop fine tolerance is, the longer the positioning operation takes and the longer the time until block change. Rules for MD setting MD36010 $MA_STOP_LIMIT_FINE MD36020 $MA_POSITIONING_TIME...
Page 78 Detailed description 2.1 Axis monitoring 2.1.2.3 Zero speed monitoring Function At the end of a positioning operation: • Set velocity = 0 AND • DB31, ... DBX64.6/64.7 (motion command minus/plus) = 0 checks the zero-speed monitoring to ensure that the following error of every participating machine axis is smaller than the standstill tolerance during the delay time.
Page 79 Detailed description 2.1 Axis monitoring 2.1.2.4 Exact stop and standstill tolerance dependent on the parameter set Common factor for position tolerances For adaptation to different machining situations and/or axis dynamics, e.g.,: • Operating state A: High precision, long machining time •...
Page 80 Detailed description 2.1 Axis monitoring Fault If the clamping tolerance is exceeded, the following alarm appears: 26000 "Clamping monitoring" The affected axis is stopped via the configured braking ramp in follow-up mode: MD36610 $MA_AX_EMERGENCY_STOP_TIME (Maximum time for braking ramp when an error occurs) Automatic stopping for removal of the clamp If a clamped axis must be traversed again in continuous-path mode, the NC stops the path motion for Look Ahead at the start of the motion block of the clamped axis until the clamped...
Page 81 Detailed description 2.1 Axis monitoring Figure 2-2 Release axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H01' The part-program blocks N310 and N410 refer to the following programming example: G0 X0 Y0 Z0 A0 G90 G54 F500 N100 G641 ADIS=.1 ADISPOS=5 N101 G1 X10 ;...
Page 82 Detailed description 2.1 Axis monitoring 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 83 Detailed description 2.1 Axis monitoring 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 84 Detailed description 2.1 Axis monitoring Figure 2-4 Set axis clamp if MD36052 $MA_STOP_ON_CLAMPING = 'H04' 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 •...
Page 85 Detailed description 2.1 Axis monitoring G0 X0 Y0 Z0 A0 G90 G54 F500 N100 G641 ADIS=.1 ADISPOS=5 N101 G1 X10 ; Edit N210 G1 X5 Y20 N220 G0 Z50 ; Retraction N310 ; no path motion N320 G0 A90 ; Turn rotary table N410 ;...
Page 86 Detailed description 2.1 Axis monitoring Block-change criterion: Clamping tolerance After activation of clamp monitoring:(DB31, ... DBX2.3 = 1) 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 (clamping tolerance with interface signal "Clamping active")
Page 87 Detailed description 2.1 Axis monitoring 2.1.3 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) Figure 2-5 Speed setpoint calculation The speed-setpoint monitoring ensures by limiting the control or output signal (10V for...
Page 88 Detailed description 2.1 Axis monitoring Speed-setpoint monitoring delay To prevent an error reaction from occurring in every speed-limitation instance, a delay time can be configured: MD36220 $MA_CTRLOUT_LIMIT_TIME (Speed-setpoint monitoring delay) Only if the speed limitation is required for longer than the configured time does the corresponding error reaction occur.
Page 89 Detailed description 2.1 Axis monitoring Activation The actual-velocity monitoring is activated as soon as the active measuring system returns valid actual values (encoder limit frequency not exceeded): DB31, ... DBX1.5/1.6 (position measuring system 1/2) Effectivity The actual-velocity monitoring only operates with active position control and the following axis types: •...
Page 90 Detailed description 2.1 Axis monitoring Fault Upon exceeding of the encoder limit frequency, the following occurs: • Message to the PLC: DB31, ... DBX60.2 or 60.3 = 1 (encoder limit frequency exceeded 1 or 2) • Spindles Spindles are not stopped but continue to turn with speed control. If the spindle speed is reduced so much that the encoder frequency passes below the encoder limit frequency, the actual value system of the spindle is automatically resynchronized.
Page 91 Detailed description 2.1 Axis monitoring Encoder Meaning type Simulation Raw signal generators (voltage, current, EXE etc.) → High resolution Rectangular signal encoder (standard, no. of PPRs quadrupled) Reserved Absolute encoder with EnDat interface Absolute encoder with SSI interface Activation/Deactivation The function is activated/deactivated with machine data: MD36310 $MA_ENC_ZERO_MONITORING (Zero-mark monitoring) MD36310 Meaning...
Page 92 Detailed description 2.1 Axis monitoring Note If using external zero marks (BERO) instead of encoder zero marks, you must deactivate zero-mark monitoring: MD36310 $MA_ENC_ZERO_MONITORING = 0 Fault Alarm 25020 If zero-mark monitoring is tripped in the active measuring system, alarm 25020 appears: "Axis <Axis identifier>...
Page 93 Detailed description 2.1 Axis monitoring Fault Alarm 25020 If zero-mark monitoring is tripped in the active measuring system, alarm 25020 appears: "Axis <Axis identifier> Zero-mark monitoring of active encoder" The affected axis is stopped via the configured braking ramp in follow-up mode: MD36610 $MA_AX_EMERGENCY_STOP_TIME (Maximum time for braking ramp when an error occurs) Alarm 25021...
Page 94 Detailed description 2.1 Axis monitoring 2.1.5.5 Customized error reactions Customized zero-mark monitoring You can customize the default alarm and reaction behavior of zero-mark monitoring using system variables. This allows you to perform your own monitoring using a synchronized action or OEM application and to use all of the reaction options available in this application, e.g.: •...
Page 95 Detailed description 2.1 Axis monitoring System variable Meaning $VA_ENC_ZERO_MON_ERR_CNT[n,ax] Contains the current number of detected zero-mark errors. Power on and the selection/deselection of parking positions triggers a zero reset; reset does not reset the counter. Encoder number Machine axis Measuring systems with absolute encoders System variable Meaning $VA_ENC_ZERO_MON_ERR_CNT[n,ax]...
Page 96 Detailed description 2.1 Axis monitoring 2.1.5.6 Monitoring of hardware faults Function This monitoring function monitors the measuring systems of a machine axis for hardware faults (e.g., measuring system failure, open circuit). Fault Alarm 25000 If a hardware fault is detected in the active measuring system, alarm 25000 appears: "Axis <Axis identifier>...
Page 97 Detailed description 2.1 Axis monitoring Zero-mark monitoring PROFIBUS drives with incremental encoders Zero-mark monitoring is performed by the drive software. PROFIBUS drives with absolute encoders The drive software performs the monitoring function, while the plausibility check is carried out in the NCK (as for SIMODRIVE 611D systems). 2.1.7 Limit switches-monitoring Overview of the end stops and possible limit switch monitoring:...
Page 98 Detailed description 2.1 Axis monitoring Parameterization The braking behavior of the machine axis upon reaching the hardware limit switch is configurable via the machine data: MD36600 $MA_BRAKE_MODE_CHOICE (Braking behavior on hardware limit switch) Value Significance Braking with the configured axial acceleration Rapid stop (set velocity = 0) Effectivity The hardware limit-switch monitoring is active after the control has ramped up in all modes.
Page 99 Detailed description 2.1 Axis monitoring 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. • The machine axis can be moved to the position of the active software limit switch. •...
Page 100 Detailed description 2.1 Axis monitoring General • Changing of the software limit switch (1st ↔ 2nd software limit switch) If the actual position of the machine axis after changing lies behind the software limit switch, it is stopped with the maximum permissible acceleration. •...
Page 101 Detailed description 2.1 Axis monitoring • Transformations are active In the case of certain transformations the monitoring of the working area limitation may differ from the behavior without transformation: – The tool length is a component of the transformation (MD24... $MC_TRAFO_INCLUDES_TOOL_X = TRUE): In this case the tool length is not considered, i.e., the monitoring refers to the tool carrier reference point.
Page 102 Detailed description 2.1 Axis monitoring Effects Automatic operating modes • 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. • With overlaid motion The axis, which would violate the working area limitation due to the overlaid movement, is braked without jerk limitation and will come to the position of the working area limitation.
Page 103 Detailed description 2.1 Axis monitoring 2.1.8.2 Working area limitation in BKS Application Using the "working area limitation in BKS", the working area of a machine tool is limited so that the surrounding devices (e.g., tool revolver, measuring stations) are protected against damage.
Page 104 Detailed description 2.1 Axis monitoring The programmed working area limitation has priority and overwrites the values entered in SD43420 and SD43430. Activation/Deactivation Working area limitation through setting data The activation/deactivation of the working area limitation for each axis takes place in a direction-specific manner via the immediately effective setting data: SD43400 $SA_WORKAREA_PLUS_ENABLE (Working area limitation active in the positive direction)
Page 105 Detailed description 2.1 Axis monitoring Limitations/secondary conditions The RESET position with regard to WALIMON / WALIMOF is configurable via: MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups) 2.1.8.3 Working area limitation in WKS/ENS Application The "working area limitation in WKS/ENS" mainly serves for the working area limitation for conventional lathes.
Page 106 Detailed description 2.1 Axis monitoring Selection of the coordinate system A working area limitation group can refer to the workpiece coordinate system (WKS) or the settable zero system (ENS). The selection is made through the channel-specific system variable: $AC_WORKAREA_CS_COORD_SYSTEM [WALimNo] Value Significance Working area limitation is applicable in WKS.
Page 107 Detailed description 2.1 Axis monitoring Data storage and security Data storage The values of the system variables for the definition of the "working area limitations in WKS/ENS" are stored in the static NC memory. Note For the storage of the limiting values for the linear axes, the default setting is considered for the system of units (MD10240 $MN_SCALING_SYSTEM_IS_METRIC).
Page 108 Detailed description 2.2 Protection zones Protection zones 2.2.1 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. toolholding magazine, swiveling probe).
Page 109 Detailed description 2.2 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 110 Detailed description 2.2 Protection zones Maximum number of protection areas The maximum definable number of machine- and channel-related protection zones is set via: MD18190 $MN_MM_NUM_PROTECT_AREA_NCK (Number of files for machine-related protection zones) MD28200 $MC_MM_NUM_PROTECT_AREA_CHAN (Number of files for channel-specific protection zones) Coordinates The coordinates of a protection zone must always be programmed as absolute values with respect to the reference point of the protection zone.
Page 111 Detailed description 2.2 Protection zones Figure 2-9 Example of a milling machine Figure 2-10 Example of a turning machine with relative protection zone for tailstock Basic logic functions: Axis monitoring, protection zones (A3) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 112 Detailed description 2.2 Protection zones 2.2.3 Definition via part program instruction General A protection-zone definition must contain the following information: • Protection zone type (workpiece- or tool-related) • Orientation of the protection zone • Type of limitation in the third dimension •...
Page 113 Detailed description 2.2 Protection zones Parameters Type Description Limit in minus direction Limit in positive and negative direction REAL Value of the limit in the negative direction in the 3rd dimension appminus REAL Value of the limit in the positive direction in the 3rd dimension appplus The following must be true: appplus >...
Page 114 Detailed description 2.2 Protection zones Figure 2-12 Examples: convex and concave tool-related protection zones Contour elements The following contour elements are permissible: • G0, G1 for straight contour elements • G2 for circle segments in the clockwise direction Permissible only for workpiece-related protection zones. Not permissible for tool-related protection zones because they must be convex.
Page 115 Detailed description 2.2 Protection zones End of definition The end of definition is defined by the following subroutine: EXECUTE(NOT_USED) Parameters Type Description Error variable has no effect in protection zones with EXECUTE. NOT_USED The definition of a machine-specific or channel-specific protection zone is completed with the subroutine EXECUTE(n).
Page 116 Detailed description 2.2 Protection zones System variable Type Significance $SN_PA_LIM_3DIM[n] Type of limitation in the third dimension $SC_PA_LIM_3DIM[n] No limitation Limit in plus direction Limit in minus direction Limit in positive and negative direction $SN_PA_PLUS_LIM[n] Value of the limit in the positive direction in the 3rd REAL $SC_PA_PLUS_LIM[n] dimension...
Page 117 Detailed description 2.2 Protection zones Data backup The protection-zone definitions are saved in the following files: File Blocks _N_INITIAL_INI All data blocks of the protection zones _N_COMPLETE_PRO All data blocks of the protection zones _N_CHAN_PRO All data blocks of the channelspecific protection zones 2.2.5 Activation and deactivation of protection zones General...
Page 118 Detailed description 2.2 Protection zones Preactivation Only preactivated protection zones can be activated from the PLC user program. Figure 2-13 Example: Turning machine with preactivated protection zone for a sensor. Deactivation A protection zone can be deactivated from a part program. Additionally an active, preactivated protection zone can be set again in the preactivated (= ineffective) state through the PLC user program.
Page 119 Detailed description 2.2 Protection zones Deactivation, preactivation, activation via part program The activation status of a channel- or machine-specific protection zone is defined by the corresponding subroutine: • Channel-specific protection zone: CPROT (n, state, xMov, yMov, zMov) • Machine or NC-specific protection zone: NPROT (n, state, xMov, yMov, zMov) Parameters Type...
Page 120 Detailed description 2.2 Protection zones DB21, ... DBX278.0 to DBX279.1 (Channel-specific protection zone 1 - 10 violated) Activate The preactivated protection zones can be activated from the PLC user program: DB21, ... DBX8.0 to DBX9.1 (Activate machine-related protection zone 1 - 10) DB21, ...
Page 121 Detailed description 2.2 Protection zones 2.2.6 Protection-zone violation and temporary enabling of individual protection zones Function Workpiece and toolrelated protection zones that are activated or deactivated are monitored for collision. If a protection-zone violation is detected, behavior in the individual operating modes is as follows.
Page 122 Detailed description 2.2 Protection zones Monitoring of overlaid motion Axes that have been assigned to another channel are not taken into account. The last position to be approached is taken to be the end position. It is not taken into account whether the axis has traversed after changing channels.
Page 123 Detailed description 2.2 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 124 Detailed description 2.2 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 125 Detailed description 2.2 Protection zones The alarm is reset by: – Temporary enabling of the affected protection zones – Deactivation of the relevant protection zones if they are preactivated – Deactivation of the protection zone in MDI 3. If the position is on the protection zone limitation (position is still valid), no alarm is generated.
Page 126 Detailed description 2.2 Protection zones Temporary enabling 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 127 Detailed description 2.2 Protection zones 2.2.7 Restrictions in protection zones Restrictions in protection-zone monitoring No protection-zone monitoring is possible under the following conditions: • Orientation axes • Protection-zone monitoring for fixed machine-related protection zones with transmit or peripheral surface transformation. Exception: Protection zones defined with rotation symmetry around the spindle axis.
Page 128 Detailed description 2.2 Protection zones Basic logic functions: Axis monitoring, protection zones (A3) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 129 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 130 Supplementary conditions 3.1 Axis monitoring functions Basic logic functions: Axis monitoring, protection zones (A3) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 131 Examples Axis monitoring 4.1.1 Working area limitation in WKS/ENS Available channel axes 4 axes are defined in the channel: X, Y, Z and A The A-axis is a rotary axis (not modulo). Parameterize number of working area limitation groups Three working area limitation groups will be provided: MD28600 $MC_MM_NUM_WORKAREA_CS_GROUP = 3 Define working area limitation groups Additionally 2 working area limitation groups will be defined:...
Page 132 Examples 4.1 Axis monitoring ; The working area limitation of the N1 $AC_WORKAREA_CS_COORD_SYSTEM[1] = 3 working area limitation group 1 applies in the ENS. N10 $AC_WORKAREA_CS_PLUS_ENABLE[1,X] = TRUE N11 $AC_WORKAREA_CS_LIMIT_PLUS[1,X] = 10 N12 $AC_WORKAREA_CS_MINUS_ENABLE[1,X] = FALSE N20 $AC_WORKAREA_CS_PLUS_ENABLE[1,Y] = FALSE N22 $AC_WORKAREA_CS_MINUS_ENABLE[1,Y] = TRUE N23 $AC_WORKAREA_CS_LIMIT_MINUS[1,Y] = 25 N30 $AC_WORKAREA_CS_PLUS_ENABLE[1,Z] = FALSE...
Page 133 Examples 4.1 Axis monitoring N83 $AC_WORKAREA_CS_LIMIT_PLUS[2,Z] = –600 N90 $AC_WORKAREA_CS_PLUS_ENABLE[2,A] = FALSE N92 $AC_WORKAREA_CS_MINUS_ENABLE[2,A] = FALSE Activate working area limitation group 2 In order to activate the working area limitation group 2, following instruction must exist in the part program: N100 WALCS2 ...
Page 134 Examples 4.2 Protection zones Protection zones 4.2.1 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 •...
Page 135 Examples 4.2 Protection zones 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 Definition beginning: Protection NPROTDEF(1,FALSE,0,0,0) zone for spindle chuck Contour description: 1. Contour G01 X100 Z0 element Contour description: 2.
Page 136 Examples 4.2 Protection zones $SN_PA_PLUS_LIM[0] ; Value of the limit in the positive direction in the 3rd dimension $SN_PA_MINUS_LIM[0] ; Value of the limitation in the negative direction in the 3rd dimension $SN_PA_CONT_NUM[0] ; Number of valid contour elements $SN_PA_CONT_TYP[0,0] ;...
Page 137 Examples 4.2 Protection zones $SN_PA_CONT_ABS[0,2] ; Endpoint of contour[i], abscissa value ; Protection zone for spindle chuck, contour element 2 $SN_PA_CONT_ABS[0,3] ; Endpoint of contour[i], abscissa value ; Protection zone for spindle chuck, contour element 3 $SN_PA_CONT_ABS[0,4] ; Endpoint of contour[i], abscissa value ;...
Page 138 Examples 4.2 Protection zones $SN_PA_CENT_ABS[0,6] ; Midpoint of contour[i], abscissa value ; Protection zone for spindle chuck, contour element 6 $SN_PA_CENT_ABS[0,7] ; Midpoint of contour[i], abscissa value ; Protection zone for spindle chuck, contour element 7 $SN_PA_CENT_ABS[0,8] ; Midpoint of contour[i], abscissa value ;...
Page 139 Examples 4.2 Protection zones $SN_PA_CONT_TYP[0,4] ; Contour type[i] : 1 = G1 for even, ; Protection zone for workpiece, contour element 4 $SN_PA_CONT_TYP[0,5] ; Contour type[i] : 0 = not defined, ; Protection zone for workpiece, contour element 5 $SN_PA_CONT_TYP[0,6] ;...
Page 140 Examples 4.2 Protection zones $SN_PA_CONT_ORD[0,8] ; Endpoint of contour[i], ordinate value ; Protection zone for workpiece, contour element 8 $SN_PA_CONT_ORD[0,9] ; Endpoint of contour[i], ordinate value ; Protection zone for workpiece, contour element 9 $SN_PA_CONT_ORD[1,0] -190 ; Endpoint of contour[i], ordinate value ;...
Page 141 Examples 4.2 Protection zones $SN_PA_CONT_ABS[1,2] ; Endpoint of contour[i], abscissa value ; Protection zone for tool holder, contour element 2 $SN_PA_CONT_ABS[1,3] ; Endpoint of contour[i], abscissa value ; Protection zone for tool holder, contour element 3 $SN_PA_CONT_ABS[1,4] ; Endpoint of contour[i], abscissa value ;...
Page 142 Examples 4.2 Protection zones $SN_PA_CENT_ORD[1.6] ; Midpoint of contour[i], ordinate value ; Protection zone for tool holder, contour element 6 $SN_PA_CENT_ORD[1.7] ; Midpoint of contour[i], ordinate value ; Protection zone for tool holder, contour element 7 $SN_PA_CENT_ORD[1.8] ; Midpoint of contour[i], ordinate value ;...
Page 143 Examples 4.2 Protection zones Activation Table 4-4 Part program excerpt for activating the three protection zones for spindle chuck, workpiece, and toolholder: ; Protection zone: Spindle chuck NPROT(1, 2, 0, 0, 0) ; Protection zone: Workpiece with 100mm offset in CPROT(1, 2, 0, 0, 100) the Z axis.
Page 144 Examples 4.2 Protection zones Basic logic functions: Axis monitoring, protection zones (A3) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 145 Data lists Machine data 5.1.1 NC-specific machine data Axis monitoring Number Identifier: $MN_ Description 10604 WALIM_GEOAX_CHANGE_MODE Working area limitation during switchover of geometry axes 10710 PROG_SD_RESET_SAVE_TAB Setting data to be updated Protection zones Number Identifier: $MN_ Description 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...
Page 146 Data lists 5.1 Machine data Number Identifier: $MC_ Description 24436 TRAFO_INCLUDES_TOOL_5 Tool handling with active transformation 5. 24446 TRAFO_INCLUDES_TOOL_6 Tool handling with active transformation 6. 24456 TRAFO_INCLUDES_TOOL_7 Tool handling with active transformation 7. 24466 TRAFO_INCLUDES_TOOL_8 Tool handling with active transformation 8. 24476 TRAFO_INCLUDES_TOOL_9 Tool handling with active transformation 9.
Page 147 Data lists 5.2 Setting data Number Identifier: $MA_ Description 36100 POS_LIMIT_MINUS software limit switch minus 36110 POS_LIMIT_PLUS Software limit switch plus 36120 POS_LIMIT_MINUS2 software limit switch minus 36130 POS_LIMIT_PLUS2 Software limit switch plus 36610 AX_EMERGENCY_STOP_TIME Length of the braking ramp for error states 36200 AX_VELO_LIMIT Threshold value for velocity monitoring...
Page 148 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 149 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 150 Data lists 5.3 Signals Basic logic functions: Axis monitoring, protection zones (A3) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 151 Index DBX60.3, 22 DBX60.4, 29 DBX60.5, 29 DBX60.6, 11, 19 $AC_WORKAREA_CS_COORD_SYSTEM, 38 DBX60.7, 11, 19 $AC_WORKAREA_CS_LIMIT_MINUS, 38 DBX64.6, 11 $AC_WORKAREA_CS_LIMIT_PLUS, 38 DBX64.7, 11 $AC_WORKAREA_CS_MINUS_ENABLE, 38 DB21, ... $AC_WORKAREA_CS_PLUS_ENABLE, 38 DBX10.0 to DBX11.1, 52 DBX272.0 to 273.1, 52 DBX274.0 to 275.1, 52 DBX276.0 to DBX277.1, 52 Activation of protection zones DBX278.0 to DBX279.1, 52...
Page 152 Index MD10604, 35 Nonlinear signal distortions, 7 MD10618, 54 MD10710, 37 MD18190, 42, 51 MD20150, 37 Orientation, 41 MD21020, 33 MD28200, 42, 51 MD28210, 51 MD28212, 51 MD28600, 38 Protection zone MD30240, 23 Activate, 49 MD30310, 31, 34 Deactivation, 49 MD31030, 61 Definition, 44, 47 MD31050, 61...
Page 153 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Continuous- path Mode, Exact Stop, LookAhead Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 154 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 155 Table of contents Brief Description ............................5 Detailed description ........................... 9 General ............................9 2.1.1 Parameterization of the RESET response..................9 2.1.2 Block change and positioning axes ....................9 2.1.3 Block change delay........................9 Exact stop ............................10 Continuous-path mode.........................15 2.3.1 General ............................15 2.3.2 Velocity reduction according to overload factor ................17 2.3.3 Rounding according to path criterion ...................19 2.3.4...
Page 156 Table of contents Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 157 Brief Description Continuous-path mode In continuous-path 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 standstill.
Page 158 Brief Description 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 159 Brief Description The advantages of the spline interpolation as compared to the linear interpolation are: • Reduction of the number of required part program blocks for describing a curved contour. • Soft, mechanical system-limiting curve characteristic also during transition between the part program blocks.
Page 160 Brief Description Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 161 Detailed description General 2.1.1 Parameterization of the RESET response The channel-specific basic position is activated via a RESET: MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups) The initial setting can be specified for exact stop and continuous path modes and exact stop criterion.
Page 162 Detailed description 2.2 Exact stop Effects If a block change cannot be executed in continuous path mode, all axes programmed in this part program block (except cross-block traversing special axes) are stopped. In this case, contour errors do not occur. The stopping of path axes during machining can cause undercuts on the workpiece surface.
Page 163 Detailed description 2.2 Exact stop Exact stop criteria "Exact stop coarse" and "Exact stop fine". The two exact stop criteria "Exact stop coarse" and "Exact stop fine" are used to specify the applicable tolerance window for reaching the "Exact stop" state of a machine. Machine axis state 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.
Page 164 Detailed description 2.2 Exact stop Exact stop criterion "Interpolator End" In the case of the exact stop criterion "interpolator end" the block change to the next traversing block takes place, as soon as all path axes and special axes involved in the traversing motion, which do not traverse extending up to block, have reached their position according to set point programmed in the block.
Page 165 Detailed description 2.2 Exact stop Activation of an exact stop criterion An exact stop criterion is activated in the part program by programming the following G- functions: G function Meaning Exact stop fine G601 Exact stop coarse G602 Interpolator end G603 Evaluation factor for exact stop criteria A parameter set-dependent evaluation of the exact stop criteria can be specified via the...
Page 166 Detailed description 2.2 Exact stop Ones position = 2: With rapid traverse, exact stop criterion G602 (exact stop window coarse) is always active, irrespective of any programming in the part program. Tens digit = 0: For traversing with all other part program commands of the first G-group, the exact stop criterion programmed in the part program is active.
Page 167 Detailed description 2.3 Continuous -path mode Continuous-path mode 2.3.1 General Continuous-path mode In the 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 168 Detailed description 2.3 Continuous -path mode • 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 169 Detailed description 2.3 Continuous -path mode Acknowledgment outside of travel time The path velocity for the block ahead is reduced to the point that the block duration corresponds to the specified time if the traversing time is less than the time specified in the machine data MD10110 based on the programmed path length and velocity of the block with auxiliary function output.
Page 170 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 171 Detailed description 2.3 Continuous -path mode Figure 2-3 Axial velocity change on block transition 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 172 Detailed description 2.3 Continuous -path mode Note Rounding cannot and should not replace the functions for defined smoothing: RND, RNDM, ASPLINE, BSPLINE, CSPLINE. If a rounding movement initiated by G641, G642, G643, G644 is interrupted, the corner point of the original contour will be used for subsequent repositioning, rather than the interruption point.
Page 173 Detailed description 2.3 Continuous -path mode A block transition G64 (continuous-path mode without rounding) can be traversed without speed reduction. Rounding would increase the machining time. Rounding is not parameterized. This occurs when ... ADISPOS == 0 in G0 blocks. (default!) ADIS == 0 in non-G0 blocks.
Page 174 Detailed description 2.3 Continuous -path mode Path criterion The size of the rounding area can be controlled by path criteria ADIS and ADISPOS. These are the precoincidences for the block change. ADIS and ADISPOS describe the distance, which the rounding block may begin, at the earliest, before the end of the block or the distance after the end of block within which the rounding block must be terminated.
Page 175 Detailed description 2.3 Continuous -path mode Figure 2-5 Path with limitation of ADIS Programming example N1 G641Y50 F10 ADIS = 0.5 N2 X50 N3 X50.7 N4 Y50.7 N5 Y51.4 N6 Y51.0 N7 X52.1 In blocks with short distances (distance < 4*ADIS and < 4 * ADISPOS respectively), the rounding distance is reduced so that a traversable part of the original block is retained.
Page 176 Detailed description 2.3 Continuous -path mode Selection and deselection of rounding blocks Program code G641 can be inserted in any NC part program block to modally select rounding according to a path criterion. Before or on selection, the path criteria ADIS/ADISPOS must be specified.
Page 177 Detailed description 2.3 Continuous -path mode Orientation tolerance To specify an orientation tolerance, the setting data: SD42466 $SC_SMOOTH_ORI_TOL (max. tolerance of the tool orientation for rounding) This setting data defines the maximum rounding tolerance for the tool orientation The data determines the maximum permissible angular deviation of the orientation of the tool.
Page 178 Detailed description 2.3 Continuous -path mode Differences between G642 - G643 With regard to their rounding behavior, commands G642 ad G643 differ as follows: G642 G643 With G642, the rounding travel is determined In the case of G643, the rounding travel of each based on the shortest rounding travel of all axes.
Page 179 Detailed description 2.3 Continuous -path mode Profile for limit velocity The use of a velocity profile can be controlled during rounding using the hundreds digit in the machine data: MD20480 $MC_SMOOTHING_MODE (rounding behavior with G64x) Hundred's place: < 100: A profile of the limit velocity is calculated within the rounding area, based on the defined maximum values for acceleration and jerk on the participating axes or path.
Page 180 Detailed description 2.3 Continuous -path mode Configuration The rounding is configured with G644 using the following machine data: MD20480 $MC_SMOOTHING_MODE (comparison of the rounding with G64x) The following options are available (the values should be entered in the thousand's place of the machine data): Thousand's place: 0xxx:...
Page 181 Detailed description 2.3 Continuous -path mode SOFT With SOFT, the jerk of each axis is limited to its maximum value within the rounding area. The rounding motion thus generally consists of 3 phases: • Phase 1 During phase 1, each axis builds up its maximum acceleration. The jerk is constant and equal to the maximum possible jerk on the respective axis.
Page 182 Detailed description 2.3 Continuous -path mode Smoother path movement If the velocity is controlled smoother and not every acceleration process is carried out, both advantages can be achieved without any undesired extended machining time. Decision-making criteria The control system makes a decision based on: •...
Page 183 Detailed description 2.3 Continuous -path mode MD20462 Whether the programmed feedrate should also be taken into consideration during the smoothing is determined by the machine data: MD20462 $MC_LOOKAH_SMOOTH_WITH_FEED (path smoothing with programmed feedrate) If the MD is set to 1 (default), the smoothing factor is observed with particular precision if the override is set to 100%.
Page 184 Detailed description 2.3 Continuous -path mode Activation The smoothing of the path velocity is activated with machine data, which is active with NewConfig: MD20460 $MC_LOOKAH_SMOOTH_FACTOR With the default value 0, the function is deactivated. Example The following parameters are assumed: MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 10% (smoothing factor for LookAhead) MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20Hz (smoothing frequency for LookAhead) MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 20Hz...
Page 185 Detailed description 2.3 Continuous -path mode Figure 2-7 Characteristic of the smoothed path velocity 2.3.6 Dynamic response adaptation Function Highly dynamic acceleration and deceleration processes during machining can cause excitation of mechanical vibrations of machine elements and consequently a reduction of the surface quality of the workpiece.
Page 186 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 187 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 reduced by a factor greater than 1 and less than the value written in machine data:...
Page 188 Detailed description 2.3 Continuous -path mode Figure 2-8 Path velocity profile optimized for time without smoothing or dynamic adaptation response Figure 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 or t adapt01...
Page 189 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 190 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 191 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...
Page 192 Detailed description 2.3 Continuous -path mode $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 $MC_LOOKAH_SMOOTH_FACTOR = 0%...
Page 193 Detailed description 2.3 Continuous -path mode 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 194 Detailed description 2.3 Continuous -path mode Technology G group Five dynamic response settings are available in G code group 59 technology: • DYNORM for standard dynamic response • DYNPOS for positioning mode, tapping • DYNROUGH for roughing • DYNSEMIFIN for finishing •...
Page 195 Detailed description 2.3 Continuous -path mode Example of programming with index: MD32300 $MA_MAX_AX_ACCEL[3, AX1]=1 R1=MD20602 $MC_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. Reading the machine data without an index always supplies the value of the field with index These configurations may occur: 1.
Page 196 Detailed description 2.4 LookAhead LookAhead Function LookAhead is a procedure in continuouspath 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 197 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 198 Detailed description 2.4 LookAhead The number of blocks considered by the LookAhead function is limited by the possible number of NC blocks in the IPO buffer. Figure 2-13 Example for modal velocity control (number of blocks considered by the LookAhead function = 2) Velocity profiles In addition to the fixed, plannable velocity limitations, LookAhead can also take account of...
Page 199 Detailed description 2.4 LookAhead The calculated maximum value of the velocity profile is limited by the maximum path velocity. The upper point should cover the velocity range that will be reached by the maximum value set in the machine data: MD12030 $MN_OVR_FACTOR_FEEDRATE (evaluation of the path feed rate override switch) It can also be reached via the value of the machine data:...
Page 200 Detailed description 2.4 LookAhead Figure 2-14 Example for limiting velocity characteristics with number of LookAhead blocks = 4 ... and the following settings: MD20430 $MC_LOOKAH_NUM_OVR_POINTS = 2 MD20440 $MC_LOOKAH_OVR_POINTS = 1.5, 0.5 MD20400 $MC_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 201 Detailed description 2.4 LookAhead 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 202 Detailed description 2.5 NC block compressor COMPON, COMPCURV, -CAD NC block compressor COMPON, COMPCURV, -CAD COMPON, COMPCURV The modal G code COMPON or COMPCURV can be used to activate an "NC block compressor". This function collects a series of linear blocks during linear interpolation (the number is limited to 10) and approximates them within a tolerance specified in machine data via a 3rd order (COMPON) or 5th order (COMPCURV) polynomial.
Page 203 Detailed description 2.5 NC block compressor COMPON, COMPCURV, -CAD Recommendation for MD settings The following machine data affect the compressor function and should contain the following values (specified in mm): Machine data Recommended value MD18360 $MN_MM_EXT_PROG_BUFFER_SIZE (FIFO buffer size for processing from external) MD28520 $MC_MM_MAX_AXISPOLY_PER_BLOCK (maximum number of axis polynomials per block) MD28530 $MC_MM_PATH_VELO_SEGMENTS (Number of...
Page 204 Detailed description 2.5 NC block compressor COMPON, COMPCURV, -CAD 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. These commands must be entered at the start of the program: COMPCAD SOFT G642 COMPOF terminates the compressor function.
Page 205 Detailed description 2.6 Combine short spline blocks Combine short spline blocks Function During the processing of splines short blocks can so occur, that the path velocity for the interpolation of these spline blocks must be reduced. This is alao the case, when the spline actually has a long, smooth curve.
Page 206 Detailed description 2.6 Combine short spline blocks • The maximum number of blocks, which can be combined into a program part one after the other, depends on the size of the available memory for blocks in the block processing. This memory is established by the machine data: MD28070 $MC_MM_NUM_BLOCKS_IN_PREP (number of blocks for block preparation) Example An NC program with BSPLINE-interpolation is an example.
Page 207 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 208 Supplementary conditions 3.1 Rounding and repositioning (REPOS) Figure 3-1 Example of Rounding and REPOS Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 209 Supplementary conditions 3.2 Smoothing the path velocity Smoothing the path velocity Several blocks with SOFT and BRISK Smoothing of the path velocity is only effective in continuouspath mode with LookAhead over several blocks with SOFT and BRISK, but not with G0. The cycle times of the control must be parameterized such that the preprocessing is provided with enough blocks to be able to analyze an acceleration process.
Page 210 Supplementary conditions 3.2 Smoothing the path velocity Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 211 Examples Example of jerk limitation on the path ; Continuous-path mode with SOFT acceleration N1000 G64 SOFT characteristics N1004 G0 X-20 Y10 ; Straight N1005 G1 X-20 Y0 ; Block transition with jump in path curvature N1010 G3 X-10 Y-10 I10 (straight - circular) ;...
Page 212 Examples 4.1 Example of jerk limitation on the path Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 213 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 Channelspecific 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 214 Data lists 5.1 Machine data Number Identifier: $MC_ Description 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/spindlespecific machine data Number Identifier: $MA_ Description 32310 MAX_ACCEL_OVL_FACTOR...
Page 215 Data lists 5.2 Setting data Setting data 5.2.1 Channelspecific setting data Number Identifier: $SC_ Description 42465 SMOOTH_CONTUR_TOL Max. contour deviation on rounding 42466 SMOOTH_ORI_TOL Max. deviation of the tool orientation on rounding 42470 CRIT_SPLINE_ANGLE Limit angle for spline and polynomial interpolation and compressor Signals 5.3.1...
Page 216 Data lists 5.3 Signals Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 217 Index Number of blocks, 43 Override, 44 Selection and deselection, 46 Velocity profiles, 44 Adaptation Dynamic Response, 6 Auxiliary function output, 15 MD settings NC block compressor, 48 MD10110, 16 Blending, 18 MD10712, 40, 42 Block-change point, 14 MD12030, 44, 45 MD12100, 43, 45 MD18360, 48 MD20150, 9, 39...
Page 218 Index MD35240, 25 MD36000, 11 Rounding with contour tolerance, 23 MD36010, 11 MD36012, 12 SD42465, 23, 24 SD42466, 23, 24 NC block compressor SD42470, 48 COMPON, COMPCURV, COMCAD, 47 Spline, 6 Spline blocks, 6 Spline interpolation, 6 SPOS, 15 Orientation axes, 18 Synchronized axes, 15, 20 Overload factor, 17 Velocity reduction according to overload factor, 16...
Page 219 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Acceleration (B2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 220 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 221 Table of contents Brief description ............................7 Customer benefit..........................7 Features ............................7 Requirements..........................8 Functions ..............................9 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) ......9 2.1.1 Detailed Description........................9 2.1.1.1 General Information ........................9 2.1.1.2 Programmable maximum value (axis-specific) ................11 2.1.2 Activation............................11 2.1.2.1 Parameterization ..........................11 2.1.3 Programming..........................11 2.1.3.1...
Page 222 Table of contents 2.6.2 Activation............................. 21 2.6.3 Programming..........................21 Acceleration with programmed rapid traverse (G00) (axis-specific) ........... 22 2.7.1 Detailed Description ........................22 2.7.1.1 General Information ........................22 2.7.2 Activation............................. 22 2.7.2.1 Parameterization ......................... 22 2.7.3 Programming..........................23 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) ........23 2.8.1 Detailed Description ........................
Page 223 Table of contents 2.14.2 Activation............................36 2.14.3 Programming..........................36 2.15 Jerk with programmed rapid traverse (G00) (axis-specific)............37 2.15.1 Detailed Description........................37 2.15.1.1 General Information ........................37 2.15.2 Activation............................37 2.15.2.1 Parameterization ..........................37 2.15.3 Programming..........................38 2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ......38 2.16.1 Detailed Description........................38 2.16.1.1 General Information ........................38...
Page 224 Table of contents Setting data ..........................62 5.2.1 Channelspecific setting data ....................... 62 System variables......................... 62 Index................................ 63 Basic logic functions: Acceleration (B2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 225 Brief description Customer benefit Scope of functions 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 226 Brief description 1.3 Requirements 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 227 Functions Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis- specific) 2.1.1 Detailed Description 2.1.1.1 General Information General Information 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 228 Functions 2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) Acceleration profile Figure 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 229 Functions 2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific) 2.1.1.2 Programmable maximum value (axis-specific) Function 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 230 Functions 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 231 Functions 2.2 Constant travel time (channel-specific) Constant travel time (channel-specific) 2.2.1 Detailed Description 2.2.1.1 General Information Overview 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 232 Functions 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 233 Functions 2.3 Acceleration matching (ACC) (axis-specific) Acceleration matching (ACC) (axis-specific) 2.3.1 Detailed Description 2.3.1.1 General Information Function 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 234 Functions 2.3 Acceleration matching (ACC) (axis-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 235 Functions 2.4 Acceleration margin (channel-specific) Acceleration margin (channel-specific) 2.4.1 Detailed Description 2.4.1.1 General Information General information Under normal circumstances, preprocessing makes maximum use of the parameterized maximum values of the machine axes for the purpose of path acceleration. In order that an acceleration margin may be set aside for overlaid movements, e.g., within the context of the "Rapid lift away from the contour"...
Page 236 Functions 2.5 Path-acceleration limitation (channel-specific) Path-acceleration limitation (channel-specific) 2.5.1 Detailed Description 2.5.1.1 General Information General Information To enable a flexible response to the machining situations concerned, setting data can be used to limit the path acceleration calculated during preprocessing for specific channels: SD42500 $SC_SD_MAX_PATH_ACCEL (maximum path acceleration) The value specified in the setting data is only taken into account if it is smaller than the path acceleration calculated during preprocessing.
Page 237 Functions 2.5 Path-acceleration limitation (channel-specific) Functionality The path-acceleration limitation can be adjusted for the situation by programming the setting data. Limit value: • Value range: ≥ 0 • Unit: m/s Application: • Part program • Static synchronized action 2.5.3.2 Switch ON/OFF Syntax value $SC_IS_SD_MAX_PATH_ACCEL =...
Page 238 Functions 2.6 Path acceleration for real-time events (channel-specific) Path acceleration for real-time events (channel-specific) 2.6.1 Detailed Description 2.6.1.1 General Information General Information 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 239 Functions 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 240 Functions 2.7 Acceleration with programmed rapid traverse (G00) (axis-specific) 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). Acceleration with programmed rapid traverse (G00) (axis-specific) 2.7.1 Detailed Description 2.7.1.1...
Page 241 Functions 2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) 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: Acceleration[axis] = MD32300 $MA_MAX_AX_ACCEL * MD32434 $MA_G00_ACCEL_FACTOR 2.7.3 Programming The function is not programmable.
Page 242 Functions 2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific) 2.8.2 Activation 2.8.2.1 Parameterization Function The maximum value for acceleration with active jerk limitation (SOFT/SOFTA) is parameterized using the axis-specific machine data: MD32434 $MA_SOFT_ACCEL_FACTOR (scaling of the acceleration limitation with SOFT) 2.8.3 Programming The function is not programmable.
Page 243 Functions 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 Function 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 244 Functions 2.10 Acceleration margin for radial acceleration (channel-specific) 2.10 Acceleration margin for radial acceleration (channel-specific) 2.10.1 Detailed Description 2.10.1.1 General Information Overview In addition to the path acceleration (tangential acceleration), radial acceleration also has an effect on curved contours. If this is not taken into account during parameterization of the path parameters, the effective axial acceleration during acceleration and deceleration on the curved contour can, for a short time, reach 2x the maximum value.
Page 245 Functions 2.10 Acceleration margin for radial acceleration (channel-specific) Example The following machine parameters apply: • MD32300 $MA_MAX_AX_ACCEL for all geometry axes: 3 m/s • Maximum path velocity with a path radius of 10 mm due to mechanical constraints of the machine: 5 m/min.
Page 246 Functions 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) 2.11.1 Detailed Description 2.11.1.1 General Information Overview As far as the functionality described in the rest of this document is concerned, constant acceleration, i.e., acceleration with jerk limitation (jerk = infinite value), is the assumed acceleration profile.
Page 247 Functions 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) Acceleration profile Figure 2-4 Jerk, acceleration and velocity schematic with jerk limitation acceleration profile Maximum jerk value Maximum acceleration value Maximum velocity value Time The following features of the acceleration profile can be identified from the figure above: •...
Page 248 Functions 2.11 Jerk limitation with path interpolation (SOFT) (channel-specific) • Interval: t Constant jerk with -r ; linear decrease in braking acceleration; quadratic decrease in velocity reduction until zero velocity is reached v = 0 2.11.1.2 Maximum jerk value (axis-specific) Function The maximum jerk value can be set for each specific machine axis using the following machine data:...
Page 249 Functions 2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific) 2.11.3 Programming Syntax SOFT Functionality The SOFT part-program instruction is used to select the acceleration profile with jerk limitation for the traversing operations of geometry axes in the channel. G group: 21 Effective: Modal Reset response The channel-specific initial setting is activated via a reset:...
Page 250 Functions 2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific) 2.12.2 Activation 2.12.2.1 Parameterization Function The function's initial setting and the maximum values are parameterized for specific axes using machine data: MD32420 $MA_JOG_AND_POS_JERK_ENABLE (initial setting of axial jerk limitation) MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis jerk) 2.12.3 Programming Syntax...
Page 251 Functions 2.13 Path-jerk limitation (channel-specific) 2.13 Path-jerk limitation (channel-specific) 2.13.1 Detailed Description 2.13.1.1 General Information Overview To enable a flexible response to the machining situations concerned, setting data can be used to limit the path jerk calculated during preprocessing for specific channels: SD42510 $SC_SD_MAX_PATH_JERK (maximum path jerk) The value specified in the setting data is only taken into account in the channel if it is smaller than the path jerk calculated during preprocessing.
Page 252 Functions 2.13 Path-jerk limitation (channel-specific) Functionality The path-jerk limitation can be adjusted for the situation by programming the setting data. Jerk value • Value range: ≥ 0 • Unit: m/s Application: • Part program • Static synchronized action 2.13.3.2 Switch ON/OFF Syntax value $SC_IS_SD_MAX_PATH_JERK =...
Page 253 Functions 2.14 Path jerk for real-time events (channel-specific) 2.14 Path jerk for real-time events (channel-specific) 2.14.1 Detailed Description 2.14.1.1 General Information Overview So that no compromise has to be made between machining-optimized jerk on the one hand and time-optimized jerk in connection with the following real-time events on the other: •...
Page 254 Functions 2.14 Path jerk for real-time events (channel-specific) Programming For the purpose of setting the jerk for real-time events in accordance with the acceleration, the system variables can be set as follows: $AC_PATHJERK = $AC_PATHACC/smoothing time • $AC_PATHACC: Path acceleration [m/s Smoothing time: Freely selectable, e.g., 0.02 s For information about programming system variables in the part program or synchronized actions, see Chapter: Programming.
Page 255 Functions 2.15 Jerk with programmed rapid traverse (G00) (axis-specific) 2.15 Jerk with programmed rapid traverse (G00) (axis-specific) 2.15.1 Detailed Description 2.15.1.1 General Information Overview Frequently, the maximum jerk for the machine axes involved in the machining process must be set lower than the machine's performance capability officially allows because of the supplementary conditions associated with the specific process concerned.
Page 256 Functions 2.16 Excessive jerk for block transitions without constant curvature (axis-specific) 2.15.3 Programming Programmability The function is not programmable. 2.16 Excessive jerk for block transitions without constant curvature (axis- specific) 2.16.1 Detailed Description 2.16.1.1 General Information Overview In the case of block transitions without constant curvature (e.g. straight line > circle), the programmable controller has to decelerate movement of the geometry axes significantly in order to ensure compliance with the parameterized axis dynamics.
Page 257 Functions 2.17 Jerk filter (axis-specific) 2.16.3 Programming Programmability The function is not programmable. 2.17 Jerk filter (axis-specific) 2.17.1 Detailed Description 2.17.1.1 General Information Overview In certain application scenarios, e.g.,when milling free-form surfaces, it may be beneficial to smooth the position setpoint characteristics of the machine axes. This enables surface quality to be improved by reducing the mechanical vibrations generated in the machine.
Page 258 Functions 2.17 Jerk filter (axis-specific) Mode: Sliding mean value generation Where minimal contour deviations are required, filter time constants within the range of 20- 40 ms can be set using the "sliding mean value generation" filter mode. The smoothing effect is largely symmetrical.
Page 259 Functions 2.17 Jerk filter (axis-specific) Bandstop filter with additional amplitude response increase/decrease at high frequencies In this case, the numerator and denominator natural frequencies are set to different values. The numerator natural frequency determines the blocking frequency. By selecting a lower/higher denominator natural frequency than the numerator natural frequency, you can increase/decrease the amplitude response at high frequencies.
Page 260 Functions 2.17 Jerk filter (axis-specific) In this case the 3 dB bandwidth is determined on the following basis: = 2 * f bandwidth block. If instead of complete attenuation, a reduction by a factor of k is all that is required, then the numerator damping should be selected in accordance with k.
Page 261 Functions 2.18 Kneeshaped acceleration characteristic curve 2.18 Kneeshaped acceleration characteristic curve 2.18.1 Detailed Description 2.18.1.1 Adaptation to the motor characteristic curve Function Various types of motor, particularly stepper motors, have a torque characteristic that is highly dependent upon speed and shows a steep decrease in torque in the upper speed range. To ensure optimum utilization of the motor characteristic curve, it is necessary to reduce the acceleration once a certain speed is reached.
Page 262 Functions 2.18 Kneeshaped acceleration characteristic curve = Constant characteristic = Hyperbolic characteristic = Linear characteristic The following figures show typical velocity and acceleration characteristic curves for the respective types of characteristic: Constant characteristic Figure 2-6 Acceleration and velocity characteristic with acceleration reduction: 0 = constant Hyperbolic characteristic Figure 2-7 Acceleration and velocity characteristic with acceleration reduction: 1 = hyperbolic...
Page 263 Functions 2.18 Kneeshaped acceleration characteristic curve Linear characteristic Figure 2-8 Acceleration and velocity characteristic with acceleration reduction: 2 = linear 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 Effects on path acceleration Function...
Page 264 Functions 2.18 Kneeshaped acceleration characteristic curve Note Machine axes featuring stepper motor and DC drive can be interpolated together. 2.18.1.3 Substitute characteristic curve Function 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.
Page 265 Functions 2.18 Kneeshaped 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 266 Functions 2.18 Kneeshaped acceleration characteristic curve Figure 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 Function 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 267 Functions 2.18 Kneeshaped acceleration characteristic curve 2.18.2.2 Commissioning Function 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 268 Functions 2.18 Kneeshaped 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 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 curve.
Page 269 Supplementary conditions Acceleration and jerk There are no other supplementary conditions to note. Kneeshaped 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 270 Supplementary conditions 3.2 Kneeshaped acceleration characteristic curve Basic logic functions: Acceleration (B2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 271 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 272 Examples 4.1 Acceleration Figure 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 273 Examples 4.2 Jerk Jerk 4.2.1 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 jerk.
Page 274 Examples 4.2 Jerk Figure 4-2 Switching between path jerk specified during preprocessing and $AC_PATHJERK 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 Basic logic functions: Acceleration (B2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 275 Examples 4.3 Acceleration and jerk 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. It also shows the connection between specific velocity and acceleration-related machine data and the contour sections they influence. Part program ;...
Page 276 Examples 4.3 Acceleration and jerk Figure 4-4 X axis: Velocity and acceleration characteristic Basic logic functions: Acceleration (B2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 277 Examples 4.4 Kneeshaped acceleration characteristic curve Kneeshaped 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 • Part program instruction 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...
Page 278 Examples 4.4 Kneeshaped acceleration characteristic curve Part program (excerpt) Path motion (X,Y, Z) with DRIVE N10 G1 X100 Y50 Z50 F700 Path motion (Z) with DRIVE N15 Z20 Switchover to BRISK N20 BRISK Path motion (Y, Z) with substitute characteristic N25 G1 X120 Y70 curve Path motion (Z) with BRISK...
Page 279 Data lists Machine data 5.1.1 Channelspecific 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 280 Data lists 5.2 Setting data Number Identifier: $MA_ Description 32433 SOFT_ACCEL_FACTOR Scaling of acceleration limitation for SOFT 32434 G00_ACCEL_FACTOR Scaling of acceleration limitation for G00 32435 G00_JERK_FACTOR Scaling of axial jerk limitation for G00 35220 ACCEL_REDUCTION_SPEED_POINT Speed for reduced acceleration 35230 ACCEL_REDUCTION_FACTOR Acceleration reduction factor...
Page 281 Index MD20500, 13, 14 MD20600, 29 MD20602, 25, 26 MD20610, 17 $AC_PATHACC, 20, 34 MD32000, 47 $AC_PATHJERK, 34, 35 MD32300, 11, 22, 23, 24, 25, 47 $SC_IS_SD_MAX_PATH_ACCEL, 18 MD32310, 23, 24 $SC_IS_SD_MAX_PATH_JERK, 33 MD32400, 40, 41 $SC_SD_MAX_PATH_ACCEL, 18 MD32402, 41 $SC_SD_MAX_PATH_JERK, 32 MD32410, 40 MD32420, 12, 30, 31...
Page 282 Index Basic logic functions: Acceleration (B2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 283 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Diagnostic tools (D1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 284 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 285 Table of contents Brief description ............................5 Detailed description ........................... 7 Description of diagnostic tools .......................7 Service displays ...........................10 Axis/spindle service display ......................11 Drive service display (for digital drives only)................22 Service display PROFIBUS DP 840Di..................34 Communication log ........................38 PLC status............................39 Other diagnostics tools ........................40 Identifying defective drive modules....................41 Constraints ..............................
Page 286 Table of contents Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 287 Brief description 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 288 Brief description External diagnostic tools The 611D commissioning software (to be installed on an external computer) is used to configure and set parameters for SIMODRIVE 611-D drives. The 611D commissioning software provides the following functions: • First commissioning through direct input of drive parameters •...
Page 289 Detailed description Description of diagnostic tools Scope The Function Manual 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 290 Detailed description 2.1 Description of diagnostic tools Functions • Buffering of a maximum of 16 alarms that have been activated since system powerup and which have not yet been reset. • Alarm reactions can be programmed as channelspecific, modegroupspecific or NCK- specific reactions.
Page 291 Detailed description 2.1 Description of diagnostic tools Clearing criterion For each alarm, you must specify how the alarm can be cleared again. The following clearing criteria are possible: • POWERONCLEAR The alarm is cleared by switching the control off and then on again. •...
Page 292 Detailed description 2.2 Service displays Service displays Conditions of use Conditions for the use of service displays are specified. Service displays are differentiated between in terms of axis/spindle, drive and profibus DP Operation For how to operate the service displays see: References: /BAD/ "HMI Advanced Operator's Guide"...
Page 293 Detailed description 2.3 Axis/spindle service display 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. Accessing the diagnostic options For the purposes of commissioning and diagnosing •...
Page 294 Detailed description 2.3 Axis/spindle service display Figure 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 295 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/ Function Manual Basic Functions; Velocities, Setpoint/Actual Value Systems, Closed- Loop Control (G2) Active meas.
Page 296 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 297 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 298 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 299 Detailed description 2.3 Axis/spindle service display Safe actual position of the axis Displays the current actual axis position that has been measured via the NC. This actual position should correspond in value to "Safe actual position of drive". References: /FBSI/ Description of Functions Safety Integrated Safe actual position of drive Displays the current actual axis position that has been measured via the drive.
Page 300 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. Figure 2-2 Overview diagram of axis and spindle information Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 301 Detailed description 2.3 Axis/spindle service display Checks Check of the position controller setting The position controller settings can be easily managed via the service axis display. The number 1 (corresponds to servo gain = 1) should be entered in machine data: MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor).
Page 302 Detailed description 2.3 Axis/spindle service display Diagnostics for alarms This information is also provided as a diagnostic tool for diagnosing the causes of alarms such as: • "Standstill monitoring" ⇒ following error > MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance) • "Contour monitoring" ⇒...
Page 303 Detailed description 2.3 Axis/spindle service display Diagnostics of operational state errors The following information is also provided to assist in the analysis of operational state errors such as: • Despite an active motion command, the axis does not move. ⇒ Check whether controller is enabled. In controller mode, position control or speed control (with spindle control) must be activated.
Page 304 Detailed description 2.4 Drive service display (for digital drives only) Drive service display (for digital drives only) Displays Displays on the control's user interface that show values and statuses allow for evaluation of the operating statuses of the digital drives. Access Accessing diagnostic options: For the purposes of commissioning and diagnosing...
Page 305 Detailed description 2.4 Drive service display (for digital drives only) Service HMI Advanced Drive Descriptions on how to select and operate the "Diagnostics" area can be found in: References: /BAD/ Operator's Guide HMI Advanced /BEM/ Operator's Guide HMI Embedded Note The individual status displays, warnings, messages, etc., are explained in the following sections.
Page 306 Detailed description 2.4 Drive service display (for digital drives only) Pulse enable (terminal 663) The display corresponds to the status of terminal 663 (relay: safe operational stop) on the drive module. State 1: Module-specific pulse enable State 0 : module-specific pulse disable Display corresponds to machine datum: MD1700 $MD_TERMINAL_STATE (status of binary inputs).
Page 307 Meaning: 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! Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 308 Detailed description 2.4 Drive service display (for digital drives only) ZK1 Messages Display indicates whether messages of status class 1 are active. State 0: There is no pending ZK1 message. State 1: One or several status class 1 messages are active. Status class 1 messages are alarms with the following characteristics: •...
Page 309 Detailed description 2.4 Drive service display (for digital drives only) Motor temperature Display of motor temperature measured via temperature sensors. Unit: Degrees Celsius Display corresponds to machine datum: MD1702 $MD_MOTOR_TEMPERATURE (motor temperature). Speed setpoint filter 1 Status display of speed setpoint smoothing function. State 0: No speed setpoint smoothing is active.
Page 310 Detailed description 2.4 Drive service display (for digital drives only) Setup mode Mode display of the SIMODRIVE 611 digital. State 0: Normal operation is active for the drive. State 1: Setup mode is active for the drive. Display corresponds to NST DB31, ... DBX92.0 ("setup mode active"). References: /FB1/ Function Manual Basic Functions;...
Page 311 Detailed description 2.4 Drive service display (for digital drives only) 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. The following assignment applies: Motor selection Application...
Page 312 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 Display is valid for SIMODRIVE universal and SIMODRIVE digital.
Page 313 Detailed description 2.4 Drive service display (for digital drives only) Ramp-up function completed Status display of drive. State 0: The ramp-up function has not yet been completed 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 314 Detailed description 2.4 Drive service display (for digital drives only) Speed lower than threshold setting Status display of drive. State 0: The actual speed value is greater than the threshold speed. Status 1: The actual speed value is smaller than the threshold speed. The threshold speed corresponds to machine datum: MD1417 $MD_SPEED_THRESHOLD_X for 'n...
Page 315 Detailed description 2.4 Drive service display (for digital drives only) Variable signal 1 Status display of 611D variable signaling function. With the variable signaling function, any memory location can be monitored to see whether a definable threshold is exceeded. In addition to the threshold, a tolerance band can be defined which is also taken into account when scanning for violation of the threshold value.
Page 316 Detailed description 2.5 Service display PROFIBUS DP 840Di Service display PROFIBUS DP 840Di The user interface 840Di StartUp provides diagnostic screen forms for PROFIBUS DP and its nodes. . These diagnostic screens are only intended for information. You cannot modify them.
Page 317 Detailed description 2.5 Service display PROFIBUS DP 840Di Diagnostic screen of the DP slaves These diagnostic screen forms provide an overview of the DP slaves configured and detected on the bus. The following information is provided: Table 2-2 Diagnostic screen Information on the slaves Function/subfunction Explanation/meaning Slave No.
Page 318 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 319 Detailed description 2.5 Service display PROFIBUS DP 840Di 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...
Page 320 Detailed description 2.6 Communication log Communication log Log assistance In event of a fault and when developing OEM applications, control logs may assist with the analysis. Logs and version Communication log The communication errors which have occurred between the HMI and NC are displayed in chronological order via the soft key Comm.
Page 321 Detailed description 2.7 PLC status PLC status PLC status signals can be checked and altered via the operator panel in the "Diagnostics" operating area. Application The end customer or service personnel can use this function on site without a programming device to do the following: •...
Page 322 Detailed description 2.8 Other diagnostics tools Other diagnostics tools 611D commissioning tool Using the 611D commissioning tool and archiving software, the control can be evaluated and the control status can be saved. 611D commissioning tool One of the functions of this program is to provide a tool •...
Page 323 Detailed description 2.9 Identifying defective drive modules Identifying defective drive modules Deactivate drives Drives can be removed from the NC configuration using a piece of machine data. Troubleshooting may involve a situation where a drive module (SIMODRIVE 611 digital) displayed in an alarm text needs to be removed from the bus in order to determine whether this module has caused the displayed error.
Page 324 Detailed description 2.9 Identifying defective drive modules Restoring the initial configuration After completing the diagnostics, the initial configuration on the drive bus must be restored: 1. Replace or re-install the removed drive module. 2. Change entries of the drive module in machine datum: MD13030 $MN_DRIVE_MODULE_TYPE back to the original values.
Page 325 Detailed description 2.9 Identifying defective drive modules Module "2" must now be removed: • Machine datum: MD13030 $MN_DRIVE_MODULE_TYPE is to be selected on the "General MD" MD screen. • DRIVE_MODULE_TYPE[0] = 1 DRIVE_MODULE_TYPE[1] = 2 <- set this entry to zero DRIVE_MODULE_TYPE[2] = 2 <- set this entry to zero DRIVE_MODULE_TYPE[3] = 2 DRIVE_MODULE_TYPE[4] = 2...
Page 326 Detailed description 2.9 Identifying defective drive modules Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 327 Constraints No supplementary conditions apply. Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 328 Constraints Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 329 Examples No examples are available. Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 330 Examples Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 331 Data lists Machine data 5.1.1 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 332 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) 5.1.3 Axis/spindlespecific machine data...
Page 333 Data lists 5.2 Setting data Setting data 5.2.1 Axis/spindle-specific setting data Number Identifier: $SA_ Description 43510 FIXED_STOP_TORQUE Fixed stop clamping torque 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, ...
Page 334 Data lists 5.3 Signals 5.3.2 Signals from axis/spindle DB number Byte.Bit Description 31, ... 60.4 Referenced/synchronized 1 31, ... 60.5 Referenced/synchronized 2 31, ... 62.5 Fixed stop reached 31, ... 92.0 Setup mode active 31, ... 92.1 Rampup function generator quick stop 31, ...
Page 335 Index DBX94.2, 31 DBX94.3, 31 DBX94.4, 31 DBX94.5, 32 611D commissioning tool, 40 DBX95.7, 30 DB31, ... DBX94.6, 32 Diagnostic tools (D1), 5 Interrupts, 7 Axis/spindle service display, 11 Diagnostics, 11 Drive service display, 22 Communication log, 38 Logbook, 38 DB31, ...
Page 336 Index MD36300, 21 MD36400, 20 Ramp-up phase, 33 MD36500, 20 MD37010, 16 Service display PROFIBUS DP, 34 Servo gain factor (Kv), 19 NCK alarm handler, 7 Version, 38 of defective drive modules Identification, 41 ZK1 Messages, 33 PCIN, 40 PLC status, 39 Basic logic functions: Diagnostic tools (D1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 337 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Travel to fixed stop (F1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 338 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 339 Table of contents Brief Description ............................5 Detailed Description........................... 7 General functionality ........................7 2.1.1 Functional sequence, programming, parameterization ..............7 2.1.2 Response to RESET and function abort..................15 2.1.3 Block search response.........................16 2.1.4 Miscellaneous ..........................21 2.1.5 Supplementary conditions for expansions ...................25 2.1.6 Travel with limited moment/force FOC: ..................27 Travel to fixed stop with analog drives..................31 2.2.1...
Page 340 Table of contents Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 341 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 342 Brief Description Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 343 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 clamping torque is set with command: FXST[Machine axis identifier] = <Torque>...
Page 344 Detailed Description 2.1 General functionality Channel axis identifier Instead of the machine axis identifiers, it is also possible to use channel axis identifiers if the channel axis identifiers are assigned exactly to one machine axis. Restrictions: Channel identifiers may not be used (option disabled) for machine axes which have an active transformation or frame.
Page 345 Detailed Description 2.1 General functionality All four of the following programming lines have the same effect when the channel axis X is imaged on the machine axis AX1, X1: Z250 F100 FXS[AX1]=1 FXST[AX1]=12.3 FXSW[AX1]=2000 Z250 F100 FXS[X1]=1 FXST[X1]=12.3 FXSW[X1]=2000 Z250 F100 FXS[X]=1 FXST[X]=12.3 FXSW[X]=2000 Z250 F100 FXS[X]=1 FXST[X1]=12.3 FXSW[AX1]=2000 Functional sequence The function is explained by the example below (sleeve is pressed onto workpiece).
Page 346 Detailed Description 2.1 General functionality If no torque has been programmed in the block or since the start of the program, then the value is valid in the axis-specific machine data: MD37010 $MA_FIXED_STOP_TORQUE_DEF (Default setting for clamping torque) is entered. Fixed stop reached As soon as the axis comes into contact with the mechanical fixed stop (workpiece), the closedloop control in the drive raises the torque so that the axis can move on.
Page 347 Detailed Description 2.1 General functionality The NC then executes a block change or considers the positioning motion to be completed, but still leaves a setpoint applied to the drive actuator to allow the clamping torque to take effect. The fixed stop monitoring function is activated as soon as the stop position is reached. Monitoring window If no fixed stop monitoring window was programmed in the block or from program start, then the value set in the machine data:...
Page 348 Detailed Description 2.1 General functionality Abort without alarm The travel to fixed stop can be aborted by the PLC in the approach block without triggering an alarm (for example, when the operator actuates a key), if in the machine data: MD37050 $MA_FIXED_STOP_ALARM_MASK the alarm 20094 is suppressed.
Page 349 Detailed Description 2.1 General functionality Sequence in case of a fault or abnormal termination The NST DB31, ... DBX62.4 ("Activate travel to fixed stop") is reset. Depending on the machine data: MD37060 $MA_FIXED_STOP_ACKN_MASK the acknowledgement of the PLC is awaited through resetting of the NST DB 31, ...
Page 350 Detailed Description 2.1 General functionality Changing the clamping torque and fixed stop monitoring window The clamping torque and the monitoring window can be changed with the commands FXST[x] and FXSW[x]. The changes take effect before traversing movements in the same block.
Page 351 Detailed Description 2.1 General functionality 2.1.2 Response to RESET and function abort Response to RESET During selection (fixed stop not yet reached) the function FXS can be aborted with RESET. The termination is carried out such that an "almost achieved" fixed stop (setpoint already beyond the fixed stop, but still within the threshold for the fixed stop detection) will not result in damage.
Page 352 Detailed Description 2.1 General functionality 2.1.3 Block search response Block search with calculation The response is as follows: • If the target block is located in a program section in which the axis must stop at a fixed limit, then the fixed stop is approached if it has not yet been reached. •...
Page 353 Detailed Description 2.1 General functionality Search process with FXS and FOC The user selects FXS or FOC in a program area of the searched target block in order to acquire all states and functions of this machining last valid. The NC will start the selected program in Program test mode automatically.
Page 354 Detailed Description 2.1 General functionality Course of values Course of values of system variables $VA_FXS[ ] with values 1 to 5 Figure 2-2 Diagram for FXS with a digital drive (611 digital) Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 355 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 356 Detailed Description 2.1 General functionality REPOS display Offset Once the search target has been found, for each axis of the FXS-state prevailing on the machine through the axis VDI-signals: NST DB31, ... DBX62.4 ("Activate travel to fixed stop"). NST DB31, ... DBX62.5 ("Fixed stop reached") displayed.
Page 357 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 358 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 always such that a modified torque limit is reached via machine data: MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME to specify.
Page 359 Detailed Description 2.1 General functionality The following is assumed in the example below: MD37050 $MA_FIXED_STOP_ALARM_MASK = 0 ⇒ No alarm is generated in response to an error. A block change therefore takes place and the error scenario can be evaluated via the system variable Example X300 Y500 F200 FXS[X1]=1 FXST[X1]=25 FXSW[X1]=5 IF $AA_FXS[X1]=2 GOTOF FXS_ERROR...
Page 360 Detailed Description 2.1 General functionality Vertical axes The "Travel to fixed stop" function can be used for vertical axes even when alarms are active. Should the traversal of vertical axes be aborted as a result of an FXS alarm, the relevant drives are not disconnected from the supply via the VDI interface.
Page 361 Detailed Description 2.1 General functionality 2.1.5 Supplementary conditions for expansions Response to pulse blocking The cancellation of pulse enable either through terminal 663 or through NST DB31, ... DBX21.7 ("Pulse enable") is denoted below as pulse inhibit. The machine data: MD37002 $MA_FIXED_STOP_CONTROL can be used to influence the interaction of travel to fixed stop and pulse blocking.
Page 362 Detailed Description 2.1 General functionality Terminal 663 When pulse enabling is canceled by terminal 663, the drive is deenergized and coasts to a standstill immediately. In the case of: MD1012 $MD_FUNC_SWITCH, Bit 2 = 0 this is not signalled to the NC. The status can be checked in the line "Pulse enable"...
Page 363 Detailed Description 2.1 General functionality NST DB31, ... DBX62.4 ("Activate travel to fixed stop"). The machine data: MD37060 $MA_FIXED_STOP_ACKN_MASK must contain the value zero for signal deselection without motion stop. Without ramp The torque limit is changed without taking into account the ramp if: •...
Page 364 Detailed Description 2.1 General functionality Modal activation (FOCON/FOCOF) The activation of the function after POWER_ON and RESET is determined by the machine data: MD37080 $MA_FOC_ACTIVATION_MODE Table 2-1 Controlling the initial setting of the modal limitation of torque/force After Value Effect Bit 0 Power On FOCOF...
Page 365 Detailed Description 2.1 General functionality Priority FXS/FOC An activation of FXS with FOC active has priority, i.e. FXS is executed. A deselection of FXS will cancel the clamping. A modal torque/force limitation remains active. After PowerOn the activation takes effect with the machine data: MD37010 $MA_FIXED_STOP_TORQUE_DEF.
Page 366 Detailed Description 2.1 General functionality Restrictions The function FOC is subject to the following restrictions: • The change of the torque/force limitation representing itself as an acceleration limitation is only taken into account in the traversing movement at block limits (see command ACC). •...
Page 367 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 interface signal DB31, ... DBX62.4 ("Activate travel to fixed stop") that the function has been selected.
Page 368 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 state "Fixed stop reached" being recognized, then the torque limitation in the drive is cancelled through the digital interface and the NST DB31, ...
Page 369 Detailed Description 2.2 Travel to fixed stop with analog drives Terminal 663 with MD37002 controllable With the machine data: MD37002 FIXED_STOP_CONTROL the response in the case of pulse inhibit at the stop is controlled. Deleting the pulses by terminal 663 or the "Pulse enable" IS DBX31, ...DBX21.7 will not abort the function.
Page 370 Detailed Description 2.2 Travel to fixed stop with analog drives Diagram In the following diagram the progress of motor current, following error and NST signals for DB31, ... DBX62.4 ("Activate travel to fixed stop") and DB31, ... DBX62.5 ("Fixed stop reached") have been presented for digital drive (SIMODRIVE 611 digital).
Page 371 Detailed Description 2.2 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 372 Detailed Description 2.3 Travel to fixed stop with analog drives Travel to fixed stop with analog drives 2.3.1 SIMODRIVE 611 analog (FDD) Current/torque control The torque control and limit mentioned in the following text is realized with 611 analog (VSA) as current control and -limit. Fixed clamping torque A fixed current limitation is preset in the drive actuator by means of a resistor circuit (or via R12).
Page 373 Detailed Description 2.3 Travel to fixed stop with analog drives 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 374 Detailed Description 2.3 Travel to fixed stop with analog drives The torque set in the machine data: MD37070 FIXED_STOP_ANA_TORQUE acts on the drive MD37070 If the machine data: MD37060 FIXED_STOP_ACKN_MASK is set correspondingly, the acknowledgement of the PLC via the NST ("Acknowledge fixed stop reached") (DB31, ...
Page 375 Detailed Description 2.3 Travel to fixed stop with analog drives 2.3.2 SIMODRIVE 611 analog (FDD) Fixed clamping torque A fixed clamping torque is implemented by entering a fixed torque limitation in a free gear stage in the drive actuator (setting parameter 039). When the "Travel to fixed stop function" is selected, the PLC switches over to the unassigned gear stage of the drive actuator, thus activating the torque limitation.
Page 376 Detailed Description 2.3 Travel to fixed stop with analog drives Subsequently the controller internally sets the torque limit to the value specified through the machine data: MD37070 FIXED_STOP_ANA_TORQUE (Torque limit while approaching the fixed stop for analog drives). This must correspond to the torque limit value set in the actuator. In addition, the acceleration is automatically reduced in the NC according to the value in the machine data: MD37070 FIXED_STOP_ANA_TORQUE is reduced.
Page 377 Detailed Description 2.3 Travel to fixed stop with analog drives Fixed stop is not reached If the programmed end position is reached, without detecting the state "fixed stop reached", then the internal torque limitation in the machine data: MD37070 FIXED_STOP_ANA_TORQUE is cancelled and the NST signal "Activate travel to fixed stop".
Page 378 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 379 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. Figure 2-5 Diagram for FXS selection (fixed stop is not reached) with analog drive Basic logic functions: Travel to fixed stop (F1)
Page 380 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. Figure 2-6 Diagram for FXS deselection with analog drive Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 381 Supplementary conditions There are no supplementary conditions to note. Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 382 Supplementary conditions Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 383 Examples Static synchronized actions Travel to fixed stop (FXS), initiated by a synchronized action. ; Activate static synchronized action: N10 IDS=1 WHENEVER ; By the setting of $R1=1 (($R1==1) AND ; for ($AA_FXS[Y]==0)) DO ; the axis Y FXS is activated $R1=0 FXS[Y]=1 ;...
Page 384 Examples 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 385 Data lists Machine data 5.1.1 Axis/spindlespecific 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 386 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 387 Index MD37070, 33, 34, 36, 37 MD37080, 26 Modal activation (FOCON/FOCOF), 26 Block-related limit (FOC), 26 REPOS Offset, 18 Channel axis identifiers with FXS, 7 SD43500, 20 SD43510, 20 DB 31, ... SD43520, 20 DBX1.1, 29, 35, 37 SERUPRO, 16 DBX1.2, 34, 37 SERUPRO ASUP, 18 DBX3.1, 29, 35, 36...
Page 388 Basic logic functions: Travel to fixed stop (F1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 389 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Velocities, Setpoint/Actual Value Systems, Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 390 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 391 Table of contents Brief description ............................5 Detailed description ........................... 7 Velocities, traversing ranges, accuracies ..................7 2.1.1 Velocities............................7 2.1.2 Traversing ranges ........................10 2.1.3 Positioning accuracy of the control system..................11 2.1.4 Block diagram of resolutions and scaling values .................12 2.1.5 Input/display resolution, computational resolution ...............13 2.1.6 Scaling of physical quantities of machine and setting data ............15 Metric/inch measuring system .....................19...
Page 392 Table of contents Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 393 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 Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 394 Brief description Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 395 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 396 Detailed description 2.1 Velocities, traversing ranges, accuracies For setting the interpolation cycle, see: References: /FB3/ Function Manual, 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 397 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 value range of the feed rates depends on the selected computational resolution When the machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) (1000 incr./mm)
Page 398 Detailed description 2.1 Velocities, traversing ranges, accuracies 2.1.2 Traversing ranges Range of values of the traversing ranges The range of values of the traversing range depends on the computational resolution selected. If machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) (1000 incr./mm) MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions) (1000 incr./degree) are assigned their default values, the following range of values can be programmed with the...
Page 399 Detailed description 2.1 Velocities, traversing ranges, accuracies 2.1.3 Positioning accuracy of the control system Actual-value resolution and computational resolution The positioning accuracy of the control depends on the actual-value resolution (=encoder increments/(mm or degrees)) and the computational resolution (=internal increments/(mm or degrees)).
Page 400 Detailed description 2.1 Velocities, traversing ranges, accuracies 2.1.4 Block diagram of resolutions and scaling values Block diagram of units and resolutions Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 401 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 402 Detailed description 2.1 Velocities, traversing ranges, accuracies 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 403 Detailed description 2.1 Velocities, traversing ranges, accuracies 2.1.6 Scaling of physical quantities of machine and setting data Input/output units Machine and setting data that possess a physical quantity are interpreted in the input/output units below depending on whether the metric or inch system is selected: Physical quantity: Input/output units for standard basic system: Metric...
Page 404 Detailed description 2.1 Velocities, traversing ranges, accuracies For this, the machine data: MD10220 $MN_SCALING_USER_DEF_MASK (activation of scaling factors) MD10230 $MN_SCALING_FACTORS_USER_DEF[n] (Scaling factors of physical quantities) allow you to set the adaptation between the newly selected input/output units and the internal units. The following applies: Selected input/output unit = MD10230 * internal unit In the machine data:...
Page 405 Detailed description 2.1 Velocities, traversing ranges, accuracies Example 1: Machine data input/output of the linear velocities is to be in m/min instead of mm/min (initial state). (The internal unit is mm/s) ⇒ The scaling factor for the linear velocities is to differ from the standard setting. For this the Bit No.
Page 406 Detailed description 2.1 Velocities, traversing ranges, accuracies Example 2: In addition to the change in Example 1, the machine data input/output of linear accelerations must be in ft/s instead of m/s (initial state). (The internal unit is mm/s Index 4 defines the "linear acceleration" in the "Scaling factors of physical quantities" list. Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 407 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 408 MD10250 $MN_SCALING_VALUE_INCH (conversion factor for switchover to 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 customerspecific measuring system.
Page 409 Detailed description 2.2 Metric /inch measuring system Application: With this function it is possible, for example, with a metric basic system, to machine an inch thread in a metric parts program. Tool offsets, zero offsets and feedrates remain metric. Machine data are output to the screen in the basic system selected in: MD10240 $MN_SCALING_SYSTEM_IS_METRIC (basic system metric).
Page 410 Detailed description 2.2 Metric /inch measuring system Examples: Both parts programs are implemented with a metric setting with: MD10240 $MN_SCALING_SYSTEM_IS_METRIC=1. 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 411 Detailed description 2.2 Metric /inch measuring system Synchronized actions In order to prevent the current parts program context from changing the positioning behavior of a synchronized action arbitrarily in response to asynchronous trigger conditions, the measuring system must be defined at the time of interpretation. This is the only way to achieve a defined and reproducible positioning behavior of a synchronized action.
Page 412 Protection zones Tool offsets Length-related machine data Length-related setting data Length-related system variables R parameters Siemens cycles Jog/handwheel increment factor Reference: /PG/Programming Manual, Fundamentals; List of Addresses Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 413 Detailed description 2.2 Metric /inch measuring system 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. The change in the measuring system occurs only under the following boundary conditions: •...
Page 414 Detailed description 2.2 Metric /inch measuring system System data When changing over the measuring system, from the view of the user, all length-related specifications are converted to the new measuring system automatically. This includes: • Positions • Feedrates • Acceleration rates •...
Page 415 Detailed description 2.2 Metric /inch measuring system User tool data Additional machine data sets are introduced for user-defined tool data: MD18094 $MN_MM_NUM_CC_TDA_PARAM and cutting edge data: MD18096 $MN_MM_NUM_CC_TOA_PARAM: MD10290 $MN_CC_TDA_PARAM_UNIT [MM_NUM_CC_TDA_PARAM] MD10292 $MN_CC_TOA_PARAM_UNIT [MM_NUM_CC_TOA_PARAM] A physical unit can be configured using these machine data. All lengthrelated userdefined tool data are automatically converted to the new measuring system according to the input on switchover.
Page 416 Detailed description 2.2 Metric /inch measuring system JOG and handwheel factor Machine data: MD31090 $MA_JOG_INCR_WEIGHT consists of two values, which contain the axial increment factors for both measuring systems. Depending on the current setting in machine data: MD10240 $MN_SCALING_SYSTEM_IS_METRIC, the control selects the correct value automatically. The user defines the two increment factors, e.g., for the first axis, during the installation and startup phase: •...
Page 417 Detailed description 2.2 Metric /inch measuring system Rounding machine data All length-related machine data are rounded to the nearest 1 pm when writing in the inch measuring system (MD10240 $MN_SCALING_SYSTEM_IS_METRIC=0 and MD10260 $MN_CONVERT_SCALING_SYSTEM=1), in order to avoid rounding problems. The disturbing loss of accuracy, which occurs as a result of conversion to ASCII when reading out a data backup in the inch system of measurement, is corrected by this procedure when the data is read back into the system.
Page 418 Detailed description 2.2 Metric /inch measuring system Note The FGREF factor also works if only rotary axes are programmed in the block. The normal F value interpretation as degree/min applies in this case only if the radius reference corresponds to the FGREF default setting, when: •...
Page 419 Detailed description 2.2 Metric /inch measuring system Feedrate=100 degrees/min N270 A10 Path=10 degrees R7=6 s approx. N280 DO $R8=$AC_TIME Feedrate=2540 mm/min N290 X0.001 A10 Path=10 mm R8=0.288 s approx. Set 1 degree=1 inch via the effective radius N300 FGREF[A]=360/(2*$PI) N310 DO $R9=$AC_TIME Feedrate=2540 mm/min N320 X0.001 A10 Path=254 mm...
Page 420 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: Figure 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 421 Detailed description 2.3 Setpoint /actual-value system Actual-value acquisition A maximum of two measuring systems can be connected for each axis/spindle, e.g., a direct measuring system for machining processes with high accuracy requirements and an indirect measuring system for highspeed positioning tasks. The number of encoders used is recorded in the machine data: MD30200 $MA_NUM_ENCS (number of encoders) In the case of two actual-value branches, the actual value is acquired for both branches.
Page 422 Detailed description 2.3 Setpoint /actual-value system Types of actual-value acquisition The used edcoder type must be defined through the following machine data: MD30240 $MA_ENC_TYPE (type of actual-value acquisition (actual position value)) Simulation axes The speed control loop of an axis can be simulated for test purposes. The axis "traverses"...
Page 423 Detailed description 2.3 Setpoint /actual-value system 2.3.2 Speed setpoint and actual-value routing General information In order to carry out speed setpoint and actual-value routing, the following must be defined for each axis/spindle: • Assignment of 1st measuring circuit • Assignment of 2nd measuring circuit (if present) •...
Page 424 Detailed description 2.3 Setpoint /actual-value system Index of MD for speed setpoint routing The index [n] of the machine data for setpoint routing is coded with 0 for setpoint assignment with default setting 1. Speed setpoint routing The following machine data need to be parameterized for each setpoint branch: MD30100 $MA_CTRLOUT_SEGMENT_NR[n] (setpoint assignment of bus segment): The number of the bus segment, via which the output is addressed, is entered here.
Page 425 Detailed description 2.3 Setpoint /actual-value system Actual-value routing For actual-value routing, the following actual-value assignments for parameterizing the associated machine data must be made: Actual-value assignment Number: Drive type: Of the bus segment Drive number/module number: Of the module within the bus segment Input on drive module/measuring circuit module: Of the setpoint input Type of actual-value acquisition (position actual...
Page 426 Detailed description 2.3 Setpoint /actual-value system MD30230 $MA_ENC_INPUT_NR[n]) (actual-value assignment: Input on drive module/measuring circuit module): SINUMERIK FM NC: = 1 - 4, in accordance with input selected X3 - X6 • MD30240 $MA_ENC_TYPE[n] (type of actual-value acquisition): Enter the encoder type used here. MD30242 $MA_ENC_IS_INDEPENDENT[n]: To prevent actual-value corrections influencing the actual value of an encoder defined in the same axis, the latter must be declared independent.
Page 427 Detailed description 2.3 Setpoint /actual-value system Examples of setpoint/actual-value routing SINUMERIK 840D/810D with SIMODRIVE 611 digital For machine axis "X1", the setpoint should be output digitally and actual values acquired on drive module 4 (4th slot = index [3]). The "logical drive number" of this module is 7. Encoder number: 1, 2 Therefore, actual values are acquired via a direct and indirect measuring system.
Page 428 Detailed description 2.3 Setpoint /actual-value system 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 429 Detailed description 2.3 Setpoint /actual-value system Actual-value assignment Machine data parameterization for 810D 1. axis actual value from motor (X414) MD30220 $MA_ENC_MODULE_NR[0] encoder MD30230 $MA_ENC_INPUT_NR[0] 2. axis actual value from linear (X416) MD30220 $MA_ENC_MODULE_NR[1] scale MD30230 $MA_ENC_INPUT_NR[1] Number of encoders: MD30200 $MA_NUM_ENCS Actual-value acquisition modes MD30240 $MA_ENC_TYPE[0]...
Page 430 Detailed description 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 431 Detailed description 2.3 Setpoint /actual-value system Local position of gear unit/encoder Figure 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 432 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 433 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 434 Detailed description 2.3 Setpoint /actual-value system 2.3.5 Speed setpoint output Control direction and travel direction of the feed axes You must determine the travel direction of the feed axis before starting work. Control direction Before the position control is started up, the speed controller and current controller of the drive must be started up and optimized.
Page 435 Detailed description 2.3 Setpoint /actual-value system SINUMERIK 840Di with SIMODRIVE 611 universal The speed setpoint comparison for SINUMERIK 840Di with SIMODRIVE 611 universal drives can be performed automatically or manually. • Automatic adjustment Configuration values for setpoint scaling are adjusted automatically, provided that machine data: MD32250 $MA_RATED_OUTVAL[n] = 0.
Page 436 Detailed description 2.3 Setpoint /actual-value system Figure 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 437 Detailed description 2.3 Setpoint /actual-value system 2.3.6 Actual-value processing Actual-value resolution In order to be able to create a correctly closed position control loop, the control system must be informed of the valid actual-value resolution. The axis-specific machine data below are used for this.
Page 438 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. In machine data: MD31050 $MA_DRIVE_AX_RATIO_DENOM one enters the load rotations, in machine data:...
Page 439 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 Description 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 440 Detailed description 2.3 Setpoint /actual-value system 2.3.7 Adjustments to actual-value resolution Calculating the ratio The calculation of the ratio is obtained from the associated machine data and is defined for incremental encoders as follows: For incremental encoders with rotary axis, the following applies: The internal pulse multiplication factor provided by the measuring system logic module is •...
Page 441 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: The distance for linear encoders is based on the pulse increments. Linear axis with rotary encoder on motor Figure 2-7 Linear axis with rotary encoder on motor...
Page 442 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] = 1 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 443 Detailed description 2.3 Setpoint /actual-value system Linear axis with rotary encoder on the machine Figure 2-8 Linear 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/mm" and the "encoder increments/mm" as follows: Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 444 Detailed description 2.3 Setpoint /actual-value system Rotary axis with rotary encoder on motor Figure 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" and the "encoder increments/degree"...
Page 445 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 446 Detailed description 2.3 Setpoint /actual-value system Intermediate gear encoder on tool Figure 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: Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 447 Detailed description 2.4 Closed-loop control Closed-loop control 2.4.1 General Position control of an axis/spindle The closed-loop control of an axis consists of the current and speed control loop of the drive plus a higher-level position control loop in the NC. The speed and current control systems for SIMODRIVE 611 are described in: References: /IAD/"Installation &...
Page 448 Detailed description 2.4 Closed-loop control Fine Interpolation The fine interpolator (FIPO) is used to adjust the setpoint of the (generally lower) interpolator cycle clock to the later position-control cycle. Fine interpolation further improves the quality of the contour (decreasing the step effect of the speed setpoint).
Page 449 Detailed description 2.4 Closed-loop control Servo gain factor (K ) setting for SINUMERIK 840D/810D Figure 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 450 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 451 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., a gear change of the spindle.
Page 452 Detailed description 2.4 Closed-loop control Parameter sets during gear stage change Interpolation parameter sets during gear stage change: In the case of spindles, each gear stage is assigned its own parameter set. The appropriate parameter set is activated, depending on the NC/PLC interface signal: DB31, ...
Page 453 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 454 Detailed description 2.4 Closed-loop control Machine data tried and tested to date Further machine data with parameter set coding 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...
Page 455 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 456 Detailed description 2.4 Closed-loop 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 MD32452 $MA_BACKLASH_FACTOR[4,AX1]...
Page 457 Detailed description 2.5 Optimization of the control Optimization of the control 2.5.1 Position controller: injection of positional deviation Application The stability and positioning response of axes with a low natural frequency (up to approx. 20 Hz) and a mechanical design capable of generating oscillations is improved by active oscillation damping with simultaneous use of the feedforward control.
Page 458 Detailed description 2.5 Optimization of the control MD32950 The function is activated via the following machine data setting: MD32950 $MA_POSCTRL_DAMPING = 1. It is possible to enter both positive and negative values, which will then serve to scale the injection of the positional deviation. Standard setting: MD32950 $MA_POSCTRL_DAMPING = 0.
Page 459 Detailed description 2.5 Optimization of the control 2.5.2 Position controller position setpoint filter: New balancing filter For speed and torque feedforward control Application With feedforward control active, the position setpoint is sent through a socalled balancing filter before it reaches the controller itself. It is thus possible to feedforward control the speed setpoint at 100%, without resulting in overshoots when positioning.
Page 460 Detailed description 2.5 Optimization of the control Filter activation with MD32620 The new filter is activated by changing the axial machine data: MD32620 $MA_FFW_MODE by selecting values 3 and 4. The desired active feedforward control variant with new balancing is selected as follows via MD32620: Speed feedforward control with new balancing Torque feedforward control (only possible with SINUMERIK 840D) with new balancing For reasons of a compatible response of archives that contain only changes compared with...
Page 461 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 462 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 463 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 464 Detailed description 2.5 Optimization of the control Automatic switchover when changing the position-control cycle Previously, if the position-control cycle (MD10050 $MN_SYSCLOCK_CYCLE_TIME) changed or the acceptance time of the speed setpoints was modified in order to increase the servo gain (K (MD10082 $MN_CTRLOUT_LEAD_TIME), or dynamic stiffness control was enabled (MD32640 $MA_STIFFNESS_CONTROL_ENABLE), the adjustment of MD32810 $MA_EQUIV_SPEEDCTRL_TIME had to be repeated,...
Page 465 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 optionin order to set the time constant via:...
Page 466 Detailed description 2.5 Optimization of the control For more information about the effect of the feedforward control relating to the speed and torque position controller setpoints, please refer to: References: /FB2/ Function Manual, Extended Functions; Compensations (K3), Chapter: "Description of machine data". Note The setting of the feedforward control must be the same for all axes of an interpolation group.
Page 467 Detailed description 2.5 Optimization of the control 2.5.3 Position controller position setpoint filter: new jerk filter Application In some applications, such as when milling sculptured surfaces, it can be advantageous to smooth the position setpoint curves to obtain better surfaces, due to reduced excitations of machine vibrations.
Page 468 Detailed description 2.5 Optimization of the control Filter enable with MD32402 Machine data: MD32402 $MA_AX_JERK_ENABLE is used to enable the new position setpoint filter, and is defined as follows: MD32402 $MA_AX_JERK_MODE Select new jerk filter mode MD32410 $MA_AX_JERK_TIME = 0.02 Set filter time in seconds (20 ms) MD32400 $MA_AX_JERK_ENABLE Enable filter calculation...
Page 469 Detailed description 2.5 Optimization of the control Supplementary conditions The position setpoint filter is available in all control system variants as follows: • Effective filter times are limited to a range between a minimum of 1 position-control cycle up to a maximum of 32 position-control cycles (31 position-control cycles are available). Further supplementary conditions regarding the filter effect: •...
Page 470 Detailed description 2.5 Optimization of the control 2.5.4 Position control with proportional-plus-integral-action controller Function In the default scenario, the core of the position controller is a proportional controller with the above-mentioned upstream override options. For special uses (such as for electronic gearing), an integral part can be connected. 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 471 Detailed description 2.5 Optimization of the control Procedure 1. First optimize the position control loop as a proportional-action controller first using the tools described in the previous subsections. 2. Increase the tolerances of the following machine data while measurements are being taken to determine the quality of the position control with proportional-plus-integral-action controller: –...
Page 472 Detailed description 2.5 Optimization of the control Example Setting result after several iterative processes for R and T Each of the following quantities - following error, actual velocity, actual position, and position setpoint - has been recorded by servo trace. When traversing in JOG mode, the characteristic of the individual data shown in the following figure was then drawn.
Page 473 Detailed description 2.5 Optimization of the control 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. This system variable is preferably evaluated in synchronized actions.
Page 474 Detailed description 2.5 Optimization of the control Example Output of the pulse enable of machine axis X1 to the first digital NCK output in all modes IDS = 1 DO $A_OUT[1] = $VA_DPE[X1] Supplementary conditions The functional expansion is available for digital drives in all control variants providing synchronized actions.
Page 475 Detailed description 2.5 Optimization of the control 2.5.6 Expansions for "deceleration axes" Application In the case of designconditioned nonlinearities and elasticities, as often occurs in material handling and highbay racking technology, it is often necessary to sacrifice the position control due to the unstable position control loop. The axes are, therefore, traversed closed- loop controlled and not open-loop controlled.
Page 476 Detailed description 2.5 Optimization of the control MD32960 "dead zone" Nonlinearities close to zero speed, such as those, which can occur when simple frequency converters are used, are inhibited by a "dead zone" in the controller. The threshold for system deviation, under which a speed setpoint of "zero" is output, can be set via machine data: MD32960 $MA_POSCTRL_ZERO_ZONE.
Page 477 Supplementary conditions No supplementary conditions apply. Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 478 Supplementary conditions Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 479 Examples No examples are available. Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 480 Examples Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 481 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 482 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 483 Data lists 5.1 Machine data Number Identifier: $MA_ Description 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 DRIVE_ENC_RATIO_DENOM[n] Measuring gear denominator 31080 DRIVE_ENC_RATIO_NUMERA[n] Measuring gear numerator...
Page 484 Data lists 5.1 Machine data Number Identifier: $MA_ Description 36400 AX_JERK_ENABLE Axial jerk limitation 36410 AX_JERK_TIME Time constant for axial jerk filter 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 Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 485 Index $AC_TIME, 28 Encoder coding, 44 $VA_DPE, 74 Encoder directly on tool, 39 Actual-value acquisition, 29 Fine Interpolation, 53 Actual-value correction, 31 FIPO, 53 Actual-value processing, 40, 58, 61 Following error compensation (feedforward control) Actual-value resolution, 43 Speed feedforward control, 62 Actual-value routing, 31 Function overview of inch/metric switchover, 26 Adapting the motor/load ratios, 38...
Page 486 Index MD10200, 8, 9, 14, 24, 48 MD31200, 19 MD10210, 8, 9, 14, 51 MD32000, 7, 42, 45 MD10220, 13, 15 MD32100, 41 MD10230, 13, 15, 16 MD32200, 54, 57, 65, 66, 73 MD10240, 18, 19, 23, 24, 25, 26 MD32210, 72, 73 MD10260, 18, 22, 23, 25, 26 MD32220, 72, 73...
Page 487 Index Path feedrate, 9 Servo gain factor, 54, 55 Physical quantities, 14 Setpoint output, 29 Position control, 57 Setpoint system, 28 Position control loop, 52 Setpoint/actual-value system|Configuration of drives for Positioning accuracy, 10 SINUMERIK 840Di, 37 Positioning axes, 9 Simulation axes, 30 PROFIBUS-DP, 37 Speed control loop, 52 Pulse multiplication factor, 46...
Page 488 Index Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 489 Examples Basic logic functions: Auxiliary Function Output to PLC (H2) Data lists Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 490 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 491 Table of contents Brief description ............................5 Function ............................5 Overview of auxiliary functions ......................7 Detailed description ..........................15 Predefined auxiliary functions ......................15 2.1.1 Predefined auxiliary functions ......................15 2.1.2 Parameter: Group assignment.....................17 2.1.3 Parameter: Type, address extension, and value .................18 2.1.4 Parameter: Output behavior......................20 2.1.5 Examples of output behavior .......................23...
Page 492 Table of contents Output behavior........................... 56 Examples..............................59 Defining auxiliary functions ......................59 Data lists..............................63 Machine data..........................63 5.1.1 NC-specific machine data ......................63 5.1.2 Channelspecific machine data ....................63 Signals............................64 5.2.1 Signals to channel........................64 5.2.2 Signals from channel........................64 5.2.3 Signals to axis/spindle.........................
Page 493 Brief description Function General Auxiliary functions permit activation of the system functions of NC and PLC user functions. Auxiliary functions can be programmed in part program blocks in the following: • Parts programs • Synchronized actions • User cycles Detailed information on using auxiliary function output in synchronized actions is to be found References: /FBSY/ Function Manual Synchronous Actions Predefined auxiliary functions...
Page 494 Brief description 1.1 Function Userdefined auxiliary functions There are two uses for user-defined auxiliary functions: • Extension of predefined auxiliary functions • User-specific auxiliary functions Extension of predefined auxiliary functions Extension of predefined auxiliary functions refers to the "address extensions" parameter. The address extension defines the number of the spindle to which the auxiliary function applies.
Page 495 Brief description 1.2 Overview of auxiliary functions Definition of an auxiliary function An auxiliary function is defined by the following parameters: • Type, address extension, and value The 3 parameters are output to the NC/PLC interface. • Output behavior The auxiliary-function-specific output behavior defines for how long an auxiliary function is output to the NC/PLC interface and when it is output relative to the traverse movement programmed in the same parts program block.
Page 496 Brief description 1.2 Overview of auxiliary functions Application Controlling machine functions in synchronism with the part program. General remarks • The following M functions have a predefined meaning: M0, M1, M2, M17, M30 M3, M4, M5, M6, M19, M70, M40, M41, M42, M43, M44, M45. •...
Page 497 Brief description 1.2 Overview of auxiliary functions S functions S (spindle function) Address extension Value Value range Meaning Value range Type Meaning Number 0 - 12 Spindle number 0 - +/-3.4028 ex 38 REAL Spindle speed Remarks: The master spindle of the channel is addressed if no an address extension is specified. Application Spindle speed.
Page 498 Brief description 1.2 Overview of auxiliary functions T functions T (tool number) 5) 6) Address extension Value Value range Meaning Value range Type Meaning Number 1 - 12 Spindle number 0 – 32000 Selection of the tool (with active tool (also symbolic tool management) names for active tool...
Page 499 Brief description 1.2 Overview of auxiliary functions D functions D (tool offset) Address extension Value Value range Meaning Value range Type Meaning Number - - - - - - 0 - 9 Selection of the tool offset Remarks: Deselection of the tool offset with D0; the default is D1 Application Selection of the tool offset.
Page 500 Brief description 1.2 Overview of auxiliary functions F functions F (feedrate) Address extension Value Value range Meaning Value range Type Meaning Number - - - - - - 0.001 - 999 999.999 REAL Path feed Remarks: - - - Application Path velocity.
Page 501 Brief description 1.2 Overview of auxiliary functions Footnotes If tool management is active, neither a T change signal nor a T word is output to the interface (channel). The type for the values can be selected by the user via MD22110 $MC_AUXFU_H_TYPE_INT.
Page 502 Brief description 1.2 Overview of auxiliary functions Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 503 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 predefined auxiliary functions 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 504 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 505 Detailed description 2.1 Predefined auxiliary functions Nibbling (11) Nibbling (12) The value is dependent upon machine data: MD22560 $MC_TOOL_CHANGE_M_MODE (M function for tool change) The value can be preset with a different value via the following machine data: MD20095 $MC_EXTERN_RIGID_TAPPING_M_NR (M function for switching over to the controlled axis mode (ext. mode)) MD20094 $MC_SPIND_RIGID_TAPPING_M_NR (M function for switching over to controlled axis mode) The value 70 is always output to the PLC.
Page 506 Detailed description 2.1 Predefined auxiliary functions 2.1.3 Parameter: Type, address extension, and value Function A predefined auxiliary function is programmed via the parameters: • Type MD22050 $MC_AUXFU_PREDEF_TYPE[ Index ] (Pre-defined auxiliary function type) • Address extension MD22060 $MC_AUXFU_PREDEF_EXTENSION[ Index ] (Pre-defined auxiliary function extension) •...
Page 507 Detailed description 2.1 Predefined auxiliary functions Parameter: Address extension The "address extension" of an auxiliary function is for addressing different components of the same type. In the case of predefined auxiliary functions, the value of the "address extension" is the spindle number to which the auxiliary function applies. If no address extension is programmed, the address extension is implicitly set = 0.
Page 508 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) Valu Meaning Output duration one OB1 cycle (normal acknowledgment)
Page 509 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. The auxiliary function-specific change signal indicates to the PLC user program that the auxiliary function is valid.
Page 510 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 511 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 512 Detailed description 2.1 Predefined auxiliary functions Figure 2-1 Output behavior 1 Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 513 Detailed description 2.1 Predefined auxiliary functions Figure 2-2 Output behavior 2 Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 514 Detailed description 2.1 Predefined auxiliary functions Figure 2-3 Output behavior 3 Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 515 Detailed description 2.2 Userdefined auxiliary functions Userdefined 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 Extension of predefined auxiliary functions Extension of predefined auxiliary functions refers to the parameter: "Address extension".
Page 516 Detailed description 2.2 Userdefined auxiliary functions 2.2.3 Extension of predefined auxiliary functions Function Because there is only one set of machine data for the predefined auxiliary functions, they can only ever be used to address one spindle of the channel. To address further spindles, user-defined auxiliary functions must be parameterized to supplement the predefined auxiliary functions.
Page 517 Detailed description 2.2 Userdefined auxiliary functions Example Extension of the predefined auxiliary function for the system function "spindle right" for the second and third spindle of the channel. Auxiliary function "spindle right" for the second spindle of the channel: MD22010 $MC_AUXFU_ASSIGN_TYPE[ n ] = "M"...
Page 518 Detailed description 2.2 Userdefined auxiliary functions 2.2.5 Parameterization 2.2.5.1 Parameter: Group assignment Group assignment Group assignment is used to assign a user-defined auxiliary function to an auxiliary function group using the machine data: MD22000 $MC_AUXFU_ASSIGN_GROUP[ index ] (group assignment) If the value is zero, the auxiliary function is not assigned to any auxiliary function group. For the meanings of the auxiliary function groups, see section: Auxiliary function groups.
Page 519 Detailed description 2.2 Userdefined auxiliary functions Parameter: Address extension The functionality of the address extension is not defined in user-specific auxiliary functions. It is generally used to distinguish between auxiliary functions with the same "value". Grouping together auxiliary functions If all the auxiliary functions of the same type and value are assigned to the same auxiliary function group, a value of "-1"...
Page 520 Detailed description 2.2 Userdefined auxiliary functions 2.2.5.4 Examples Example of the extension of predefined auxiliary functions For the second spindle of the channel, the auxiliary functions M3, M4 and M5 should be parameterized: Parameterization: M3 • Machine data index: 0 (1. user-defined auxiliary function) •...
Page 521 Detailed description 2.2 Userdefined auxiliary functions Parameterization: M5 • Machine data index: 2 (3. user-defined auxiliary function) • auxiliary function group: 5 • Type and value: M5 (spindle stop) • Address extension: 2 as appropriate for the 2nd spindle of the channel •...
Page 522 Detailed description 2.3 Type -specific output behavior 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: • MD22200 $MC_AUXFU_M_SYNC_TYPE (output time M functions) •...
Page 523 Detailed description 2.3 Type -specific output behavior Example Output of auxiliary functions with different output behaviors in a part program block with traverse movement. Parameterized output behavior • T function: Output before the motion MD22220 $MC_AUXFU_T_SYNC_TYPE = 0 (Output time of the T functions) •...
Page 524 Detailed description 2.4 Programmable output duration Programmable output duration Function User-specific auxiliary functions, for which the output behavior "Output duration of an OB1 cycle (slow acknowledgement)" was parameterized, can be defined for individual outputs via the parts program guide QU (Quick) for auxiliary functions with quick acknowledgement. Syntax An auxiliary function with quick acknowledgment is defined in a part program block with the following syntax:...
Page 525 Detailed description 2.4 Programmable output duration Figure 2-5 Example of auxiliary function output Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 526 Detailed description 2.5 Priorities of the output behavior Priorities of the output behavior Areas of the output behavior The priority must be observed for the following areas in connection with the parameterized output behavior of an auxiliary function: • Output duration (normal / quick acknowledgment) •...
Page 527 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 • "Address extension" parameter •...
Page 528 Detailed description 2.7 Programming Programming Syntax An auxiliary function is programmed in a part program block with the following syntax: < type > [ < address extension > = ] < value > Address expansion If no address extension is programmed, address extension = 0 is implicitly set. Symbolic addressing The values for the "address extension"...
Page 529 Detailed description 2.8 Auxiliary functions without block change delay Programming examples Programming examples of auxiliary functions with the corresponding values for output to the PLC. Programming syntax Output to PLC - - - DEF coolant = 12 - - - DEF lubricant = 130 H12=130 H[coolant]=lubricant...
Page 530 Detailed description 2.9 Associated auxiliary functions Associated auxiliary functions Function Associated auxiliary functions are user-defined auxiliary functions that have the same effect as the corresponding predefined auxiliary functions. For the following predefined auxiliary functions, user-defined auxiliary functions can be associated: •...
Page 531 Detailed description 2.9 Associated auxiliary functions NC/PLC interface signals In the case of an associated user-defined auxiliary function, the same signals are output to the NC/PLC interface as for the corresponding predefined auxiliary function. To distinguish which auxiliary function has actually been programmed, the value of the user-defined auxiliary function ("value"...
Page 532 Detailed description 2.10 M function with implicit preprocessing stop 2.10 M function with implicit preprocessing stop Function Triggering a preprocessing stop in conjunction with an auxiliary function can be programmed via theSTOPRE part program command. Triggering a preprocessing stop in conjunction with an M function can be programmed explicitly via theSTOPRE part program command.
Page 533 Detailed description 2.11 Response to overstore 2.11 Response to overstore Overstore Before the start, on the SINUMERIK operator interface, the following functions: • NC START of a part program • NC START to resume an interrupted part program the auxiliary functions that are output at the start can be changed by the "Overstore" function.
Page 534 Detailed description 2.12 Block search 2.12 Block search 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 535 Detailed description 2.12 Block search Behavior regarding: M19 (position spindle) After block completion, the last spindle positioning command programmed with M19 is always carried out, even if other spindle-specific auxiliary functions are programmed between the parts program with M19 and the destination 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 536 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 ] Accumulated spindle speed, Value range = { 0 ... Smax } $P_SEARCH_SDIR [ n ] Accumulated spindle direction of rotation, Value range = { 3, 4, 5, -5, -19, 70 }...
Page 537 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 (search parameterization) After the block search on N55, the ASUB is started. Part program ;...
Page 538 Detailed description 2.12 Block search Explanation of example If the number of spindles is known, outputs of the same type can be written in one part program block to reduce program runtime. Output of $P_SEARCH_SDIR should be made in a separate part program block because spindle positioning or switchover to axis mode in conjunction with the gear change can cause an alarm.
Page 539 Detailed description 2.12 Block search Constraints Collected S values The meaning of an S value in the parts program depends on the feed type that is currently active: The S value is interpreted as the speed G93, G94, G95, G97, G971 The S value is interpreted as a constant cutting rate G96, G961 If the feed operation is changed (e.g.
Page 540 Detailed description 2.13 Scan and display of output M-auxiliary functions 2.13 Scan and display of output M-auxiliary functions 2.13.1 Information options Information methods Information on the status of M-auxiliary functions is available using: • Display on the user interface • Scan of system variables in part program and synchronous actions 2.13.1.1 Status display on the user interface Operator interface...
Page 541 Detailed description 2.13 Scan and display of output M-auxiliary functions Miscellaneous Only the group-specific M auxiliary functions are displayed. The block-by-block display is also available, as before. Up to 15 groups can be displayed, whereby only the last M function of a group that was either collected or output to the PLC is displayed for each group.
Page 542 Detailed description 2.13 Scan and display of output M-auxiliary functions 2.13.1.2 Programming a status check System variables System variables are available for the status check of group-specific, modal M-auxiliary functions. The following variables can be used to scan M-auxiliary functions on a group-specific basis in the part program and via synchronous actions.
Page 543 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 544 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 545 Supplementary conditions 3.2 Output behavior Auxiliary function: M1 (conditional stop) Overriding the parameterized output behavior The parameterized output behavior of the auxiliary function M1 is overridden by the output behavior defined in the following machine data: MD20800 $MC_SPF_END_TO_VDI, Bit 1 (subprogram end / stop to PLC) Bit Value Meaning The auxiliary function M01 (conditional stop) is always output to the PLC.
Page 546 Supplementary conditions 3.2 Output behavior Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 547 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 548 Examples 4.1 Defining auxiliary functions Requirements Spindle 1 (master spindle) Note Default assignments • The auxiliary functions M3, M4, M5, M70 and M1=3, M1=4, M1=5, M1=70 of spindle 1 (master spindle) are assigned to the second auxiliary function group by default. •...
Page 549 Examples 4.1 Defining auxiliary functions • The auxiliary functions M50, M51 (auxiliary function group 12) and M52, M53 (auxiliary function group 13) should have the following output behavior: – Output duration one OB1 cycle (normal acknowledgment) – Output prior to motion Parameterization of the machine data The machine data are parameterized by appropriate programming within a part program.
Page 550 Examples 4.1 Defining auxiliary functions Programming Remarks $MC_AUXFU_ASSIGN_VALUE[13] = 4 $MC_AUXFU_ASSIGN_GROUP[13] = 10 Description of auxiliary function 15: M2 = 5 $MC_AUXFU_ASSIGN_TYPE[14] = "M" $MC_AUXFU_ASSIGN_EXTENSION[14] = 2 $MC_AUXFU_ASSIGN_VALUE[14] = 5 $MC_AUXFU_ASSIGN_GROUP[14] = 10 Description of auxiliary function 16: M2 = 70 $MC_AUXFU_ASSIGN_TYPE[15] = "M"...
Page 551 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 552 Data lists 5.2 Signals Number Identifier: $MC_ Description 22080 AUXFU_PREDEF_SPEC Output specification (predefined auxiliary function) 22100 AUXFU_QUICK_BLOCKCHANGE Block change without delay 22110 AUXFU_H_TYPE_INT Type of H auxiliary functions 22200 AUXFU_M_SYNC_TYPE Output timing for M functions 22210 AUXFU_S_SYNC_TYPE Output timing of S functions 22220 AUXFU_T_SYNC_TYPE Output timing of T functions...
Page 553 Data lists 5.2 Signals DB number Byte.Bit Description 21, ... 64.0 - 64.2 H function 1 - 3 change 21, ... 64.4 - 64.6 H function 1 - 3 quick 21, ... 65.0 - 65.5 F function 1 - 6 change 21, ...
Page 554 Data lists 5.2 Signals DB number Byte.Bit Description 21, ... 158 - 159 Extended address of F function 1 (binary) 21, ... 160 - 163 F function 1 (real format) 21, ... 164 - 165 Extended address of F function 2 (binary) 21, ...
Page 555 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) Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 556 Data lists 5.2 Signals Basic logic functions: Auxiliary Function Output to PLC (H2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 557 Index Continuous-path mode, 41 $P_SEARCH_S, 48 $P_SEARCH_SDIR, 48 D functions, 11 $P_SEARCH_SGEAR, 48 DB21, ... $P_SEARCH_SPOS, 48 DBB116 - DBB136, 39 $P_SEARCH_SPOSMODE, 48 DBB140 - DBB190, 39 DBB194 - DBB206, 39 DBB58 - DBB67, 39 DBB68 - DBB112, 39 DBX30.5, 43 Address extension, 40 DBX318.5, 43 Area...
Page 558 Index MD11100, 27 MD11110, 38 Output after motion, 23 MD11450, 47, 49 Output behavior, 34 MD20090, 55 Output duration one OB1 cycle, 20 MD20094, 17 Output duration one OB40 cycle, 21, 41 MD20095, 17 Output during motion, 22, 41 MD20124, 55 Output prior to motion, 22 MD20270, 11 Output prior to motion, 41...
Page 559 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Mode group, channel, program operation, reset Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 560 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 561 Table of contents Brief description ............................7 Detailed description ..........................11 Mode group ..........................11 2.1.1 Mode group Stop .........................15 2.1.2 Mode group RESET........................15 Mode groups ..........................16 2.2.1 Monitoring functions and interlocks of the individual modes ............22 2.2.2 Mode change ..........................23 Channel............................24 2.3.1 Global start disable for channel ....................28...
Page 562 Table of contents 2.6.8.8 REPOS offset in the interface ..................... 92 2.6.8.9 Making the initial settings more flexible ..................92 2.6.9 System variables and variables for SERUPRO sequence ............93 2.6.10 Restrictions ..........................94 Program operation mode ......................95 2.7.1 Initial settings ..........................
Page 563 Table of contents 2.11.4.4 Sequence of replacement subroutines from the interpretation time ..........197 2.11.5 Properties of replacement subroutines ..................199 2.12 Program runtime/workpiece counter..................201 2.12.1 Function .............................201 2.12.2 Program runtime ........................201 2.12.3 Workpiece counter ........................203 Supplementary conditions ........................207 Examples............................... 209 Data lists..............................
Page 564 Table of contents Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 565 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 566 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 567 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: = Decode single block • SLB3: = Stop in cycle Basic block display A second basic block display can be used with the existing block display to display all blocks that produce an action on the machine.
Page 568 Brief description Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 569 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 570 Detailed description 2.1 Mode group Mode group assignment A mode group is a grouping of one or more channels. Axes and/or spindles are assigned to one channel. Machine data: MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP is assigned a channel of a mode group. If the same mode group is addressed in several channels, these channels together form a mode group.
Page 571 Detailed description 2.1 Mode group For further information about other axis configurations such as axis containers, link axes, reciprocating axes, main run, rotary, linear, master and slave axes and the various implementations, please refer to: References: /FB1/ Function Manual, Basic Functions; Axes, Coordinate Systems, Frames (K2) /FB1/ Function Manual Basic Functions;...
Page 572 Detailed description 2.1 Mode group Channel gaps Channels to which a mode group is assigned with machine data: MD10010 $MN_ASSIGN_CHAN_TO_MODE_GROUP are regarded as activated. Instead of a mode group number, the number "0" can be assigned to channels. This has the following results: •...
Page 573 Detailed description 2.1 Mode group 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 574 Detailed description 2.2 Mode groups Mode groups Unique mode The channels of a mode group operate in one mode. A mode group is either in AUTOMATIC, JOG, or MDA mode. Several channels of the same mode group cannot be in different modes at the same time. If individual channels are assigned to different mode groups, a channel switchover activates the corresponding mode group.
Page 575 Detailed description 2.2 Mode groups Applies to all modes Cross-mode synchronized actions Modal synchronized actions can be executed per IDS in all modes for the following functions in parallel to the channel: • Command axis functions • Spindle functions • Technology cycles Selection The user can select the desired operating mode by means of soft keys on the operator interface.
Page 576 Detailed description 2.2 Mode groups 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. Within JOG mode Within JOG mode, one of the following machine functions can be selected: •...
Page 577 Detailed description 2.2 Mode groups Operating statuses The following three channel statuses can occur in each mode: 1. Channel reset The machine is in its initial state. This is defined by the machine manufacturer's PLC program, e.g., after POWER ON or at the end of the program. 2.
Page 578 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 579 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 580 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 581 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 582 Detailed description 2.3 Channel Special cases • Errors during mode change If a mode change request is rejected by the system, the error message "Operating mode cannot be changed until after NC Stop" is output. This error message can be cleared without changing the channel status.
Page 583 Detailed description 2.3 Channel For more information about tool offset, see: References: /FB1/Function Manual Basic Functions; Tool Offset (W1) • 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.
Page 584 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 585 Detailed description 2.3 Channel Spindle functions using a PLC It is possible to control special spindle motions via an axial PLC interface as an alternative to FC18 and to start and stop them using VDI interface signals without executing a part program.
Page 586 Detailed description 2.3 Channel 2.3.1 Global start disable for channel User/PLC A global Start disable can be set for the selected channel via the HMI or from the PLC. Function When Start disable is set, no new program starts are accepted for the selected channel. Start attempts are counted internally.
Page 587 Detailed description 2.4 Program test Program test Testing part programs Purpose Several control functions are available for testing a new part program. These functions are provided to reduce danger at the machine and time required for the test phase. Several program functions can be activated at the same time to achieve a better result.
Page 588 Detailed description 2.4 Program test Usage and Handling Usage The user can use this to check the programmed axis positions and auxiliary function outputs of a part program. This program simulation can also be used as an extended syntax check. Selection This function is selected via the operator interface in the "Program control"...
Page 589 Detailed description 2.4 Program test Tool management Because of the axis disable, the assignment of a tool magazine is not changed during program testing. A PLC application must be used to ensure that the integrity of the data in the tool management system and the magazine is not corrupted. The toolbox diskettes contain an example of the basic PLC program.
Page 590 Detailed description 2.4 Program test Single-block type The following different types of single block are provided: • Decoding single block With this type of single block, all blocks of the part program (even the pure computation blocks without traversing motions) are processed sequentially by "NC Start". •...
Page 591 Detailed description 2.4 Program test Display Active single block mode is indicated by a reversal in the relevant field in the status line on the operator interface. As soon as the part program execution has processed a part program block in single-block mode, interface signal: DB21, ...DBX35.3 (program status interrupted) is set.
Page 592 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 593 Detailed description 2.4 Program test Changing the dry run feedrate The effect of setting data: SD42100 $SC_DRY_RUN_FEED can be controlled using setting data: SD42101 $SC_DRY_RUN_FEED_MODE. 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.
Page 594 Detailed description 2.4 Program test Functionality When testing or breaking in new programs, it is useful to be able to disable or skip certain part program blocks during program execution. Main program/subroutine %100 N10 ... N20 ... Block being N30 ... processed Skip blocks /N40 ...
Page 595 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 596 Detailed description 2.5 Block search Subsequent actions After completion of a block search, the following subsequent actions may occur: • Type 1 - Type 5: Automatic Start of an ASUB When the last action block is activated, a user program can be started as an ASUB. •...
Page 597 Detailed description 2.5 Block search Interface signals In the PLC, the following interface signals are set according to the time sequence shown in the figure: DB21, ... DBX33.4 (block search active) DB21, ... DBX32.3 (action block active) DB21, ... DBX32.4 (approach block active) DB21, ...
Page 598 Detailed description 2.5 Block search Boundary conditions for approach block/target block Block search type 2 The interface signal: DB21, ... DBX32.4 (approach block active) is only set with "Block search with calculation at contour" because a separate approach block is not generated with "Block search with calculation at block end point" (the approach block is the same as the target block).
Page 599 Detailed description 2.5 Block search Block search type 4 and part program command REPOS After block search type 4 (block search with calculation at block end point) no automatic repositioning is initiated during the following period of time by the part program command REPOS: •...
Page 600 Detailed description 2.5 Block search 2.5.2.3 Spindle functions after block search Control system response and output The behavior with regard to the spindle functions after ending the block search can be set via machine data: MD11450 $MN_SEARCH_RUN_MODE, Bit 2 Value Meaning Output of spindle auxiliary functions (M3, M4, M5, M19, M70) in action blocks.
Page 601 Detailed description 2.5 Block search Reference: More detailed information on ASUB, block search, and action blocks is to be found in: • /FB1/Function Manual, Basic Functions; Auxiliary Function Output to PLC (H2), Section: Output suppression of spindle-specific auxiliary functions • /FB1/ Function Manual, Basic Functions; Mode Group, Channel, Program Operation (K1) Section: Program test •...
Page 602 Detailed description 2.5 Block search Example ASUB activation Sequence for the automatic start of an ASUB after block search: 1. Start block search (with/without calculation, at contour, at endofblock point). 2. Stop after "Search target found". 3. NC Start for output of action blocks. 4.
Page 603 Detailed description 2.5 Block search Execution behavior Search target found, restart search When the search target is reached, the program execution stops and the search target is displayed as a current block. After each located search target, a new block search can be repeated as often as you want.
Page 604 Detailed description 2.5 Block search 2.5.5 Examples of block search with calculation Selection From the following examples, select the type of block search that corresponds to your task. Type 4 block search with calculation at block end point Example with automatic tool change after block search with active tool management: 1.
Page 605 Detailed description 2.5 Block search Tool change point (450,300) Approach movement Target block N220 Approach point (170,30) Figure 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 606 Detailed description 2.5 Block search Type 2 block search with calculation at contour Example with automatic tool change after block search with active tool management: 1. to 3. Same as example for Type 4 block search Search to contour, block number N260 5.
Page 607 Detailed description 2.5 Block search ;Machine contour section 2 with "CUTTER_2"tool ; Preselect tool N200 T="CUTTER_2" ; Call tool change routine N210 WZW ; Approach block for contour section 2 N220 G0 X170 Y30 Z10 S3000 M3 D1 ; Infeed N230 Z-5 ;...
Page 608 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 609 Detailed description 2.6 Block search Type 5 SERUPRO Supported functions Supported NC functions during SERUPRO: • Gear stage change • Setpoint and actual value linkages for drives such as "master-slave" as well as "electronic gear" and "axial master value coupling" •...
Page 610 Detailed description 2.6 Block search Type 5 SERUPRO Chronological sequence of SERUPRO 1. Via HMI, softkey "Pog. test contour" and the search target are operated. 2. The NC now automatically starts the selected program in "Program test" mode. – In this mode, axes are not traversed. –...
Page 611 Detailed description 2.6 Block search Type 5 SERUPRO SERUPRO approach Approach to the starting point of the target block during a block search in SERUPRO test mode. Boundary conditions for block search SERUPRO The SERUPRO function may only be activated in "AUTOMATIC" mode and may only be aborted in program status (channel status RESET).
Page 612 Detailed description 2.6 Block search Type 5 SERUPRO Controlling SERUPRO behavior Machine data: MD10708 $MN_SERUPRO_MASK can influence the SERUPRO behavior as follows: Stop at M0 during search phase. Bit 0 = 0 NC is stopped at M0 during the search phase. Bit 0 = 1 NC is not stopped at M0 during the search phase.
Page 613 Detailed description 2.6 Block search Type 5 SERUPRO Initial setting for SERUPRO Machine data: MD20112 $MC_START_MODE_MASK is used to define the initial setting of the control for part program start with respect to G codes (especially the current plane and settable zero offset), tool length compensation, transformation, and axis couplings.
Page 614 Detailed description 2.6 Block search Type 5 SERUPRO Identification of the active SERUPRO in the interface. DB21, ... DBX318.1 The VDI signal of the NCK channel (NCK→PLC): DB21, ... DBX318.1 (block search via program test is active) has the following meaning and effect: The NC runs in the internal "Program test"...
Page 615 Detailed description 2.6 Block search Type 5 SERUPRO Automatic ASUB start The ASUB in the path: /_N_CMA_DIR/_N_PROG_EVENT_SPF is automatically started with the machine data: MD11450 $MN_SEARCH_RUN_MODE, Bit1 = 1 in the SERUPRO approach after the following sequence: 1. The SERUPRO operation has been performed completely. 2.
Page 616 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.1 REPOS MD11470 REPOS occurs according to machine data: MD11470 $MN_REPOS_MODE_MASK Case A: The REPOS operation moves all axes from the current position to the start of the target block in a single block. MD11470 $MN_REPOS_MODE_MASK Bit 3 = 1 Case B: The path axes are repositioned together in one block.
Page 617 Detailed description 2.6 Block search Type 5 SERUPRO Set REPOS response With the machine data: MD11470 $MN_REPOS_MODE_MASK you can control the behavior of the NC during repositioning by setting the bits. Bit 0 = 1 The dwell time is resumed at the point of interruption in the residual repositioning block.
Page 618 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 619 Detailed description 2.6 Block search Type 5 SERUPRO Example: Axis is programmed incrementally Axis A is positioned at 11° before the REPOS operation; the programmed operation in the interruption block (target block for SERUPRO) specifies 27°. Any number of blocks later, this axis is programmed incrementally by 5° using: N1010 POS[A]=IC(5) FA[A]=1000 With the interface signal: DB31, ...
Page 620 Detailed description 2.6 Block search Type 5 SERUPRO Prefer or ignore REPOS Further REPOS adaptations can be made by setting the bits in: MD11470 $MN_REPOS_MODE_MASK Bit 5 = 1 Modified feedrates and spindle speeds are valid immediately in the residual block and are given priority.
Page 621 Detailed description 2.6 Block search Type 5 SERUPRO Acceptance timing of REPOS VDI signals With the 0/1 edge of the channel-specific VDI signal (PLC→NCK): DB21, ... DBX31.4 (REPOSMODEEDGE) the level signals of: DB21, ... DBX31.0-31.2 (REPOSPATHMODE0 to 2) DB31, ... DBX10.0 (REPOSDELAY) are transferred to the NC.
Page 622 Detailed description 2.6 Block search Type 5 SERUPRO Note In the active ASUB, the IS: 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 the signals:...
Page 623 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 624 Detailed description 2.6 Block search Type 5 SERUPRO REPOS acknowledgement operations With the channel-specific VDI signal: DB21, ... DBX319.0 (REPOSMODEEDGEACKN) if a "handshake" is established by the interface signal: DB21, ... DBX31.4 (REPOSMODEEDGE) recognized by the NC and acknowledged with DB21, ... DBX319.0 to the PLC. Note If NCK has not yet acknowledged the interface signal: DB21, ...
Page 625 Detailed description 2.6 Block search Type 5 SERUPRO Figure 2-6 REPOS sequence in part program with timed acknowledgement signals from NCK NCK sets acknowledgement again Phase with REPOSPATHMODE still active (residual block of the program stopped at → Time (2) is not yet completely executed). As soon as the REPOS repositioning motion of the ASUB is executed, the NCK sets the "Repos Path Mode Ackn"...
Page 626 Detailed description 2.6 Block search Type 5 SERUPRO 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): DB31, ... DBX70.0 (REPOS offset). The effects of this signal on the relevant axis are as follows: Value 0: No REPOS offset is applied.
Page 627 Detailed description 2.6 Block search Type 5 SERUPRO REPOS offset with synchronized synchronous spindle coupling When repositioning with SERUPRO, processing continues at the point of interruption. If a synchronous spindle coupling was already synchronized, there is no REPOS offset of the following spindle and no synchronization path is present.
Page 628 Detailed description 2.6 Block search Type 5 SERUPRO Repositioning with RMN Like RMI, RMB and RME, RMN (REPOS Mode Next) is redefined for SUREPRO approach. After an interruption, RMN is used not to complete an already started repositioning, but to process from the next path point: At the time REPOSA is interpreted, position (B) is referenced in order to find point C at the interruption block with the shortest distance to B.
Page 629 Detailed description 2.6 Block search Type 5 SERUPRO Selecting REPOS mode With the channel-specific VDI signal (PLC→NCK) DB21, ... DBX31.0-31.2 (REPOSPATHMODE0-2) the concerned function RMB, RMI, RME or RMN can be selected with the 3 bits. Repositioning point RMNOTDEF REPOS Mode is not redefined RMB Repositioning of block start point or last end point RMI Repositioning interruption point RME Repositioning end-of-block point...
Page 630 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.2 Acceleration measures via MD Machine data settings The processing speed of the entire SERUPRO operation can be accelerated using the following machine data. MD22600 $MC_SERUPRO_SPEED_MODE and MD22601 $MC_SERUPRO_SPEED_FACTOR With MD22600 $MC_SERUPRO_SPEED_MODE == 1, the SERUPRO operation will run at the usual "dry run feedrate".
Page 631 Detailed description 2.6 Block search Type 5 SERUPRO • G331/G332 causes the spindle to be interpolated as an axis in a path grouping. In the case of tapping, the drilling depth (e.g., axis X) and the pitch and speed (e.g., spindle S) are specified.
Page 632 Detailed description 2.6 Block search Type 5 SERUPRO In addition, machine data setting MD18080 $MA_TOOL_MANAGEMENT_MASK Bit 11 = 1 is required because the ASUB may have to repeat a T selection. Systems with tool management and auxiliary spindle are not supported by SERUPRO! Example Tool change subroutine Tool change routine...
Page 633 Detailed description 2.6 Block search Type 5 SERUPRO ASUB for calling the tool change routine after block search type 5 PROC ASUPWZV2 Variable for active T number N1000 DEF INT TNR_SPINDEL Variable for preselected T N1010 DEF INT TNR_VORWAHL number Variable for T number N1020 DEF INT TNR_SUCHLAUF determined in block search...
Page 634 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 635 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 636 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 637 Detailed description 2.6 Block search Type 5 SERUPRO Nesting rules The following features regulate the interaction between NC commands IPTRLOCK and IPTRUNLOCK with nesting and end of subroutine: 1. IPTRLOCK is activated implicitly at the end of the subroutine in which IPTRUNLOCK is called.
Page 638 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 subprogram 1 ends the search-suppressed area. ; Interpretation of the blocks in an illustrative sequence.
Page 639 Detailed description 2.6 Block search Type 5 SERUPRO Automatic interrupt pointer In certain applications it can be useful to automatically define a prespecified type of coupling as a search-suppressed area. The automatic interrupt pointer function is activated with machine data MD 22680 $MC_AUTO_IPTR_LOCK.
Page 640 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 641 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 642 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 643 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.8.2 Force Control (FOC) 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. • $VA_FOC always describes the real machine status. The FOCREPOS function behaves analogously to the FXSREPOS function.
Page 644 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.8.4 Couplings and master-slave Setpoint and actual value couplings The SERUPRO operation is a program simulation in Program Test mode with which setpoint and actual value couplings can be simulated. Specifications for EG simulation For simulation of EG, the following definitions apply: 1.
Page 645 Detailed description 2.6 Block search Type 5 SERUPRO Note For further information about the repositioning of soupled axes, see "Continue machining after SERUPRO search target found". Master-slave During the block search, only the link status should be updated without calculating the associated positions of the coupled axis.
Page 646 Detailed description 2.6 Block search Type 5 SERUPRO progevent.spf X=Master axis, Y=Slave axis N10 IF(($S_SEARCH_MASLC[Y]< >0) AND ($AA_MASL_STAT[Y]< >0)) N20 MASLOF(Y) N30 SUPA Y=$AA_IM[X]-$P_SEARCH_MASLD[Y] N40 MASLON(Y) N50 ENDIF N60 REPOSA To ensure that the ASUB can be automatically started, the following machine data must be set: MD11602 $MN_ASUB_START_MASK = 'H03' MD11604 $MN_ASUP_START_PRIO_LEVEL = 100...
Page 647 Detailed description 2.6 Block search Type 5 SERUPRO Tangential control Tangential follow-up of individual axes is supported by SERUPRO. For further information about tangential control, see: References: /FB3/ Function Manual Special Functions; T3, "Tangential Control" If "overlaid movements" are used, only the block search via program test (SERUPRO) can be used, since the overlaid movements are interpolated accordingly in the main run.
Page 648 Detailed description 2.6 Block search Type 5 SERUPRO Axis replacement Problem: A program moves an axis and gives up control before the target block with WAITP(X). X is thus not subject to REPOS and the axis is not taken into account in SERUPRO approach.
Page 649 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.8.6 Gear stage change Operational sequences The gear stage change (GSW) requires physical movements from the NCK in order to shift into a new gear. In the SERUPRO operation, no gear stage change is required and is carried out 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 650 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.8.8 REPOS offset in the interface REPOS offset provided or valid When the SERUPRO operation is finished, the user can use the OPI to read off the REPOS offset applied via the REPOS process. An axial interface bit is offered for this DB31, ...DBX70.0 (REPOS offset).
Page 651 Detailed description 2.6 Block search Type 5 SERUPRO 2.6.9 System variables and variables for SERUPRO sequence SERUPRO detection The SERUPRO sequence can be detected using the following system variables: $P_ISTEST is TRUE (valid also for program test) $P_SEARCH is set to 5 (search in extended program test) $AC_ASUP Bit 20 in system ASUB is set after the search target is found (SERUPRO operation step 8.) $P_ISTEST AND (5 == $P_SEARCHL) reliably detects SERUPRO.
Page 652 Detailed description 2.6 Block search Type 5 SERUPRO $AC_SERUPRO and $P_ISTEST, if SERUPRO is still active in the main run Note During interpretation of system variables $P_ISTEST and $AC_SERUPRO, a check is made to determine whether the SERUPRO target block has already been found. If so, an implicit preprocessing stop is inserted before the two system variables are evaluated.
Page 653 Detailed description 2.7 Program operation mode Program operation mode PLC, MD, operation The execution of part programs can be controlled via the HMI in many ways using PLC inputs, machine data settings and operator inputs. Definition The execution of part programs or part program blocks in AUTOMATIC or MDA modes is referred to as program operation.
Page 654 /PG/ Programming Manual Fundamentals Basic configurations of the NC language scope for SINUMERIK solution line For SINUMERIK 840D sl, certain basic configurations of the NC language scope can be generated (configurable) via machine data. The options and functions of the NC language scope is specially tailored (configured) to the needs of the user.
Page 655 12550 "Name not defined or option/function not available". Whether the command in question is generally unavailable in the Siemens NC language or whether this is true only on the corresponding system cannot be distinguished in this scenario.
Page 656 Detailed description 2.7 Program operation mode Check sample application for NC language scope on cylinder jacket transformation TRACYL The cylinder jacket transformation is optional and must be enabled beforehand. In order to check this, the following initial conditions are assumed: The cylinder coat transformation option isnot enabled and the machine data$MN_NC_LANGUAGE_CONFIGURATION = 2;...
Page 657 Detailed description 2.7 Program operation mode 0 corresponds to option not activated or function deactivated 1 corresponds to option/activated or function activated For more detailed information on the value ranges of 2xx programmable functions, see References: /PGA/ Job Planning Programming Manual; Other Functions, "STRINGIS" 2.7.2 Selection and start of part program or part-program block Reset status...
Page 658 Detailed description 2.7 Program operation mode Signals, Alarms Required signal states The part program can now be enabled for execution in the channel with the START command on the condition that certain signal states exist on the machine. The following enable signals are relevant on the VDI interface: •...
Page 659 Detailed description 2.7 Program operation mode 2.7.3 Part-program interruption "Interrupted" status Channel status The STOP command is executed only if the channel concerned has status IS DB21, ... D35.5 ("channel active"). STOP commands There are various commands that stop the program execution and set the channel status to "interrupted".
Page 660 Detailed description 2.7 Program operation mode • Block search References: /BEM/ Operator's Guide HMI Embedded • Repositioning at contour (machine function REPOS) References: /BEM/ Operator's Guide HMI Embedded • Oriented tool retraction References: /PGA/ Programming Manual, Advanced • Interrupt routine (see Subsection 2.5.12) •...
Page 661 Detailed description 2.7 Program operation mode • Part program preparation is stopped immediately. • Axes and, if they exist, spindles in the channel are decelerated along a braking ramp. • Any auxiliary functions of the current block not yet output by this point are no longer output.
Page 662 Detailed description 2.7 Program operation mode The effect of commands/signals The program status can be controlled by activating different commands or interface signals. The following table shows the resulting program status when these signals are set (assumption: status before the signal is set -> Program status running). Table 2-3 Effect on program status Program execution statuses...
Page 663 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 664 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 left-hand side of the table shows the channel and program statuses and the mode groups from which the initial situation can be selected.
Page 665 Detailed description 2.7 Program operation mode 2.7.8 Part-Program Start Start handling Table 2-5 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 RESET state...
Page 666 Detailed description 2.7 Program operation mode 2.7.9 Example of timing diagram for a program run Signal sequences Figure 2-8 Examples of signals during a program run Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 667 Detailed description 2.7 Program operation mode 2.7.10 Program section repetitions 2.7.10.1 Overview Function The program section repetition allows the repetition of any labeled section of a part program. For more information on labels, please see: References: /PG/ Programming Manual Fundamentals; Program Jumps and Program Repetitions Definition options of part program sections The program repetition offers various options for defining a part program section that is supposed to be repeated:...
Page 668 Detailed description 2.7 Program operation mode 2.7.10.2 Individual part program block Functionality Via REPEATB (B=Block) in part program block N150, the part program processing branches to the part program block N120 that is labeled START_1. This is repeated x number of times. If P is not specified, the program section is repeated exactly once.
Page 669 Detailed description 2.7 Program operation mode 2.7.10.3 A part program section after a start label Functionality Via REPEAT in part program block N150, the part program processing branches to the part program block N120 that is labeled START_1. This part program block and all of the following part program blocks (N130 and N140) are repeated x number of times up to the part program block that contains the REPEATinstruction (N150).
Page 670 Detailed description 2.7 Program operation mode 2.7.10.4 A part program section between a start label and end label Functionality Via REPEAT in part program block N160, the part program processing branches to the part program block N120 that is labeled START_1 with a start label. This part program block and all the part program blocks up to and including the part program block marked with the end label END_1 (N140) are repeated x number of times.
Page 671 Detailed description 2.7 Program operation mode 2.7.10.5 A part program section between a Start label and the key word: ENDLABEL Functionality Via REPEAT in part program block N150, the part program processing branches to the part program block N120 that is labeled START_1 with a start label. This part program block and all the part program blocks up to and including the part program block marked with the key word ENDLABEL (N140) are repeated x number of times.
Page 672 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 673 Detailed description 2.7 Program operation mode Event Part program start Table 2-6 Sequence when starting a part program Sequence Command Boundary conditions Comments (must be satisfied before the command) Channel selection: Initial state specification: Select channel and mode Reset status Channel in Reset status Channel: in reset status and Mode selection:...
Page 674 Detailed description 2.7 Program operation mode Event Part program end Table 2-7 Sequence at part program end Sequence Command Boundary conditions Comments (must be satisfied before the command) Channel selection: Initial state specification: Select channel and mode, Active status Channel in Active status channel: in active status and Mode selection: mode:...
Page 675 Detailed description 2.7 Program operation mode Event Operator panel reset Table 2-8 Processing sequence in operator panel reset Sequence Command Boundary conditions Comments (must be satisfied before the command) Selection of channel and mode: Initial state: Any mode, any Select mode / channel status channel status from any state...
Page 676 Detailed description 2.7 Program operation mode Event Startup Table 2-9 Sequence with Powerup 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 ramp up: the reset sequence with MD20150 $MC_ Reset sequence with evaluation...
Page 677 Detailed description 2.7 Program operation mode Chronological sequences For part program start and part-program end: Time sequence of the VDI signals DB21, ... DBB35 ("program state" and "channel state") in the processing of a parts program with event-controlled program call during part program start and part program end: Part _N_PROG_...
Page 678 Detailed description 2.7 Program operation mode In case of opertor panel reset (SW 6.3 and higher): Time sequence of the VDI signals DB21, ... DBB35 ("program status" and "channel status") while processing with event-controlled program call: Operator panel _N_PROG_ _N_PROG_ EVENT_SPF front reset EVENT_SPF...
Page 679 Detailed description 2.7 Program operation mode Special points to be noted The following must be noted for user program _N_PROG_EVENT_SPF: • It is run with the lowest priority and can, therefore, be interrupted by the user ASUB. • The PLC can be advised of the processing status of _N_PROG_EVENT_SPF via user M functions.
Page 680 Detailed description 2.7 Program operation mode Bit 2 = 1 is set after operator panel Reset event Bit 3 = 1 is set after Power-up event Bit 4 = 1 is set after first start after search run event For Bit0 = 1 (program event after part program start) the following limitation applies: If the program event ends with the part program command "RET", then RET always leads to an executable block (analogous to M17).
Page 681 Detailed description 2.7 Program operation mode Event programs Example for call by all events For MD20108 $MC_PROG_EVENT = 'H0F' (event-controlled program call), i.e., call of _N_PROG_EVENT_SPF during part program start, part program end and operator panel reset Power-up: PROC PROG_EVENT DISPLOF Sequence for part program start IF ($P_PROG_EVENT == 1) Initialize GUD variable...
Page 682 Detailed description 2.7 Program operation mode Example for call of operator panel reset For MD20108 $MC_PROG_EVENT = 'H04' PROC PROG_EVENT DISPLOF Deactivate DRF offsets N10 DRFOF N20 M17 Start with RESET key The part program is automatically started with the RESET key, whose name is there in In MD11620 $MN_PROG_EVENT_NAME (program name of PROG_EVENT) and was saved in one of the following directories /_N_CUS_DIR/...
Page 683 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 section is designated as a stop-delay section and is activated/deactivated via language commands: •...
Page 684 Detailed description 2.7 Program operation mode Stop event • A stop event can be triggered by the following Event Classification VDI interface signals from the PLC "Hard" stop event Alarms with NOREADY response "Hard" stop event Stop key "Soft" stop event Read-in disable "Soft"...
Page 685 Detailed description 2.7 Program operation mode NCK events Response Stop criteria SINGLEBLOCKSTOP delayed In the stop delay area: NC stops at the end of the 1st block outside the stop delay area. Sinlge block is active before the stop delay area: IS: "NC Stop at block limit"...
Page 686 Detailed description 2.7 Program operation mode 2.7.13 Asynchronous Subroutines (ASUBs), Interrupt Routines Overview Interrupt inputs allow the NC to interrupt the current NC processing operation so that it can react to more urgent events in interrupt routines or ASUBs. Note Interrupt routines can be called if the mode group is in program operation mode, i.e., in cases where part program blocks are being processed in either AUTOMATIC or in MDA mode.
Page 687 Detailed description 2.7 Program operation mode Interrupt routines/ASUBs Term Identical functionality is identified by the terms ASUB and Interrupt routines. In the following text therefore, only the term interrupt routine is now used. • 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 688 Detailed description 2.7 Program operation mode Parameterization by SETINT An interrupt signal must be assigned to the part programs via NC instruction SETINT. This turns the part program into an interrupt routine. The following parameters can still be used in the SETINT instruction: •...
Page 689 Detailed description 2.7 Program operation mode Processing of interrupt routine The "Interrupt" program is automatically started on completion of reorganization. It is treated as a normal subroutine by the system (nesting depth etc.) and is also displayed on the operator panel front. End of interrupt routine After the end identifier (M02, M30 M17) of the "Interrupt"...
Page 690 Detailed description 2.7 Program operation mode Clear assignment The assignment interrupt signal <-> part program is cleared when the following happens: • Channel in Reset state • CLRINT instruction in part program. For additional information on interrupt handling with regard to SETINT, DISABLE, ENABLE, CLRINT and REPOS (e.g.
Page 691 Detailed description 2.7 Program operation mode Details Explicit ASUB start If MD11602 $MN_ASUP_START_MASK (ignore stop reasons for ASUP) 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 (priorities effective from the ASUP START SCREEN) can be used to specify the minimum priority level that the settings...
Page 692 Detailed description 2.7 Program operation mode NC response The following table describes the NC response in the individual operational states: Status of NC Start of ASUB Control system reaction Program is active Interrupt, (PLC) Rapid retraction or stop axes Interruption of program for duration of ASUB Approach to interruption point if ASUB contains REPOS Continuation of part program.
Page 693 Detailed description 2.7 Program operation mode ASUB activation ASUBs can also be activated by using synchronized actions to set outputs that enable the input of the interrupt indirectly by short-circuit. Example: 1. Define number of active digital I/Os FASTIO_DIG_NUM_INPUTS=3 FASTIO_DIG_NUM_OUTPUTS=3 2.
Page 694 Detailed description 2.7 Program operation mode ASUB with REPOSA An ASUB with REPOSA can be initiated in the AUTOMATIC status. Example: ASUP program N10 G0 G91 N20 Y10 N30 X20 N40 REPOSA If an ASUP is started during block search after the output of the accumulated part program blocks, the NCK stops before executing the REPOSA block and the following interface signal is set: NST DB21, ...
Page 695 Detailed description 2.7 Program operation mode Cross-mode Start of ASUBs Requirements: • Option: Cross-mode actions (Order no.: 6FC5 251-0AD04-0AA0) • MD11602 $MN_ASUP_START_MASK, at least Bit 0 = 1 For error-free execution of the function, the following settings in particular must be noted: •...
Page 696 Detailed description 2.7 Program operation mode The following diagram illustrates which routines are used: NCK system SW ASUP_EDITABLE User SW _N_ASUP_SPF System System ASUB ASUB REPOS System User ASUB REPOS User System REPOS ASUB Value stored in MD 11610 Figure 2-14 Replacing system ASUBs with user routines Installation of user system ASUBs One routine named _N_ASUP_SPF can be loaded in directory _N_CUS_DIR.
Page 697 Detailed description 2.7 Program operation mode The significance of the bits of system variable $AC_ASUP is as follows: Significance User interrupt "ASUB with Blsync" Continuation: Freely selectable REORG or RET User interrupt "ASUP"; The position at which it was stopped is stored for continuation with REPOS.
Page 698 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. Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 699 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 700 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 701 Detailed description 2.8 Single block SBLOF in the program SBLOF alone must remain in the block. Single-block stop is deactivated from this block onwards up to the next programmedSBLON or up to the end of the active subroutine level. If SBLOF is active, then this definition is also valid in the called subroutines. SBLON Example for an area in single block mode The area between N20 and N60 is executed as one step in single-block mode.
Page 702 Detailed description 2.8 Single block Cycle Example 1:A cycle is to act like a command for a user. Main program: N10 G1 X10 G90 F200 N20 X-4 Y6 N30 CYCLE1 N40 G1 X0 N50 M30 Program cycle:1 ; Suppress single block N100 PROC CYCLE1 DISPLOF SBLOF N110 R10=3*SIN(R20)+5 N120 IF (R11 <= 0)
Page 703 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 (Prevent single block stop) setting bits 0 to 12 = 1 can suppress stopping at the end of the block during the following machining processes.
Page 704 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 705 Detailed description 2.9 Program control Type B, NST DB11, ... DBX1.6=1 (single block type B) - 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 NST DB21, ...
Page 706 Detailed description 2.9 Program control 2.9.1 Function selection (via operator panel front or PLC) Operator interface or PLC The user can control part program execution via the operator panel front or PLC. Selection, activation, feedback Selection Different functions are available under the Program control soft key. Selection affects an interface signal in the PLC.
Page 707 Detailed description 2.9 Program control 2.9.2 Activation of skip levels /, /0, ... /9 It is possible to skip blocks, which are not to be executed every time the program runs. Blocks to be skipped are indicated in the part program by an oblique "/" before the block number.
Page 708 Detailed description 2.9 Program control 2.9.3 Adapting the size of the interpolation buffer MD28060 The channelspecific interpolator executes prepared blocks from the interpolation buffer during the part program run. The maximum number of blocks requiring space in the interpolation buffer at any given point in time is defined by the memory configuring MD28060 $MM_IPO_BUFFER_SIZE (number of NC blocks in the IPO buffer (DRAM)).
Page 709 Detailed description 2.9 Program control Validity SD42990 $SC_MAX_BLOCK_IN_IPOBUFFER has global, channel-specific validity and can also be modified in a part program. This modified value is maintained at program end. If this setting data is to be reset again on defined events, a so-called event-driven program must be created to do this.
Page 710 Detailed description 2.9 Program control 2.9.4 Program display modes via an additional basic block display Basic block display (only for ShopMill/ShopTurn) A second socalled basic block display can be used with the existing block display to show all blocks that produce an action on the machine. Look Ahead basic block display The actually approached end positions are shown as an absolute position.
Page 711 Detailed description 2.9 Program control 2.9.5 Basic block display for ShopMill/ShopTurn Configure basic block display The basic block display can be configured via the following machine data: NCK machine data for basic block display Significance: MD28400 $MC_MM_ABSBLOCK Activate basic block display MD28402 Size of display buffer $MC_MM_ABSBLOCK_BUFFER_CONF[2]...
Page 712 Detailed description 2.9 Program control Constraints If the length of a display block configured in MD28400 $MC_MM_ABSBLOCK is exceeded, this display block is truncated accordingly. This is represented by string "..." at the end of the block. For preprocessed cycles (MD10700 $MN_PREPROCESSING_LEVEL > 1), the display block contains only axis positions.
Page 713 Detailed description 2.9 Program control Behavior while the compressor is active With active compressor and G/Code group 30 not equal to COMPOF, two display blocks are generated. The • first contains the G/Code of the active compressor. • The second contains the string "..." as character for missing display blocks. Example: Block to be preprocessed for the basic block G0 X10 Y10 Z10...
Page 714 Detailed description 2.9 Program control 2.9.6 Structure for a DIN block Structure of display block for a DIN block Basic structure of display block for a DIN block • Block number/label • G function of first G group (only when altered as compared to the last machine function block). •...
Page 715 Detailed description 2.9 Program control Examples Comparisons between display block (original block) and basic block display: • Programmed positions are displayed in absolute terms. The addresses AP/RP are displayed with their programmed values. Original block: Display block: N10 X10.123 N10 G90 X10.123 N20 X11.123 N20 G91 X1 •...
Page 716 Detailed description 2.9 Program control If several spindles were configured, then the address expansion is always output with them. If no address expansion has been programmed, the number of the master spindle is used (S<spindle_number>=). • Indirect G code programming in form G[ <group> ] = <printout> is substituted by the corresponding G code.
Page 717 Detailed description 2.9 Program control 2.9.7 Execution from external Function The "Execution from external" function can be used to execute programs that cannot be saved directly in the NC memory due to memory shortage from an external program memory. External program memory Depending on the system (SINUMERIK solution line/powerline), the available user interface (HMI sl/HMI Advanced/HMI Embedded) and the acquired options, external program memories may be stored on the following data carriers:...
Page 718 Detailed description 2.9 Program control Applications • Direct execution from external programs In principle, any program that is accessible via the directory structure of the interface in the "Execution from external" HMI mode can be selected and executed. • Execution of external sub-programs from the part program The external subroutine is called through the part program command EXTCALL with specification of a call path (optional) and the subroutine identifier (→...
Page 719 Detailed description 2.9 Program control 2.9.8 Execution from external subroutines Function Individual machining steps for producing complex workpieces may involve program sequences that require so much memory they cannot be stored in the NC memory. In such cases, the user has the option of executing the program sequences as subroutines from an external program memory in the "Execution from external source"...
Page 720 Detailed description 2.9 Program control Programming An external subroutine is called by means of parts program command EXTCALL. Syntax: EXTCALL ("<path/program_name>") Parameter: Path / program name: The path name is optional, i.e., the absolute path (or a relative path) or only the program name (subroutine identifier) can be specified.
Page 721 Detailed description 2.9 Program control Examples 1. Execution from local hard disk System: SINUMERIK solution line/powerline with HMI Advanced The "_N_MAIN_MPF" main program is stored in NC memory and is selected for execution: N010 PROC MAIN N020 ... N030 EXTCALL ("ROUGHING") N040 ...
Page 722 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- 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 723 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start Procedure Select the desired system response. • After power-up (POWER ON) MD20110 $MC_RESET_MODE_MASK, Bit 0 = 0 or 1 Run-up (POWER ON) Bit 0=1 - Transformation active MD 20110: in MD 20140 RESET_MODE_MASK - Geo axis replacement active...
Page 724 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start • After power-up (POWER ON) MD20110 $MC_RESET_MODE_MASK, Bit 0 = 0 or 1 Bits 4 - 13 can be combined optionally. Figure 2-17 System settings after RESET/part program end and part program start Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 725 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-13 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 726 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-14 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 727 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-16 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 728 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start MD20152 $MC_GCODE_RESET_MODE In SW 5 and higher, MD20152 $MC_GCODE_RESET_MODE replaces Bits 4 and 5 from MD20110 $MC_RESET_MODE_MASK. In addition, the setting options are expanded: Up to and including SW 4 the following applies to Bits 4 and 5 of MD20110 $MC_RESET_MODE_MASK: Bit 4: Level control Bit 5: Control of settable frames...
Page 729 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start Application If a bit is set in MD20112 $MC_START_MODE_MASK, the reset action of the relevant function can be delayed until the start of the part program. Table 2-17 Effect of MD20112 $MC_START_MODE_MASK Bits 1 to 7 Bit 1 = 1 Bit 2 = 1...
Page 730 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start Table 2-19 Effect of MD20112 $MC_START_MODE_MASK Bits 13 to 17 Bit 13 = 1 Bit 14 = 1 Bit 15 = 1 Bit 16 = 1 Bit 17 = 1 Guide value reserved for reserved for...
Page 731 Detailed description 2.10 System settings for power-up, RESET/part-program end and part-program start MD20152 $MC_GCODE_RESET_MODE (Reset behavior of G groups) GCODE initial setting during RESET MD20152 specifies for each entry in MD20150 $MC_GCODE_RESET_VALUES whether the setting in accordance with MD20150 $MC_GCODE_RESET_VALUES is taken again (entry in MD20152=0) or the current setting is retained (entry in MD20152=1).
Page 732 Detailed description 2.11 Subroutine call through NC language replacement 2.11 Subroutine call through NC language replacement 2.11.1 Generally for replacement of NC language commands Function NC functions can be adjusted easily to changed environment conditions if they are replaced by subroutines. More complex tasks can be implemented there without having to change the programming of the part program.
Page 733 Detailed description 2.11 Subroutine call through NC language replacement Replacement of spindle-related NC language commands In case of active synchronous spindle coupling, the following machine data $MD30465 $MA_AXIS_LANG_SUB_MASK (substitution of NC language commands) can be used to replace the following spindle-related functions: •...
Page 734 Detailed description 2.11 Subroutine call through NC language replacement 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 735 Detailed description 2.11 Subroutine call through NC language replacement Boundary conditions The following boundary conditions are applicable to subroutine calls with M Function: • Only one function may be replaced for each part program line. • A subroutine call must not be superimposed on M functions with predetermined significance.
Page 736 Detailed description 2.11 Subroutine call through NC language replacement 2.11.3 Replacement of tool programming 2.11.3.1 T- and D/DL 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 737 Detailed description 2.11 Subroutine call through NC language replacement Configurable call time in D/T function replacement The time of the call of the replacement subroutine can be parameterized as follows: MD10719 Bit 1 MD10719 Bit 2 Timing of call of replacement subroutine At block end (default) At block start At block start and block end...
Page 738 Detailed description 2.11 Subroutine call through NC language replacement Example of T function replacement MD22550 $MC_TOOL_CHANGE_MODE = 0 ;Tool change with T function MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0 MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" ;T replacement cycle N110 D1 ; D1 is active N120 G90 G0 X100 Y100 Z50 ;...
Page 739 Detailed description 2.11 Subroutine call through NC language replacement Boundary conditions M and T functions for tool change in a block If, in addition to the M function replacement with parameter transfer, a T function replacement was configured, the following behavior is applicable in case of a conflict, i.e., T and M function for tool change are in one block: •...
Page 740 Detailed description 2.11 Subroutine call through NC language replacement 2.11.3.3 Parameter transfer during replacement of tool programming Rules for parameter transfer The following basic procedure applies when transferring parameters to the replacement cycle: • If one of the above-mentioned replacements is active, then all the information required for the tool offset selection (T, D or DL, M function for tool change, address extensions) is transferred to the replacement subroutine.
Page 741 Detailed description 2.11 Subroutine call through NC language replacement System variable for the transfer parameters of the M, T and D/D functions The programmed values for the transfer to the replacement subroutine can be read using the following system variable: System variable Remarks $C_T_PROG...
Page 742 Detailed description 2.11 Subroutine call through NC language replacement Example of tool change with M6 is active and MD10719 $MN_ T_NO_FCT_CYCLE_MODE= 0 MD10719 $MN_T_NO_FCT_CYCLE_MODE = 0 (parameterization of T function replacement) MD10717 $MN_T_NO_FCT_CYCLE_NAME = "MY_T_CYCLE" (name of tool change for T function replacement);...
Page 743 Detailed description 2.11 Subroutine call through NC language replacement 2.11.3.4 Example of M/T function replacement for tool change Configuration example of call of subroutine SUB_M6 through M6 with parameter transfer MD10715 $MN_M_NO_FCT_CYCLE[2] = 6 MD10716 $MN_M_NO_FCT_CYCLE_NAME[2] = "SUB_M6" MD10718 $MN_M_NO_FCT_CYCLE_PAR = 2 Program example of tool change with M function replacement PROC MAIN N10 T1 D1 M6...
Page 744 Detailed description 2.11 Subroutine call through NC language replacement Programming with main and replacement subroutine ; Main program N410 G01 F1000 X10 T1 = 5 D1 ; Replacement subroutine N1000 PROC D_T_SUB_PROG DISPLOF SBLOF ; Scan whether address T has been programmed N4100 IF $C_T_PROG==TRUE ;...
Page 745 Detailed description 2.11 Subroutine call through NC language replacement 2.11.3.5 Conflict resolutions for multiple replacements 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 746 Detailed description 2.11 Subroutine call through NC language replacement 2.11.4 Spindle-related replacements during active synchronous spindle coupling 2.11.4.1 Select spindle-related NC functions/language commads Function In active synchronous spindle coupling, the following replacements can be executed for the leading spindle of this coupling: MD30465 $MA_AXIS_LANG_SUB_MASK Bit 0 = 1: Automatic gear stage change with M40 and directly with M41 to M45 Bit 1 = 1: Spindle positioning with SPOS, SPOSA and M19...
Page 747 Detailed description 2.11 Subroutine call through NC language replacement Call of the replacement subroutine at block start or block end The call time during programmed gear stage change with M41 to M45 and during spindle positioning with M19 depends on the output response of this auxiliary function to the PLC. In case of output of •...
Page 748 Detailed description 2.11 Subroutine call through NC language replacement 2.11.4.2 Gear step change in active synchronous spindle coupling Function If a gear stage change is pending for the leading spindle of an active synchronous spindle coupling, the a replacement subroutine can be called for the transmission of the gear stage change.
Page 749 Detailed description 2.11 Subroutine call through NC language replacement Transfer of the data required for the replacement to the replacement subroutine The values required for the replacement can be read in the replacement subroutine through the following system variable. System variable Signifcance $P_SUB_AXFCT Query on the replacement type...
Page 750 Detailed description 2.11 Subroutine call through NC language replacement Example S1 is the leading spindle and S2 is the following spindle: Typically, the machine manufacturer, is aware of the following spindle(s) that are affected by a gear stage change in case of a double spindle, and addresses these spindles directly. N1000 PROC LANG_SUB DISPLOF SBLOF ;...
Page 751 Detailed description 2.11 Subroutine call through NC language replacement 2.11.4.3 Positioning spindle during active synchronous spindle coupling Function A replacement subroutine can be called if the leading spindle of an active synchronous spindle coupling is to be positioned with SPOS, SPOSA or M19. With the help of this replacement subroutine •...
Page 752 Detailed description 2.11 Subroutine call through NC language replacement Transfer of the data required for the replacement to the replacement subroutine The values required for the replacement can be read in the replacement subroutine through the following system variable. System variable Significance $P_SUB_AXFCT Query on the replacement type...
Page 753 Detailed description 2.11 Subroutine call through NC language replacement Example S1 is the leading spindle and S2 is the following spindle: Typically, the machine manufacturer is aware of the following spindles that are affected in spindle positioning in case of a double spindle, and addresses these spindles directly. N1000 PROC LANG_SUB DISPLOF SBLOF N2100 IF($P_SUB_AXFCT==2) ;Replacement due to SPOS/SPOSA/M19 command during active synchronous spindle...
Page 754 Detailed description 2.11 Subroutine call through NC language replacement Example of replacement subroutine for spindle positioning Using the system variables $P_SUB_LA and $P_SUB_CA N1000 PROC LANG_SUB DISPLOF SBLOF ; Auxiliary memory for leading axis / leading spindle N1010 DEF AXIS _LA ;...
Page 755 Detailed description 2.11 Subroutine call through NC language replacement N2410 ELSE ; Query next replacement N2420 N3300 ENDIF N9999 RET LABEL_ERR: SETAL(61000) 2.11.4.4 Sequence of replacement subroutines from the interpretation time Call of spindle-related replacements at block start and block end if a spindle-related replacement function is determined in an active synchronous spindle coupling by the leading spindle in the part program, then a replacement subroutine is called.
Page 756 Detailed description 2.11 Subroutine call through NC language replacement Sequence of a replacement program for a gear stage change at block end The leading spindle is located in an active synchronous spindle coupling. The part program line that leads to calling the replacement subroutine is executed first, without the gear stage change.
Page 757 PLC. The auxiliary function is only output if it is programmed again in the replacement cycle. The replacements are active even in the ISO dialect mode Replacement subroutines are basically executed in the Siemens Standard Mode. A replacement subroutine called in the ISO Dialect Mode is reset to the original language mode.
Page 758 Detailed description 2.11 Subroutine call through NC language replacement Block-search response The replacement subroutines are executed as in the normal program mode in case of block search with calculation and SERUPRO. Boundary condition for replacement subroutines The following boundary conditions apply to replacement subroutines: •...
Page 759 Detailed description 2.12 Program runtime/workpiece counter 2.12 Program runtime/workpiece counter 2.12.1 Function The functions: "Program runtime" and "Workpiece counting" are not identical to the corresponding tool management functions, but are intended to support machines, which have no explicit tool management. 2.12.2 Program runtime Function...
Page 760 Detailed description 2.12 Program runtime/workpiece counter Channelspecific system variable The following channel-specific system variables are available Several channel-specific system variable are available and can be activated via machine data. Each active runtime measurement is interrupted automatically by a program status "Program running"...
Page 761 Detailed description 2.12 Program runtime/workpiece counter Examples • Activating the runtime measurement for the active NC program (no measurement with active dry run feedrate and program testing): $MC_PROCESSTIMER_MODE = 'H2' • Activating the measurement for the tool action time (measurement also with dry run feedrate and program testing): $MC_PROCESSTIMER_MODE = 'H34' •...
Page 762 Detailed description 2.12 Program runtime/workpiece counter 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 Significance $AC_REQUIRED_PARTS is active Alarm/VDI output with: $AC_REQUIRED_PARTS == $AC_ACTUAL_PARTS Alarm/VDI output with: $AC_REQUIRED_PARTS == $AC_SPECIAL_PARTS $AC_TOTAL_PARTS is active With M2 / M30: $AC_TOTAL_PARTS += 1...
Page 763 Detailed description 2.12 Program runtime/workpiece counter Examples Activation of workpiece counter $AC_REQUIRED_PARTS MD27880 $MC_PART_COUNTER = 'H3' (activation of the workpiece counter) 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 (workpiece counting with user-defined M command) For each M02: $AC_TOTAL_PARTS += 1 Note: $MC_PART_COUNTER_MCODE[0] has no significance.
Page 764 Detailed description 2.12 Program runtime/workpiece counter Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 765 Supplementary conditions There are no supplementary conditions to note. Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 766 Supplementary conditions Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 767 Examples The examples appear with the descriptions in the individual sections of the function descriptions. Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 768 Examples Basic logic functions: Mode group, channel, program operation, reset response (K1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 769 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 770 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 771 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 772 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 773 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 774 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 775 Data lists 5.1 Machine 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 30465...
Page 776 Data lists 5.2 Setting data Setting data 5.2.1 Channelspecific setting data Number Identifier: $SC_ Description 42000 THREAD_START_ANGLE Start angle for thread 42010 THREAD_RAMP_DISP Starting and deceleration distance of feed axis in thread cutting 42100 DRY_RUN_FEED Dry run feedrate 42200 SINGLEBLOCK2_STOPRE Activate debug mode for SBL2 42444 TARGET_BLOCK_INCR_PROG...
Page 777 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 NC DB number Byte.Bit Description 56.1 EMERGENCY STOP 5.3.3 Signals to NC DB number Byte.Bit Description 56.1 EMERGENCY STOP 5.3.4 Signals to NC DB number Byte.Bit Description...
Page 778 Data lists 5.3 Signals 5.3.6 Signals to NC DB number Byte.Bit Description 56.1 EMERGENCY STOP 5.3.7 Signals from axis/spindle DB number Byte.Bit Description 31, ... 70.0 REPOS offset 31, ... 70.1 REPOS offset valid 31, ... 70.2 REPOS Delay Ack 31, ...
Page 779 Index Cascaded, 34 Time sequence of types 1, 2 and 4, 34 with calculation at block end point (type 4), 33 with calculation at the contour (type 2), 33 $AC_ACTUAL_PARTS, 179 with calculation in program test mode, SERUPRO $AC_REQUIRED_PARTS, 179 (type 5), 33 $AC_SPECIAL_PARTS, 180 without calculation (type 1), 33...
Page 780 Index DBX4.4, 88 DBX46.4, 20 Calling the ASUB outside program operation, 116 DBX46.5, 20 Cascaded block search, 40 DBX5.0, 17 Channel DBX5.1, 17 Change in configuration, 23 DBX5.2, 17 Configuration, 23 DBX6.0, 16, 19 -display status, 93 DBX6.1, 16, 19 Initial setting, 85 DBX6.2, 16, 19 Path interpolator, 22...
Page 781 Index DBX35.2, 92 DBX35.3, 30, 90, 92 Feed stop, 93 DBX35.4, 92, 106 FIFO Buffer, 141 DBX35.5, 89, 93 Function selection (via operator panel front or DBX35.6, 88, 93 PLC), 130 DBX35.7, 88, 91, 93 DBX36.6, 38 DBX36.7, 38 DBX6.1, 120 DBX7.0, 88 G groups, 85 DBX7.1, 27, 28, 30, 35, 90...
Page 782 Index MD10715, 153, 155, 159, 161 MD22510, 85 MD10716, 153, 155, 158, 159 MD22550, 159, 162, 163 MD10717, 154, 157, 158, 162, 163 MD22560, 157, 161 MD10718, 154, 159, 161 MD22600, 63 MD10719, 154, 157, 158, 160 MD22601, 64, 78 MD10719, 163 MD22620, 50, 82 MD10735, 18, 19...
Page 783 Index NC language scope can be configured via MD, 85 Rapid traverse, 179 NEWCONF_PREP_STOP, 112 Reaching simulated target point for LEAD with JOG, 77 Read-in disable, 93 Reorganizing, 115 Replace system ASUB via user ASUB, 121 Operating modes Replacement of addresses Interlocks, 21 T and D/DL at block start, 163 monitoring functions, 20...
Page 784 Index serurpoMasterChan, 67 Subroutine calls SET_USER_DATA, 112 with M, T, D/DL auxiliary functions, 153 SETINT, 114 System variable Single block, 93 Channel-specific, 178 Channel classification, 129 NCK-specific, 178 do not stop, depending on the situation, 128 SYSTEM_SHUTDOWN, 112 Program operation mode, 28 -reactivate suppression in the ASUB, 128 SBL1, 124 SBL2, 124...
Page 785 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 786 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 787 Table of contents Brief description ............................7 Axes ...............................7 Coordinate systems ........................9 Frames ............................11 Detailed description ..........................15 Axes .............................15 2.1.1 Overview ............................15 2.1.2 Machine axes ..........................17 2.1.3 Channel axes ..........................18 2.1.4 Geometry axes..........................18 2.1.5 Replaceable geometry axes ......................19 2.1.6 Special axes..........................24 2.1.7 Path axes .............................24...
Page 788 Table of contents 2.4.3.3 NCU global frames........................64 2.4.4 Frame chain and coordinate systems ..................64 2.4.4.1 Overview ............................. 64 2.4.4.2 Configurable SZS........................66 2.4.4.3 Manual traverse in the SZS coordinate system ................68 2.4.4.4 Suppression of frames ........................ 69 2.4.5 Frame chain frames ........................
Page 789 Table of contents Setting data ..........................152 5.2.1 Channelspecific setting data ......................152 System variables........................153 Signals ............................155 5.4.1 Signals from channel .........................155 5.4.2 Signals to axis/spindle .......................155 5.4.3 Signals from axis/spindle ......................155 Index..............................157 Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 790 Table of contents Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 791 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 792 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 793 Brief description 1.2 Coordinate systems Axis container An axis container is a circular buffer data structure, in which local axes and/or link axes are assigned to channels. The entries in the circular buffer can be shifted cyclically. In addition to the direct reference to local axes or link axes, the link axis configuration in the logical machine axis image also allows references to axis containers.
Page 794 Brief description 1.2 Coordinate systems The settable zero system (SZS) is the workpiece coordinate system with a programmable frame from the viewpoint of the WCS. The workpiece zero is defined by the settable frames G54 to G599. The workpiece coordinate system (WCS) has the following properties: •...
Page 795 Brief description 1.3 Frames Frames FRAME A FRAME is a closed calculation rule that translates one Cartesian coordinate system into another. FRAME components Figure 1-1 FRAME components A FRAME consists of the following components: FRAME components Programmable with: Offset Rough offset TRANS ATRANS (additive translation component) CTRANS (zero offset for multiple axes)
Page 796 Brief description 1.3 Frames Rough and fine offsets The translation component of FRAMES comprises: • Rough offset with TRANS, ATRANS and CTRANS The rough offset is normally specified by the machine setter. The programmable offsets for all geometry axes and special axes are specified with TRANS.
Page 797 Brief description 1.3 Frames Mirroring The axis to be mirrored can be set via the following machine data: MD10610 MIRROR_REF_AX (reference axis for the mirroring) Value Significance Mirroring is performed around the programmed axis. 1, 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 798 Brief description 1.3 Frames NCU global basic frames For rotary indexing machine technology, for example, a channel must be used to define frames for other channels. These cross-channel frames are shown in the "NCU global basic frames" below. Properties of the NCU global basic frames: •...
Page 799 Detailed description Axes 2.1.1 Overview Figure 2-1 Relationship between geometry axes, special axes and machine axes Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 800 Detailed description 2.1 Axes Figure 2-2 Local and external machine axes (link axes) Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 801 Detailed description 2.1 Axes 2.1.2 Machine axes Meaning Machine axes are the axes that actually exist on a machine tool. Figure 2-3 Machine axes X, Y, Z, B, S on a Cartesian machine Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 802 Detailed description 2.1 Axes Application The following can be machine axes: • Geometry axes X, Y, Z • Orientation axes A, B, C • Loader axes • Tool turrets • Axes for tool magazine • Axes for automatic tool changer •...
Page 803 Detailed description 2.1 Axes 2.1.5 Replaceable geometry axes Significance The "Replaceable geometry axes" function allows the geometry axes in a grouping to be replaced by other channel axes. Axes that are initially configured as synchronous special axes in a channel can replace any selected geometry axis in response to a program command.
Page 804 Detailed description 2.1 Axes Supplementary conditions As a basic rule, any channel axis designated as a geometry axis can be replaced by another channel axis. In this case, the following restrictions apply: • Rotary axes may not be programmed as geometry axes. •...
Page 805 Detailed description 2.1 Axes RESET The reset behavior of the changed geometry axis assignment is defined with the following machine data: MD20110 $MC_RESET_MODE_MASK (definition of initial control system settings after RESET/TP-End) MD20118 $MC_GEOAX_CHANGE_RESET (allow automatic geometry axis change) MD20110 $MC_RESET_MODE_MASK Value Significance In case of set machine data MD20118 $MC_GEOAX_CHANGE_RESET (allow...
Page 806 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 A changeover of the geometry axis with GEOAX( ) can be communicated to the PLC through the output of an M code: MD22532 $MC_GEOAX_CHANGE_M_CODE (M-Code during tool holder change) Note...
Page 807 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 808 Detailed description 2.1 Axes 2.1.6 Special axes Significance In contrast to geometry axes, no geometrical relationship is defined between the special axes. 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 809 Detailed description 2.1 Axes 2.1.8 Positioning axes Significance 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 810 Detailed description 2.1 Axes 2.1.9 Main axes Significance A main axis is an axis that is interpolated by the main run. This interpolation can be started as follows: • From synchronized actions (as command axes due to an event via block-related, modal or static synchronized actions) •...
Page 811 Detailed description 2.1 Axes 2.1.10 Synchronized axes Significance 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 812 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) Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 813 Detailed description 2.1 Axes 2.1.11 Axis configuration Allocation The figure below shows the assignment between the geometry axes, special axes, channel axes and machine axes as well as the names of the individual axis types. MD are used for assignment. Figure 2-4 Axis configuration Basic logic functions: Axes, coordinate systems, frames (K2)
Page 814 Detailed description 2.1 Axes Note Leading zeroes in user-defined axis identifiers are ignored. Example: MD10000 `$MN_AXCONF_MACHAX_NAME_TAB[0] = X01 corresponds to X1 The geometry axes must be assigned to the channel axes in ascending order leaving no gaps. Special points to be noted •...
Page 815 Detailed description 2.1 Axes Reliability of channel axis gaps Channel axis gaps must be communicated explicitly through the following machine data: MD11640 $MN_ENABLE_CHAN_AX_GAP (channel axis gaps are allowed in AXCONF_MACHAX_USED) If this is not carried out, an entry of 0 prevents other machine axes being assigned to channel axes in the following machine data: MD20070 $MC_AXCONF_MACHAX_USED (machine axis number valid in channel) References:...
Page 816 Detailed description 2.1 Axes Note The gaps count as axes with reference to the number of channel axes and their indices. If the following machine data is used to try to define a channel axis gap with the geo axis, then the attempt is rejected without an alarm: MD20050 $MC_AXCONF_GEOAX_ASIGN_TAB (assignment of geometry axis to channel axis)
Page 817 Detailed description 2.1 Axes Figure 2-6 Overview of link axes The link axes are described in References: /FB2/ Function Manual, 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 818 Detailed description 2.1 Axes The entry in a circular buffer location contains: • A local axis • A link axis Figure 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 819 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/Function Manual, Expansion Functions; Multiple Operator Panels on Multiple NCUs, Distributed Systems (B3) Zeros and reference points 2.2.1 Reference points in working space...
Page 820 Detailed description 2.2 Zeros and reference points Reference point R The position of the reference point R is defined by cam switches. Reference point R calibrates the position measuring system. With incremental encoders, the reference point must be approached every time the control power is switched on.
Page 821 Detailed description 2.2 Zeros and reference points 2.2.2 Position of coordinate systems and reference points Control POWER ON For incremental measuring probes, the reference point must be approached each time the control is activated so that the control can transfer all position values to the coordinate system.
Page 822 Detailed description 2.3 Coordinate systems Coordinate systems 2.3.1 Overview Cartesian coordinate systems DIN 66217 stipulates that machine tools must use right-angled, rectangular (Cartesian) coordinate systems. The positive directions of the coordainate 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 823 Detailed description 2.3 Coordinate systems Interrelationships between coordinate systems The coordinate systems are determined by the kinematic transformation and the FRAMES. A kinematic transformation is used to derive the BCS from the MCS. If no kinematic transformation is active, the BCS is the same as the MCS. The basic frame maps the BCS onto the BKS.
Page 824 Detailed description 2.3 Coordinate systems 2.3.2 Machine coordinate system (MCS) Machine coordinate system (MCS) The machine coordinate system (MCS) is made up of all physically available machine axes. Figure 2-13 MCS with machine axes X, Y, Z, B, C (5axis milling machine) Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 825 Detailed description 2.3 Coordinate systems Figure 2-14 MCS with machine axes X, Z (turning machine) 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 826 Detailed description 2.3 Coordinate systems 2.3.3 Basic coordinate system (BCS) Basic coordinate system (BCS) The basic coordinate system (BCS) consists of three mutually perpendicular axes (geometry axes) as well as other special axes, which are not interrelated geometrically. Machine tools without kinematic transformation BCS and MKS always coincide when the BCS can be mapped onto the MCS withouth kinematic transformation (e.g., TRANSMIT / face transformation, 5-axis transformation and up to three machine axes).
Page 827 Detailed description 2.3 Coordinate systems Machine tools with kinematic transformation The BCS and MCS do not coincide when the BCS is mapped onto the MCS with kinematic transformation (e.g., TRANSMIT / face transformation, 5-axis transformation or more than three axes). On such machines the machine axes and geometry axes must have different names.
Page 828 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. Figure 2-17 Zero offset external between BCS and BZS Setting the offset values The offset values are set: •...
Page 829 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 ; A new "Zero offset external" is activated by the PLC during this motion. X150 ;...
Page 830 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 831 Detailed description 2.3 Coordinate systems 2.3.5 Basic zero system (BZS) Basic zero system (BZS) The basic zero system (BZS) is the basic coordinate system with a basic offset. Figure 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 832 Detailed description 2.3 Coordinate systems Figure 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 833 Detailed description 2.3 Coordinate systems 2.3.6 Settable zero system (SZS) 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.
Page 834 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 835 Detailed description 2.3 Coordinate systems 2.3.7 Workpiece coordinate system (WCS) Workpiece coordinate system (WCS) The workpiece coordinate system (WCS) is the programming basis. Figure 2-21 Programmable FRAME between SZS and WCS Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 836 Detailed description 2.4 Frames Frames 2.4.1 Overview Frame A frame is an axis-specific structure through all channel axes, in which there is a value for each axis, for the translation, fine offset, rotation (only for geometry axes) scaling and mirroring. TRANS FINE MIRROR...
Page 837 Detailed description 2.4 Frames 2.4.2 Frame components 2.4.2.1 Translation Programming The program commands below are used to program the translation: Command Comment $P_UIFR[1] = CTRANS(x,10,y,10) Frame components $P_UIFR[1,x,tr] = 10 Prog. frame only TRANS x=10 y=10 Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 838 Detailed description 2.4 Frames 2.4.2.2 Fine offset Parameterization The corresponding fine offset parameterization takes place through the machine data: MD18600 $MN_MM_FRAME_FINE_TRANS (fine offset in FRAME (SRAM)) Value Significance The fine offset cannot be entered or programmed. Fine offset possible for settable frames, basic frames and the prog. frame via command or program.
Page 839 Detailed description 2.4 Frames 2.4.2.3 Rotations for geometry axes Function The direction of rotation about the coordinate axes is determined by means of a right-hand, rectangular coordinate system with axes X, Y and Z. Rotations 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.
Page 840 Detailed description 2.4 Frames Parameterization The corresponding rotation in frame is parameterized through the machine data: MD10600 $MN_FRAME_ANGLE_INPUT_MODE (rotation sequence in FRAME) Value Significance RPY notation Euler angle RPY angles 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 <=...
Page 841 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 842 Detailed description 2.4 Frames CRPL - Constant Rotation Plane The predefined function "Constant Rotation Plane", allows a rotation to be programmed in any plane for each frame: FRAME CRPL(INT,REAL) This method offers the advantage that no axis identifier, around which a rotation should be executed, has to be specified for a geometry coordinate axis.
Page 843 Detailed description 2.4 Frames 2.4.2.4 Scaling Programming The program commands below are used to program the scaling: $P_UIFR[1] = CSCALE(x,1,y,1) SCALE x = 1y = 1 $P_UIFR[1,x,sc] = 1 2.4.2.5 Mirroring Programming The program commands below are used to program a mirroring: $P_UIFR[1] = CMIRROR(x,1,y,1) MIRROR x = 1y = 1 $P_UIFR[1,x,mi] = 1...
Page 844 Detailed description 2.4 Frames 2.4.2.6 Chain operator Frame components or complete frames can be combined into a complete frame using the chain operator ( : ). 2.4.2.7 Programmable axis identifiers Geo, channel and machine axis identifiers can be used in the frame commands. The programmed axis must be known to the channel-specific frames in the channel.
Page 845 Detailed description 2.4 Frames 2.4.2.8 Coordinate transformation The formulae below are used to discover the coordinate transformation for geometry axes: Position vector in BCS Position vector in WCS 2.4.3 Frames in data management and active frames 2.4.3.1 Overview There are various types of frame: system frames, basic frames, settable frames and the programmable frame.
Page 846 Detailed description 2.4 Frames Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 847 Detailed description 2.4 Frames 2.4.3.2 Activating data management frames Data management frames become active frames on executing G500, G54...G599, or on resetting with the appropriate machine data setting, transformation change, GEOAX. HMI writes to the data management frame and activates the frames through a PI service during RESET.
Page 848 Detailed description 2.4 Frames 2.4.3.3 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 849 Detailed description 2.4 Frames WCS: Workpiece Coordinate System SZS: Settable Zero System BZS: Basic Zero System BCS: Basic Coordinate System MCS: Machine Coordinate System PCS: Part Coordinate System ACS: Adjustable Coordinate System FCS: Foot Coordinate System BCS: Basic Coordinate System MCS: Machine Coordinate System The current complete frame is calculated according to the formula below:...
Page 850 Detailed description 2.4 Frames $P_PFRAME : $P_ISO4FRAME : $P_CYCFRAME 2.4.4.2 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 851 Detailed description 2.4 Frames The following machine data can be used to set whether the ENS is with or without the programmable frame, the transformation frame and $P_ISO4FRAME: MD24030 $MC_FRAME_ACS_SET (setting of the ENS coordinate system) As default, the value 1 is set. Reconfiguring the SZS affects all SZS actual-value displays and the $AA_IEN[axis] system variables.
Page 852 Detailed description 2.4 Frames 2.4.4.3 Manual traverse in the SZS coordinate system Previously, geometry axes have been traversed manually in JOG mode in the WCS. In addition, there is also the option to carry out this manual operation in the SZS coordinate system.
Page 853 Detailed description 2.4 Frames 2.4.4.4 Suppression of frames Programming Comman Significance Nonmodal suppression of the following frames: System frame for cycles • Programmable frame • System frame for transformations, workpieces, TOROT and TOFRAME • Active settable frame • Nonmodal suppression of the following frames: G153 System frame for cycles •...
Page 854 Detailed description 2.4 Frames Parameterization Frame suppressions SUPA, G153 and G53 lead to the WCS, SZS and possibly the BZS jumping when frame suppression is active. This characteristic for position display and pre- defined position variables can be changed through the following machine data: MD24020 $MC_FRAME_SUPPRESS_MODE (Positions during frame suppression) Significance Positions for display (BTSS) are without frame suppression.
Page 855 Detailed description 2.4 Frames 2.4.5 Frame chain frames 2.4.5.1 Overview There are up to four frame variants: • Settable frames (G500,G54 to G599) • Basic frames • Programmable frame • System frames 2.4.5.2 Settable frames $P_UIFR[n] The number of NCU global settable frames is set through the following machine data: MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES (number of global, pre-defined user frames (SRAM)) The number can be between 0 and 100.
Page 856 Detailed description 2.4 Frames 2.4.5.3 Channel basic frames $P_CHBFR[n] The number of basic frames in the channel can be configured via the machine data: MD28081 $MC_MM_NUM_BASE_FRAMES (number of basic frames (SRAM)) The minimum configuration is designed for at least one basic frame per channel. A maximum of 16 basic frames per channel is possible.
Page 857 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. 2.4.5.4 NCU global basic frames $P_NCBFR[n] The number of global basic frames can be configured via the machine data:...
Page 858 Detailed description 2.4 Frames Programming global frames Global frames are programmed analogously, as are channel-specific frames, i.e., global basic frames are programmed with $P_NCBFR[n] and global settable frames with $P_UIFR[n]. Geometry axis, channel axis and machine axis identifiers can be used as axis identifiers for frame program commands.
Page 859 Detailed description 2.4 Frames 2.4.5.5 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 860 Detailed description 2.4 Frames 2.4.5.6 Programmable frame $P_PFRAME Programmable frames are available only as active frames. This frame is reserved for the programmer. The programmable frame can be maintained with the machine data: MD24010 $MC_PFRAME_RESET_MODE = 1 ("Reset mode for programmable frame") during RESET.
Page 861 Detailed description 2.4 Frames Axial replacement G58, G59 The translation component of the programmable frame is split into an absolute component and a component for the total of all additively programmed translations. The absolute component can be changed using TRANS, CTRANS or by writing the translation components, in which the additive component is set to zero.
Page 862 Detailed description 2.4 Frames Coarse or absolute translation Fine or additive translation TRANS X10 Unchanged alt_fine + 10 ATRANS X10 CTRANS(X,10) CTRANS() CFINE(X,10) Unchanged $P_PFRAME[X,TR] = 10 Unchanged $P_PFRAME[X,FI] = 10 Unchanged G58 X10 Unchanged G59 X10 2.4.5.7 Channelspecific system frames Channelspecific system frames System frames are only described by system functions, such as PRESET, scratching, zero offset external and oblique processing.
Page 863 Detailed description 2.4 Frames System frames in data management The system frames are stored in the static NC memory and can, therefore, be archived and reloaded. System frames in data management can be read and written in the program using the following variables: System variables Significance...
Page 864 Detailed description 2.4 Frames • $P_TOOLFRAME In the part program, the variable $P_TOOLFRAME can be used to read and write the current system frame for TOROT and TOFRAME. The variable returns a zero frame if the system frame is not configured through MD28082. •...
Page 865 Detailed description 2.4 Frames • $P_ACTFRAME The resulting current complete frame $P_ACTFRAME is now a chain of all system frames, basic frames, the current settable frame and the programmable frame. The current frame is always updated whenever a frame component is changed. The current complete frame is calculated according to the formula below: $P_ACTFRAME = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :...
Page 866 Detailed description 2.4 Frames 2.4.6 Implicit frame changes 2.4.6.1 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 867 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 868 Detailed description 2.4 Frames Machine data: $MN_FRAME_GEOAX_CHANGE_MODE = 1 $MC_AXCONF_CHANAX_NAME_TAB[0] = "CAX" $MC_AXCONF_CHANAX_NAME_TAB[1] = "CAY" $MC_AXCONF_CHANAX_NAME_TAB[2] = "CAZ" $MC_AXCONF_CHANAX_NAME_TAB[3] = "A" $MC_AXCONF_CHANAX_NAME_TAB[4] = "B" $MC_AXCONF_CHANAX_NAME_TAB[5] = "C" $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"...
Page 869 Detailed description 2.4 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 870 Detailed description 2.4 Frames TRANSMIT Transmit expansions: The machine data MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 1 MD24905 $MC_TRANSMIT_ROT_AX_FRAME_2 = 1 can be used to take the axial complete frame of the transmit rotary axis, i.e., the translation, fine offset, mirroring and scaling, into account in the transformation. 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 871 Detailed description 2.4 Frames Frame expansions: The expansions described below are only valid for the machine data $MN_FRAME_GEOAX_CHANGE_MODE = 1 $MN_FRAME_GEOAX_CHANGE_MODE = 2 The selection of transformation TRANSMIT produces a virtual geometry axis, coupled by way of the rotary axis, which is merely included in the contour frame but does not have a reference to an axial frame.
Page 872 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 873 Detailed description 2.4 Frames ; TRANSMIT is 1st transformer $MC_TRAFO_TYPE_1 = 256 $MC_TRAFO_AXES_IN_1[0] = 1 $MC_TRAFO_AXES_IN_1[1] = 6 $MC_TRAFO_AXES_IN_1[2] = 3 $MC_TRAFO_AXES_IN_1[3] = 0 $MC_TRAFO_AXES_IN_1[4] = 0 $MA_ROT_IS_MODULO[AX6] = TRUE; $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 Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 874 Detailed description 2.4 Frames ; 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 $MC_TRANSMIT_BASE_TOOL_2[0] = 4.0 $MC_TRANSMIT_BASE_TOOL_2[1] = 0.0 $MC_TRANSMIT_BASE_TOOL_2[2] = 0.0 $MC_TRANSMIT_ROT_AX_OFFSET_2 = 19.0 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_2 = TRUE...
Page 875 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 876 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 ;Four-edge roughing N1390 G1 X10 Y-10 G41 OFFN=1;...
Page 877 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 878 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 879 Detailed description 2.4 Frames TRACYL 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 880 Detailed description 2.4 Frames Translations: On selecting tracyl, translations of the virtual axis are deleted. Translations of the rotary axis can be taken into account in the transformation. Rotations: Rotations before the transformation are taken over. Mirrorings: Mirrorings of the virtual axis are deleted. Mirrorings of the rotary axis can be taken into account in the transformation.
Page 881 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 = ; Frames are deleted on POWER ON. 'H41' $MN_FRAME_GEOAX_CHANGE_MODE = ; Frames are calculated after switchover of the geo axis.
Page 882 Detailed description 2.4 Frames ; TRACYL with groove side offset is 3rd transformer $MC_TRAFO_TYPE_3 = 513; TRACYL $MC_TRAFO_AXES_IN_3[0] = 1 $MC_TRAFO_AXES_IN_3[1] = 5 $MC_TRAFO_AXES_IN_3[2] = 3 $MC_TRAFO_AXES_IN_3[3] = 2 $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...
Page 883 Detailed description 2.4 Frames N610 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,B,15) N620 setal(61000) N630 endif N640 if $P_BFRAME <> $P_CHBFR[0] N650 setal(61000) N660 endif N670 if $P_IFRAME <> TRANS(X,1,Y,2,Z,3,B,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,B) N680 setal(61000) N690 endif N700 if $P_IFRAME <> $P_UIFR[1] N710 setal(61000) N720 endif N730 if $P_ACTFRAME <>...
Page 884 Detailed description 2.4 Frames N1000 N1010 if $P_BFRAME <> CTRANS(X,10,Y,0,Z,30,CAY,20,B,15) N1020 setal(61000) N1030 endif N1040 if $P_BFRAME <> $P_CHBFR[0] N1050 setal(61000) N1060 endif N1070 if $P_IFRAME <> 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 <>...
Page 885 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 886 Detailed description 2.4 Frames ; FRAME configurations $MC_MM_SYSTEM_FRAME_MASK = 'H1' ; SETFRAME $MC_CHSFRAME_RESET_MASK = 'H41' ; Frames are active after RESET. $MC_CHSFRAME_POWERON_MASK = ; Frames are deleted on POWER ON. 'H41' $MN_FRAME_GEOAX_CHANGE_MODE = ; Frames are calculated after switchover of the geo axis.
Page 887 Detailed description 2.4 Frames ; TRAANG is 1st transformer $MC_TRAFO_TYPE_1 = 1024 $MC_TRAFO_AXES_IN_1[0] = 4 ; Oblique axis $MC_TRAFO_AXES_IN_1[1] = 3 ; Axis is parallel to z $MC_TRAFO_AXES_IN_1[2] = 2 $MC_TRAFO_AXES_IN_1[3] = 0 $MC_TRAFO_AXES_IN_1[4] = 0 $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.
Page 888 Detailed description 2.4 Frames Part program: ; Frame settings N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,b,4,c,5) 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,b,40,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 889 Detailed description 2.4 Frames N1190 setal(61000) N1200 endif N1210 if $P_IFRAME <> $P_UIFR[1] N1220 setal(61000) N1230 endif N1240 if $P_ACTFRAME <> TRANS(X,11,Y,22,Z,33,CAX,11,B,44,C,20):CROT(X,10,Y,20,Z,30):CMIRROR(X,CAX,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...
Page 890 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 891 Detailed description 2.4 Frames 2.4.6.3 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 892 Detailed description 2.4 Frames 2.4.7 Predefined frame functions 2.4.7.1 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 893 Detailed description 2.4 Frames Application example: A frame calculated, for example, via a measuring function, must be entered in the current SETFRAME such that the new complete frame is a chain of the old complete frame and the measurement frame. The SETFRAME is calculated accordingly by means of frame inversions. DEF INT RETVAL DEF FRAME TMP $TC_DP1[1,1]=120 ;...
Page 894 Detailed description 2.4 Frames ; Approach measuring point 3 g1 x-4 y4 ; Store measuring point 3 $AC_MEAS_LATCH[2] = 1 ; Approach measuring point 4 g1 x-4 y1 ; Store measuring point 4 $AC_MEAS_LATCH[3] = 1 ; Set position setpoint of the corner $AA_MEAS_SETPOINT[x] = 0 $AA_MEAS_SETPOINT[y] = 0 $AA_MEAS_SETPOINT[z] = 0...
Page 895 Detailed description 2.4 Frames if $AC_MEAS_WP_ANGLE <> 30 setal(61000 + $AC_MEAS_WP_ANGLE) endif if $AC_MEAS_CORNER_ANGLE <> 90 setal(61000 + $AC_MEAS_CORNER_ANGLE) endif ; Transform measured frame and write in accordance with $P_SETFRAME in such a way ; that a complete frame is produced, as a result of the old complete frame ;...
Page 896 Detailed description 2.4 Frames 2.4.7.2 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. The WCS and thus the programming zero must, therefore, be displaced and possibly rotated. This measured frame is available as a temporary frame and not yet actively included in the frame chain.
Page 897 Detailed description 2.4 Frames The new complete frame is calculated to be: $P_ACTFRAME = $P_ACTFRAME : TMPFRAME 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.
Page 898 Detailed description 2.4 Frames 2.4.8.2 Zero offset external via system frames Previous function: The zero offset external is either defined by the PLC via the OPI or programmed in the part program by the axis variable $AA_ETRANS[axis] = value. This zero offset is activated by the PLC via a VDI signal.
Page 899 Detailed description 2.4 Frames Alternatively, there is the option to enter this offset into the basic frame identified by machine data MD20184 $MC_TOCARR_BASE_FRAME_NUMBER This option is available in the interests of compatibility with older software versions. It is not recommended for use with new systems. A frame offset as a result of a toolholder change becomes effective immediately on selection of TCARR=..
Page 900 Detailed description 2.4 Frames Rotations Depending on the machining task, it is necessary to take into account not only a zero offset (whether as frame or as tool length) when using a rotary toolholder or table, but also a rotation. However, the activation of an orientational toolholder never leads directly to a rotation of the coordinate system.
Page 901 Detailed description 2.4 Frames Example: On a machine, the rotary axis of the table points in the positive Y direction. The table is rotated by +45 degrees. PAROT defines a frame, which similarly describes a rotation of 45 degrees about the Y axis. The coordinate system is not rotated relative to the actual environment (marked in the figure with "Position of the coordinate system after TCARR"), but is rotated by -45 degrees relative to the defined coordinate system (position after PAROT).
Page 902 Detailed description 2.4 Frames Programming with MOVT is independent of the existence of a toolholder that can be oriented. The direction of the motion is dependent on the active plane. It runs in the directions of the vertical axes, i.e., with G17 in Z direction, with G18 in Y direction and with G19 in X direction.
Page 903 Detailed description 2.4 Frames Definition of frame rotations with solid angles Where a frame is to be defined to describe a rotation around more than one axis, this is achieved through chaining individual rotations. A new rotation is hereby always performed in the already rotated coordinate system.
Page 904 Detailed description 2.4 Frames the plane surrounded by the other and the third axis. This definition ensures that, in the case that one of the two programmed angles is towards zero, the defined plane enters the plane, which is created if only one axis is programmed (e.g., with ROT or AROT). The diagram shows an example where X and Y are programmed.
Page 905 Detailed description 2.4 Frames The new language command TOROT ensures consistent programming with active orientational toolholders for each kinematics type. TOFRAME or TOROT defines frames whose Z direction points in the tool direction. This definition is suitable for milling, where G17 is usually active. However, particularly with turning or, more generally, when G18 or G19 is active, it is desirable that frames, which will be aligned on the X or Y axis, can be defined.
Page 906 Detailed description 2.4 Frames Setting data SD42980 $SC_TOFRAME_MODE is, therefore, introduced, which can be used to control the response of TOFRAME and TOROT. It can accept values of 0 (inactive) to 3. If the value of the setting data is not zero, the effect of machine data MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE is overwritten.
Page 907 Detailed description 2.4 Frames Example: N90 $SC_TOFRAME_MODE=1 N100 ROT Z45 N110 TCARR=1 TCOABS T1 D1 N120 TOROT N100 describes a rotation by 45 degrees in the XY plane. It is assumed that the toolholder activated in N110 rotates the tool by 30 degrees around the X axis, i.e., the tool lies in the YZ plane and is rotated by 30 degrees relative to the Z axis.
Page 908 Detailed description 2.4 Frames TCARR and PAROT Previously, TCARR has used the basic frame identified by machine data MD20184 $MC_TOCARR_BASE_FRAME_NUMBER A system frame can be created for TCARR and PAROT alone, in order to avoid conflicts with systems, which already use all the basic frames. PAROT,TOROT and TOFRAME have previously changed the rotation component of the programmable frame.
Page 909 Detailed description 2.4 Frames TOROTOF TOROTOF is the switch off command for TOROT and TOFRAME. This command deletes the system frame for TOROT and TOFRAME. The current $P_TOOLFRAME and the data management frame $P_TOOLFR are also deleted. TOROTOF is in the same G code group as TOROT and TOFRAME and appears, therefore, in the G code display.
Page 910 Detailed description 2.4 Frames 2.4.9 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 911 Detailed description 2.4 Frames 2.4.10 Data backup Data block _N_CHANx_UFR is used to archive the system frames. Machine data MD28082 $MC_MM_SYSTEM_FRAME_MASK should not have changed between saving and reintroducing the saved system frames. If it has changed then it is possible that saved system frames could no longer be loaded. In this case, the loading process triggers an alarm.
Page 912 Detailed description 2.4 Frames 2.4.11 Positions in the coordinate system The setpoint positions in the coordinate system can be read via the following system variables. The actual values can be displayed in the WCS, SZS, BZS or MCS via the PLC. There is a softkey for actual-value display in MCS/WCS.
Page 913 Detailed description 2.4 Frames 2.4.12 Control system response 2.4.12.1 POWER ON Frame conditions after POWER ON Frame Frame conditions after POWER ON Programmable frame Deleted. Settable frames Is 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 914 Detailed description 2.4 Frames 2.4.12.3 RESET, end of part program RESET responses of basic frames The RESET response of basic frames is set via the machine data: MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET/TP- End) RESET responses of system frames The system frames are retained in the data management after a Reset.
Page 915 Detailed description 2.4 Frames RESET response of the system frames of TCARR, PAROT, TOROT and TOFRAME The RESET response of the system frames of TCARR, PAROT, TOROT and TOFRAME depends on the G-Code RESET setting. The setting is made with machine data: MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET/TP- End) MD20152 $MC_GCODE_RESET_MODE[ ] (RESET response of G groups)
Page 916 Detailed description 2.4 Frames MD20110 Significance Bit 0 = 1 and bit 14 = 0 Chained complete basic frame is deleted. Bit 0 = 1 and bit 14 = 1 The complete basic frame is derived on the basis of: MD24002 $MC_CHBFRAME_RESET_MASK (active channel-specific basic frame after RESET) MD10613 $MN_NCBFRAME_RESET_MASK...
Page 917 Detailed description 2.4 Frames Deletion of system frames The system frames in the data management can be deleted during RESET uisng machine data: MD24007 $MC_CHSFRAME_RESET_CLEAR_MASK (deletion of system frames during RESET) Significance System frame for actual value setting and scratching is deleted during RESET. System frame for zero offset external is deleted during RESET.
Page 918 Detailed description 2.4 Frames 2.4.12.5 Block search Block search Data management frames are also modified when carrying out a block search with calculation. Cancellation of block search If the block search is aborted with RESET, then the machine data: MD28560 $MC_MM_SEARCH_RUN_RESTORE_MODE can be used to configure that all data management frames are set to the value they had before the block search: Significance...
Page 919 Detailed description 2.5 Workpiecerelated actualvalue system Workpiecerelated actualvalue 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 920 Detailed description 2.5 Workpiecerelated actualvalue system Interrelationships between coordinate systems The figure below shows the interrelationships between the machine coordinate system (MCS) and the workpiece coordinate system (WCS). Figure 2-23 Interrelationship between coordinate systems References: /PG/Programming Guide, Fundamentals /FB1/ Function Manual, Basic Functions; Tool Offset (W1) /FB1/ Function Manual, Basic Functions;...
Page 921 Detailed description 2.5 Workpiecerelated actualvalue 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. Entry via operator panel front If operations on the operator panel are used to change the values for "Active frame"...
Page 922 Detailed description 2.5 Workpiecerelated actualvalue system Actual-value reading If the actual value of $AA_IW is read in the WCS after activation of a frame (zero offset) or a tool offset, the activated changes are already contained in the result read even if the axes have not yet been traversed with the activated changes.
Page 923 Supplementary conditions There are no supplementary conditions to note. Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 924 Supplementary conditions Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 925 Examples Axes Axis configuration for a 3axis 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 926 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 927 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 928 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 929 Examples 4.2 Coordinate systems Part program in first channel Code (excerpt) Comment . . . Activation of the NC global basic frame N100 $P_NCBFR[0] = CTRANS( x, 10 ) . . . Activation of the NC global basic frame with rotation => N130 $P_NCBFRAME[0] = CROT(X, 45) alarm 18310, since rotations of NC global frames are not permitted...
Page 930 Examples 4.3 Frames Frames Example 1 The channel axis is to become a geometry axis through geometry axis substitution. The substitution is to give the programmable frame a translation component of 10 in the X axis. The current settable frame is to be retained: FRAME_GEOX_CHANGE_MODE = 1 ;...
Page 931 Examples 4.3 Frames Example 2 Channel axes 4, 5 and 6 become the geometry axes of a 5axis 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 932 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) ; Geo axis (4,5,6) sets transformer TRAORI ; $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) ;...
Page 933 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 934 Data lists 5.1 Machine data Number Identifier: $MM_ Description 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 Identifier: $MN_ Description 10000 AXCONF_MACHAX_NAME_TAB Machine axis name 10600 FRAME_ANGLE_INPUT_MODE Input type for rotation with frame 10602 FRAME_GEOAX_CHANGE_MODE Frames and switchover of geometry axes...
Page 935 Data lists 5.1 Machine data 5.1.3 Channelspecific machine data Number Identifier: $MC_ Description 20050 AXCONF_GEOAX_ASSIGN_TAB Assignment geometry axis to channel axis 20060 AXCONF_GEOAX_NAME_TAB Geometry axis name in channel 20070 AXCONF_MACHAX_USED Machine axis number valid in channel 20080 AXCONF_CHANAX_NAME_TAB Channel axis name/special axis name in channel 20110 RESET_MODE_MASK Definition of basic control settings after RESET/TP-...
Page 936 Data lists 5.2 Setting data 5.1.4 Axis/spindlespecific machine data Number Identifier: $MA_ Description 32074 FRAME_OR_CORRPOS_NOTALLOWED FRAME or HL offset is not permitted 35000 SPIND_ASSIGN_TO_MACHAX Assignment spindle to machine axis Setting data 5.2.1 Channelspecific setting data Number Identifier: $SC_ Description 42440 FRAME_OFFSET_INCR_PROG Zero offsets are traversed on incremental programming...
Page 937 Data lists 5.3 System variables System variables Names Description $AA_ETRANS[axis] Offset value zero offset external $AA_IBN[axis] Actual value in basic zero coordinate system (BZS) $AA_IEN[axis] Actual value in settable zero point coordinate system (ENS) $AA_OFF[axis] Overlaid motion for programmed axis $AC_DRF[axis] DRF offset (differential resolver function) $AC_JOG_COORD...
Page 938 Data lists 5.3 System variables Names Description $P_TOOLFR System frame for TOROT and TOFRAME in data management $P_TOOLFRAME Current system frame for TOROT and TOFRAME $P_TRAFRAME System frame for transformations $P_TRAFRAME Current system frame for transformations $P_UBFR Basic frame in channel activated after G500, G54 to G599 Corresponds to $P_CHBFR[0].
Page 939 Data lists 5.4 Signals Signals 5.4.1 Signals from channel DB number Byte.Bit Description 21, ... 61.0 T function modification 21, ... 62.0 D function modification 21, ... 118-119 T function 21, ... D function 21, ... Number of active function G group 1 21, ...
Page 940 Data lists 5.4 Signals Basic logic functions: Axes, coordinate systems, frames (K2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 941 Index Actual-value system Kinematic transformation, 40 workpiecerelated, 124 ADDFRAME, 103 ATRANS, 11 Axis configuration, 26 Loader axes, 23 Basic coordinate system (BCS), 9, 40 Machine axes, 16 Machine coordinate system (MCS), 9 Machine coordinate systems (MCS), 38 Machine tool axes, 23 CFINE, 11 Machine zero M, 33 Channel axes, 18...
Page 942 Index MD24004, 119 MD24006, 44, 60, 120 Reference point R, 33 MD24007, 122 Reference points, 33 MD24008, 43, 119 Replaceable geometry axes, 18 MD24010, 72 Rotary axes, 23 MD24020, 66 Rough offset, 11 MD24030, 64 MD24040, 99 MD24050, 60 MD24110, 29 MD24120, 29 SD42440, 13 SD42980, 112, 113, 114...
Page 943 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Emergency Stop (N2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 944 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 945 Table of contents Brief Description ............................5 Detailed description ........................... 7 Relevant standards ........................7 Emergency stop control elements ....................8 Emergency stop sequence ......................9 Emergency stop acknowledgement.....................11 Restrictions.............................. 13 Examples..............................15 Data lists..............................17 Machine data..........................17 5.1.1 Drive-specific machine data......................17 5.1.2 Axis/spindlespecific machine data ....................17 Signals ............................17 5.2.1...
Page 946 Table of contents Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 947 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. The functionality of the emergency stop button includes the positive opening of electrical switching contacts and a mechanical self-activating latching/locking.
Page 948 Brief Description Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 949 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 950 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 951 Detailed description 2.3 Emergency stop sequence Connection Conditions See the hardware configuration guide (Operator Components Manual) for information on connecting the emergency stop button. References: /BH/ Equipment Manual Operator Components Emergency stop sequence EN 418 standard After actuation of the emergency stop control element, the emergency stop device must operate in the best possible way to prevent or minimize the danger.
Page 952 Detailed description 2.3 Emergency stop sequence Sequence on the machine The emergency stop sequence on the machine is determined solely by the machine manufacturer. Attention should be paid to the following points in connection to the sequence on the NC: •...
Page 953 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 954 Detailed description 2.4 Emergency stop acknowledgement Effects Resetting the emergency stop state has the following effects: • Within the control, the servo enable is set, the follow-up mode deactivated and the position control activated for all machine axes. • Set interface signals: DB 31, ...
Page 955 Restrictions No supplementary conditions apply. Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 956 Restrictions Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 957 Examples No examples are available. Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 958 Examples Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 959 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 960 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 Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 961 Index DB 31, ... EMERGENCY STOP DBB60.5, 12 Acknowledgment, 11 DB10 Interface, 8 DBB4, 10 Sequence, 9 DBB5, 10 Emergency stop key, 8 DBB6, 10 DBB7, 10 DBX 56.1, 10 DBX106.1, 9, 11, 12 MD36610, 9 DBX56.1, 8, 10, 12 MD36620, 9 DBX56.2, 8, 11 DB11, ...
Page 962 Index Basic logic functions: Emergency Stop (N2) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 963 840D sl/840Di sl/840D/840Di/810D Data lists Basic logic functions: Transverse axes (P1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 964 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 965 Table of contents Brief description ............................5 Detailed Description........................... 7 Defining a geometry axis as transverse axis .................7 Dimensional information for transverse axes.................9 Supplementary conditions ........................15 Examples..............................17 Data lists..............................19 Machine data..........................19 5.1.1 Channelspecific machine data .....................19 5.1.2 Axis/spindlespecific machine data ....................19 Index................................
Page 966 Table of contents Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 967 Brief description Within the framework of "turning" 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. Definition Every geometry axis of a channel can be defined as a transverse axis. However, only exactly one transverse axis can be defined per channel.
Page 968 Brief description Programming the transversing paths The traverse paths of a transverse axis programmed in the part program may be either radius- or diameter-based. It is possible to switch between the two reference types with the part program commands DIAMON (DIAMeter ON = diameter) and DIAMOF (DIAMeter OF = radius).
Page 969 Detailed Description Defining a geometry axis as transverse axis Transverse axis Within the framework of "turning" 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 970 Detailed Description 2.1 Defining a geometry axis as transverse axis With: • MD20100, the function G96/G961/G962 is assigned to the transverse axis during power • MD20100, the channel-specific diameter programming DIAMON, DIAMOF, DIAM90, DIAMCYCOF is assigned to the transverse axis during power up. This axis occupies the axis-specific basic position DIAMCHANA[AX] after power up.
Page 971 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 972 Detailed Description 2.2 Dimensional information for transverse axes The following axis-specific modal statements can be programmed several times in a parts program block: • DIAMONA[Axis]: Diameter programming for G90, G91 AC and IC ON • DIAMOFA[Axis]: Diameter programming OFF, in other words, radius programming ON •...
Page 973 Detailed Description 2.2 Dimensional information for transverse axes Diameter-related data After activation of the diameter programming, the following data refer to diameter dimensions: DIAMON/DIAMONA[AX] • Display data of transverse axis in the workpiece coordinate system: – Setpoint and actual position –...
Page 974 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 975 Detailed Description 2.2 Dimensional information for transverse axes Displaying position values in the diameter Position values of the transverse axis are always displayed as a diameter value, if the bit0=1 is set by MD27100 $MC_ABSBLOCK_FUNCTION_MASK. Dimension on several transverse axes permanent diameter-related data Several transverse axes permitted by MD30460 $MA_BASE_FUNCTION_MASK, bit2=1 do not behave differently in comparison to a transverse axis defined using MD20100 $MC_DIAMETER_AX_DEF.
Page 976 Detailed Description 2.2 Dimensional information for transverse axes Application Examples X is a transverse axis defined via MD20100 $MC_DIAMETER_AX_DEF. Y is a geometry axis and U is an additional axis. These two axes are transverse axes with specified diameter further defined in MD30460 $MA_BASE_FUNCTION_MASK with bit2=1. DIAMON is not active after power up.
Page 977 Supplementary conditions There are no supplementary conditions to note. Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 978 Supplementary conditions Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 979 Examples No examples are available. Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 980 Examples Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 981 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 20110 RESET_MODE_MASK Definition of control basic setting after powerup and RESET / part program end 20112 START_MODE_MASK...
Page 982 Data lists 5.1 Machine data Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 983 Index MD20150, 8, 10 MD20152, 8, 10 MD27100, 12 MD30460, 7, 9, 10, 13 assigning the reference axis via SCC[AX] for G96/G961/G962, 8 PLC axes, 12 Position of the transverse axis in the machine channel-specific basic position after power up, coordinate system, 7 RESET, 8 Channel-specific diameter programming, 9...
Page 984 Index Work offset external, 13 Basic logic functions: Transverse axes (P1) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 985 840D/840Di/810D Data lists Basic logic functions: PLC Basic program powerline (P3 pl) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE 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 1.3...
Page 986 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 987 Table of contents Brief description ............................7 Detailed description ........................... 9 Key PLC CPU data for 810D, 840D and 840Di ................9 Reserve resources (timers, FC, FB, DB, I/O) ................16 Starting up hardware configuration of PLC CPUs ...............17 Starting up the PLC program .......................22 2.4.1 Installing the basic program for 810D, 840D ................22 2.4.2...
Page 988 Table of contents 2.9.4 Assignment: Timers ........................81 2.10 Memory requirements of basic PLC program for 840D .............. 81 2.11 Supplementary conditions and NC VAR selector ............... 84 2.11.1 Supplementary conditions......................84 2.11.1.1 Programming and parameterizing tools ..................84 2.11.1.2 SIMATIC documentation required....................86 2.11.1.3 Relevant SINUMERIK documents ....................
Page 989 Table of contents 2.14 Programming tips with STEP 7 ....................272 2.14.1 General ............................272 2.14.2 Copying data ..........................272 2.14.3 ANY and POINTER........................273 2.14.3.1 POINTER or ANY variable for transfer to FC or FB..............273 2.14.3.2 General ............................275 2.14.3.3 Use of POINTER and ANY in FC if POINTER or ANY is available as parameter.....275 2.14.3.4 Use of POINTER and ANY in FB if POINTER or ANY is available as parameter.....277 2.14.4 Multiinstance DB ........................278...
Page 990 Table of contents Basic logic functions: PLC Basic program powerline (P3 pl) Function Manual, 11/2006, 6FC5397-0BP10-2BA0...
Page 991 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), HMI (Human-Machine Interface) and MCP (Machine Control Panel) areas. A distinction is made between the following groups for signals and data: •...
Page 992 Brief description Event-driven signal exchange PLC → NCK An "eventdriven signal exchange PLC → NCK" takes place whenever the PLC passes a request to the NCK (e.g., traversal of an auxiliary axis). In this case, the data transfer is also controlled by acknowledgment.
Page 993 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 994 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 995 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di 840Di 810D 840D Clock memories 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...
Page 996 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 997 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di 840Di 840D DP master system no. MPI/DP programmable block communication PBK 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.
Page 998 Detailed description 2.1 Key PLC CPU data for 810D, 840D and 840Di PLC versions In SW 3.5 and higher on the 840D, version 6 (version code 35.06.03) is installed with PLC 314 and version 3 (version code 35.03.03) with PLC 315-2DP or higher. These versions are compatible with the corresponding SIMATIC CPU300.
Page 999 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 1000 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...

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Siemens SINUMERIK 840D sl Function Manual

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