Professional Documents
Culture Documents
2003 Edition
sinumerik
SINUMERIK 802D
SINUMERIK 802D base line
Preface, Table of Contents
1
EMERGENCY STOP (N2)
2
Axis Monitoring (A3)
Velocities, Setpoint/Actual- Value
Systems, Closed- Loop Control 3
(G2)
4
Acceleration (B2)
5
Spindle (S1)
SINUMERIK 802D
Description of Functions 6
Rotary Axes (R2)
7
Transverse Axes (P1)
8
Reference Point Approach (R1)
Manual Traversing and Hand- 9
wheel Traversing (H1)
Operating Modes, Program Mode 10
(K1)
11
Feed (V1)
Continous Path Mode, Exact Stop 12
and LookAhead (B1)
Output of Auxiliary Functions to 13
the PLC (H2)
14
Tool Compensation (W1)
15
Measuring (M5)
16
Compensation (K3)
17
Traversing to Fixed Stop (F1)
18
Kinematic Transformations (M1)
19
Various Interface Signals (A2)
20
PLC User Interface
21
Various Machine Data
Glossary, Index
11.03 Edition
SINUMERIK Documentation
3ls
Printing history
Brief details of this edition and previous edition are listed below.
The status of each edition is shown by the code in the “Remarks” column.
A . . . . . New documentation.
B . . . . . Unrevised reprint with new Order No.
C . . . . . Revised edition with new status.
If actual changes have been made on the page since the last edition, this is indicated by
a new edition coding in the header on that page.
Trademarks
SIMATIC, SIMATIC HMI, SIMATIC NET, SIROTEC, SINUMERIK and SIMODRIVE are registered
trademarks of Siemens. Third parties using for their own purpose any other names in this document which
refer to trademarks might infringe upon the rights of trademark owners.
This publication was produced with Interleaf V 7. We have checked that the contents of this document correspond to
the hardware and software described. Nonetheless, differences might
The reproduction, transmission or use of this document or its exist and therefore we cannot guarantee that they are completely
contents is not permitted without express written authority.Offenders identical. The information contained in this document is, however,
will be made liable for damages. All rights, including rights created by reviewed regularly and any necessary changes will be included in the
patent grant or registration of utility model or design, are reserved. next edition. We welcome suggestions for improvement.
Siemens AG 2003. All rights reserved. Subject to change without prior notice.
Note
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.
Technical notes
Notations
The following notations and abbreviations are used in this Documentation:
PLC interface signals -> IS ”Signal name” (signal data)
Example: IS ”Feed override“ (VB380x 0000)
The variable byte is in the range “at axis“, “x” stands for the axis: 0 axis 1
1 aixs 2
n axis n+1.
Machine data -> MD MD_NR: MD_NAME
Setting data -> SD SD_NR: SD_NAME
The headlines of the individual chapters/sections are added by a code designation in brak-
kets (e.g. Chapter 1: EMERGENCY STOP (N2)). This code designation is used in referen-
ces to individual Chapters/Sections.
Activation of changes:
Changes in machine data, setting data or the like come not immediately into effect in the con-
trol system. The conditions for activation are therefore always specified. The possibilities used
are listed below by their priority:
POWER ON (po) Turning off/turning on the power supply
or softkey “StartUp/Normal” on HMI
NEW_CONF (cf) ”RESET” key on the control unit
RESET (re) ”RESET” key on the control unit
immediately (im) after input of a value
Protection level:
There are the protection levels 0 to 7 whereby the interlock for protection levels 1 to 3 can be
canceled by setting a password and the interlock for protection levels 4 to 7 via the IS “Protec-
tion level” (e.g.: keyswitch position). Protection level 0 cannot be accessed (see Chapter “Va-
rious Interface Signals”).
The operator has only access to information that corresponds to this particular protection level
and the lower protection levels. The machine data are assigned different protection levels by
default and are marked by a Write/Read value (e.g. 4/7).
Note: In this document, the machine and setting data of protection levels 2 to 7 are documen-
ted. Notes on machine data of protection level 1 are only provided in special cases (expert
mode).
Unit:
The unit refers to the default setting (see Section “Velocities, Setpoint/Actual Value System,
Closed-Loop Control“).
If the MD has no physical unit as the basis, the field is marked with ”-”.
Data type:
The following data types are used in the control system:
DOUBLE
Floating point value (64-bit value )
Input limits from +/-4.19*10 - 307 to +/-1.67*10308
DWORD
Integer values (32-bit value)
Input limits from -2 147 483 648 to +2 147 483 648 (decimal),
as a hexadecimal value: 0000 to FFFF
BYTE
Integer values (8-bit value)
Input limits from -128 to +127 (decimal), as a hexadecimal value: 00 to FF
BOOLEAN
Boolean value: TRUE (1) or FALSE (0)
STRING
consisting of a maximum of 16 ASCII characters (uppercase letters, digits and underscore)
Alarms
For detailed explanations on occurring alarms, please refer to:
References: ”Diagnostics Guide“.
Contents
1 EMERGENCY STOP (N2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.1 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.2 EMERGENCY STOP sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.3 EMERGENCY STOP acknowlededgement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.4 Data descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
1.5 Signal descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
1.6 Data fields, lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
1.6.1 Interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
1.6.2 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
2 Axis Monitoring (A3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2.1 Overview of monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2.2 Motion monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2.2.1 Contour monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2.2.2 Positioning monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2.2.3 Zero speed monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
2.2.4 Clamping monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
2.2.5 Speed setpoint monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
2.2.6 Actual velocity monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
2.3 Encoder monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
2.3.1 Encoder limit frequency monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
2.3.2 Zero mark monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32
2.4 Monitoring of static limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
2.4.1 Limit switch monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
2.4.2 Working area limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
2.5 Boundary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-37
2.6 Data descriptions (MD, SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
2.6.1 Channel -specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
2.6.2 Axis/spindle -specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
2.6.3 Axis/spindle -specific setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-44
2.7 Signal description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-45
2.7.1 Axis/spindle -specific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-45
2.8 Data fields, lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
2.8.1 Axis/spindle -specific interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
2.8.2 Axis/spindle -specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
2.8.3 Channel -specific machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
2.8.4 Axis/spindle -specific setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
3 Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2) . . . . . . . . . . 3-49
3.1 Velocities, traversing ranges, accuracies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
3.1.1 Velocities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
3.1.2 Traversing ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
3.1.3 Input/display resolution, computational resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-51
3.1.4 Standardization of physical quantities of machine and setting data . . . . . . . . . . . . . . . . . . . 3-52
3.2 Metric/inch scaling system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
3.2.1 Conversion of the scaling system using the part program . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
3.2.2 Switching over the scaling system manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-55
3.3 Setpoint/actual-value system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
3.3.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
notice
Important
We would like to draw the machine manufacturer’s attention to his duty to observe the rele-
vant international and national standards (see notes on standards further below in the text).
The SINUMERIK 802D supports the machine manufacturer in implementing the EMER-
GENCY STOP function according to the specifications in this Description of Functions. The
EMERGENCY STOP function (tripping, sequence and acknowledgement) is the sole and only
responsibility of the machine manufacturer.
Note
The following standards are relevant for the EMERGENCY STOP function:
EN 292 Part 1
EN 292 Part 2
EN 418
EN 60204 Part 1:1992 Section 10.7
The VDE 0113 Part 1 is only valid for a transition period and is replaced by EN 60204.
Prerequisite
The actuation of the EMERGENCY STOP button or a signal directly derived from it must be
carried to the control (PLC) as a PLC input. In the PLC user program, this PLC input must be
passed on to the NC to the IS ”EMERGENCY STOP“ (V2600 0000.1).
Resetting of the EMERGENCY STOP button or a signal directly derived from it must be car-
ried to the control (PLC) as a PLC input. In the PLC user program, this PLC input must be
passed on the NC to the IS “Acknowledge EMERGENCY STOP” (V2600 0000.2).
Sequence in the NC
In the control system, the predetermined sequence (as per EN 418) of internal functions for
the EMERGENCY STOP status is as follows:
1. The part program execution is interrupted. All axes and spindles are stopped along defined
braking ramps according to MD 36610: AX_EMERGENCY_STOP_TIME.
2. The IS ”802-READY” (V3100 0000.3) is reset.
3. The IS ”EMERGENCY STOP active” (V2700 0000.1) is set.
4. Alarm 3000 is set.
5. The servo enable is disabled after an axis/spindle-specific time that can be set in MD
36620: SERVO_DISABLE_DELAY_TIME (servo enable cutout delay) has been elapsed.
In this context, make sure that 36620: SERVO_DISABLE_DELAY_TIME must be specified
at least as large as MD 36610: AX_EMERGENCY_STOP_TIME.
Important
To interrupt the power supply, is the sole and only responsibility of the machine manufacturer.
If you wish the sequence in the NC in case of EMERGENCY STOP not to be carried out as
defined, the IS “EMERGENCY STOP” (V2600 0000.1) may not be set until an EMERGENCY
STOP status defined by the machine manufacturer in the PLC user program is reached. Until
the IS “EMERGENCY STOP” is not yet set and no other alarm is pending, all IS are active in
the NC. Thus, any manufacturer-specific EMERGENCY STOP status is possible.
IS ”EMERGENCY STOP”
V2600 0000.1
1
IS ”Acknoweledge
EMERGENCY STOP“
V2600 0000.2
IS ”EMERGENCY STOP
active“
V2700 0000.1 2
IS ”RESET”
V3000 0000.7 3
1 The IS ”Acknowledge EMERGENCY STOP” has no effect.
2 The IS ”RESET” has no effect.
3 The IS ”Acknowledge EMERGENCY STOP” and ”RESET” will reset ”EMERGENCY STOP active.
PLC I/Os
The PLC I/Os must be brought again by the PLC user program to the appropriate status requi-
red to operate the machine.
Reset
It is not possible to reset the EMERGENCY STOP status with the IS ”Reset” (V3000 0000.7)
alone (see diagram above).
Power ON
Power ON (turning off/turning off the power supply) will clear the EMERGENCY STOP status,
except the IS ”EMERGENCY STOP” (V2600 0000.1), which remains set.
36620 SERVO_DISABLE_DELAY_TIME
MD number Servo enable cutout delay
Default: 0.1 Min. input limit: 0.02 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: Maximum time delay for cancellation of “Servo enable” after faults.
The speed enable (servo enable) of the drive is canceled internally in the control system at the
latest after a set delay time if the axis / spindle is moving.
The entered delay time acts due to the following events:
in case of errors resulting in immediate axis stop
if the IS “Servo enable” is canceled from the PLC.
Once the actual speed reaches the zero speed range (MD 36060: STANDSTILL_VELO_ TOL),
“Servo enable” is disabled for the drive.
The time should be set as large as the axis / spindle needs to come to a standstill from maximum
traversing velocity or speed.
If the axis / spindle is already at a standstill, “Servo enable” is disabled for the drive immediately.
Application example(s) The speed control of the drive should be maintained for this time to make sure that the axis/spindle
can come to a standstill from maximum traversing velocity or speed. For this time, the cancellation
of “Servo enable” should be delayed for an axis/spindle moving.
Special cases, errors, ...... CAUTION: If the servo enable cutout delay is set too small, the “Servo enable” is already canceled
even if the axis/spindle is still traversing. In this case, it is suddenly stopped with setpoint 0.
The time set in this MD should therefore be greater than the time of the braking ramp in case of
error statuses (MD 36610: AX_EMERGENCY_STOP_TIME).
Related to .... IS ”Servo enable” (V380x 0002.1)
MD 36610: AX_EMERGENCY_STOP_TIME (time of braking ramp in case of error statuses)
General signals
Function
The principle of functioning of the contour monitoring is based on the permanent comparison
of measured actual position value and the actual position value calculated from the NC posi-
tion setpoint. To calculate the following error in advance, a model is used which simulates the
dynamic properties of the position control including feedforward control.
To make sure that the monitoring system does not respond already in the case of slight
speed variations (caused by load changes), a tolerance band is permitted for the maximum
contour deviation.
If the permissible actual value deviation entered in MD 36400: CONTOUR_TOL (contour mo-
nitoring tolerance band) is exceeded, an alarm is output, and the axes are stopped.
Activation
The contour monitoring is active for axes and a position - controlled spindle.
Effect
If the contour error is too large, the following will occur:
Alarm 25050 ”Contour monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position feedback loop)
via a speed setpoint ramp.
The duration of the braking ramp is defined in the MD 36610: AX_EMER-
GENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these are stopped by rapid stop
with reduction of the following error (position setpoint = constant).
Remedy
Increase tolerance band of monitoring function in MD 36400.
The real servo gain factor must correspond to the desired servo gain factor set in
MD 32200: POSCTRL_GAIN (servo gain factor).
With an analog spindle, check
MD 32260: RATED_VELO (rated motor speed) and
MD 32250: RATED_OUTVAL (rated output voltage).
Check optimization of speed controller.
Check smooth running of axes.
Check machine data for traversing movements (feedoverride, acceleration, max. veloci-
ties, ... )
Function
To make sure that an axis is positioned within a specified time, the time configured in MD
36020: POSITIONING_TIME (exact stop fine time delay) is started after a motion block has
been ended (set point has reached the target), and after this time has elapsed, it is checked
whether the axis has reached its set position within the tolerance of MD 36010: STOP_LI-
MIT_FINE (exact stop fine).
”Exact stop coarse and fine“ see:
References: Chapter ”Continuous - Path Mode, Exact Stop and LookAhead”
Actual value
Interface signal
”Clamping process
running“ (V380x
0002.3)
MD: CLAMP_POS_TOL
Setpoint
MD:
STANDSTILL_POS_T
OL
MD: STOP_LIMIT_COARSE
MD: STOP_LIMIT_FINE
t
MD: “Exact stop fine” - interface signal
STANDSTILL_ “Exact stop coarse“ - interface signal
DELAY_TIME
MD: POSITIONING_TIME
Fig. 2-1 Interrelation between positioning, zero speed and clamping monitoring
Enabling
The positioning monitoring is always enabled after a “setpoint - dependent” completion of mo-
tion blocks (setpoint has reached the target).
The positioning monitoring is active for axes and a position - controlled spindle.
Disabling
The positioning monitoring is disabled after the specified ”Exact stop limit fine” has been re-
ached or after output of a new setpoint position (e.g. when positioning to ”Exact stop coarse“
followed by a block change).
Effect
If the limit value for “Exact stop fine” has not yet been reached after the positioning monito-
ring time has elapsed, the following action is carried out:
Alarm 25080 ”Positioning monitoring” is output.
The axis/spindle concverned is stopped with rapid stop (with open position control loop)
via a speed setpoint ramp.
The duration of the braking ramp is defined in MD 36610: AX_EMER-
GENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these will be stopped by rapid
stop with reduction of the following error (specification of partial position setpoint = 0).
General rule
Large positioning window - - > a relative short max. positioning monitoring time can be
selected
Small positioning window - - > a relatively long positioning monitoring time must be selec-
ted
Small position control gain - - > a relatively long max. positioning monitoring time must
be selected
High position control gain - - > a relatively short max. positioning monitoring time can be
selected
Note
The size of the positioning window will influence the block change time. The smaller these toleran-
ces are chosen, the longer will last the positioning process and the longer it will last until the next
command can be executed.
Function
After a motion block has been completed (position setpoint has reached target), it is monito-
red whether the axis is no more away from its setpoint position than specified in MD 36060:
STANDSTILL_POS_TOL (standstill tolerance) after the delay time that can be parameterized
in MD 36040: STANDSTILL_DELAY_TIME (standstill monitoring delay time) has elapsed.
Otherwise, an alarm is generated.
See Fig. 2-1
Activation
The zero speed monitoring is always active after the “Standstill monitoring delay time” has
elapsed, provided that no new traversing command is active.
The standstill monitoring is active for axes and a position - controlled spindle.
Effect
The response of the monitoring function has the following effect:
Alarm 25040 ”Standstill monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp. The duration of the braking ramp is defined in MD
36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error statu-
ses).
If the axis interpolates with other axes/spindles, these will be stopped by rapid stop with
reduction of the following error (specification of partial position setpoint = 0).
Function
If you wish the axis to be clamped at the end of the positioning process, the clamping monito-
ring can be activated using the IS “Clamping monitoring running” (V380x 0002.3).
This can be necessary because it is possible that during the clamping process the axis has
been pushed off its setpoint position farther than permitted by the standstill tolerance. The
amount by which the setpoint position can be left is specified in MD 36050:
CLAMP_POS_TOL (clamping position tolerance at interface signal “Clamping running“).
See Fig. 2-1
Activation
The clamping position monitoring is activated by the interface signal ”Clamping process run-
ning”. It replaces the standstill monitoring during the clamping process.
The clamping position monitoring is active for axes and a position - controlled spindle.
Effect
If during the clamping process the axis is pushed off its position farther than permitted by the
clamping position tolerance, the following will occur:
Alarm 26000 ”Clamping position monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp. The duration of the braking ramp is defined in
MD 36610: AX_EMERGENCY_STOP_TIME (duration of braking ramp in case of error
statuses).
If the axis/spindle interpolates with other axes/spindles, these will also be stopped by ra-
pid stop with reduction of the following error (specification of partial position setpoint = 0).
Function
The speed setpoint monitoring checks whether the setpoint specification does not exceed the
maximum permissible speed for the drives specified in MD 36210: CTRLOUT_LIMIT (maxi-
mum speed setpoint). If necessary, it is limited to this value, and the axis/spindle is stopped
and an alarm is output.
For the axes, the maximum speed setpoint (as a percentage) is above the speed at which the
velocity defined in MD 3200: MAX_AX_VELO is reached (100%). This also defines the con-
trol margin.
With an analog spindle, the maximum output speed cannot be greater than the speed re-
ached at a maximum setpoint output voltage of 10V (100%).
The speed setpoint consists of the speed setpoint of the position controller and the feedfor-
ward control value (if feedforward control is active).
+ to speed
KV
Following controller
error
Speed setpoint
monitoring
Position controller
Activation
The speed setpoint monitoring is always active for axes and for a spindle.
Effect
The following will occur if the maximum speed setpoint is exceeded:
Alarm 25060 ”Speed setpoint limitation” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp.
The duration of the braking ramp is defined in MD 36610: AX_EMER-
GENCY_STOP_TIME (duration of braking ramp in case of error statuses).
If the axis interpolates with other axes/spindles, these will be stopped by rapid stop with
reduction of the following error (specification of partial position setpoint = 0).
Note: At the access level “Expert mode” (protection level 1), a delay time can be set in
MD 36220: CTRLOUT_LIMIT_TIME, after which the alarm is generated, stopping the axes.
This time is zero by default.
The beginning limitation of the speed setpoint makes this servo loop non - linear. Generally,
this results in path deviations when an axis dwells in a speed setpoint limitation. Therefore, a
control margin must be set (see Section 3.3.4 “Speed setpoint output”).
Error causes
A measuring error circuit or a drive error exists in the measuring circuit.
Too high setpoints specified (accelerations, velocities, reduction factors)
Obstacle in working area (e.g. coming into contact with the work table)
Tachogenerator adjustment with analog spindle has not been carried out correctly or a
measuring circuit or drive error exists.
Function
The actual velocity is monitored for exceeding of a permissible limit value entered in MD
36200: AX_VELO_LIMIT (threshold value for velocity monitoring).
Activation
The actual velocity monitoring is always active if the active measuring circuit that has been
activated via the iS “Position measuring system 1” (V380x 0001.5) provides actual values, i.e.
is still below the imit frequency.
The actual velocity momnitoring is active for axes and for a spindle.
Effect
The following will occur if the “Threshold value for velocity monitoring” is exceeded:
Alarm 25030 ”Actual velocity alarm limit”
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp.
The duration of the brake ramp is defined in MD 36610: AX_EMERGENCY_STOP_TIME
(duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these will also be stopped by ra-
pid stop with reduction of the following error (specification of partial setpoint = 0).
Function
If the limit frequency of a measuring system, which is entered in MD 36300: ENC_FREQ_LI-
MIT(encoder limit frequency), is exceeded, the position synchronization (reference point) bet-
ween machine and control system will be lost. A correct position control is no longer possible
in this cases. This status is signaled to the PLC.
Activation
The encoder limit frequency monitoring is always active if the encoder is turned on and is
active for axes and for a spindle.
Effect
The following will occur if the limit frequency of an encoder is exceeded:
The IS “Encoder limit frequency exceeded 1” (V390x 0000.2) is set.
Spindle continues running withspeed control
If the spindle speed is reduced such that the encoder frequency falls below the value spe-
cified in MD 36302: ENC_FREQ_LIMIT_LOW (% value of MD 36300: ENC_FREQ_LI-
MIT), the spindle will automatically resynchronize with the reference system of the enco-
der.
If with an active measuring system of a position - controlled axis/spindle, the limit fre-
quency is exceeded, alarm 21610 ”Frequency exceeded” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via
a speed setpoint ramp.
The duration of the brake ramp is defined in MD 36610: AX_EMERGENCY_STOP_TIME
(duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these will also be stopped by ra-
pid stop with reduction of the following error (specification of partial setpoint = 0).
Error elimination
After the axes have come to a standstill, the position control will resume automatically.
Note
The axis concerned must be rereferenced.
Function
The zero mark monitoring checks whether pulses have been lost between two zero mark
passages of the position actual - value encoder. The number of detected zero mark errors at
which the monitoring function is to respond is entered in MD 36310: ENC_ZERO_MONITO-
RING (zero mark monitoring).
Activation
The monitoring is activated using MD 36310: ENC_ZERO_MONITORING.
The counting of the zero mark errors starts from zero after the encoder has been turned on.
Effect
If the number of the zero mark errors entered in MD 36310: ENC_ZERO_MONITORING is
reached for a measuring system, alarm 25020 ”Zero mark monitoring” is output.
The axis/spindle concerned is stopped with rapid stop (with open position control loop) via a
speed setpoint ramp.
The duration of the brake ramp is defined in MD 36610: AX_EMERGENCY_STOP_TIME
(duration of braking ramp in case of error statuses).
If the axis/spindle interpolates with other axes/spindles, these will also be stopped by rapid
stop with reduction of the following error (specification of partial setpoint = 0).
Error causes
MD 36300: ENC_FREQ_LIMIT (encoder limit frequency) set too high.
Encoder cable damaged.
Encoder or encoder electronics defective.
Note
In case of an error, the IS “Referenced/synchronized 2” (V390x 0000.4) is canceled, i.e. the axis
must be rereferenced.
Function
For each axis, one hardware limit switch each is provided for each traversing direction to pre-
vent the slide moving off the slide bed.
If the hardware limit switch is overtraveled, the PLC will signal it to the NC via the IS ”Hard-
ware limit switch plus/minus” (V380x 1000.1 or .0), and the movement of all axes is stopped.
The kind of braking can be defined via the MD 36600: BRAKE_MODE_CHOICE (braking be-
havior with hardware limit switch).
Activation
The hardware limit switch monitoring is active in all operating modes after the control system
has powered up.
Effect
When a hardware limit switch is overtraveled, depending on the direction, alarm 21614
”Hardware limit switch + or - ” is output.
Depending on MD 36600: BRAKE_MODE_CHOICE (braking behavior with hardware limit
switch), the axis is stopped.
If the axis/spindle interpolates with other axes/spindles, these will also be stopped, depen-
ding on MD 36600: BRAKE_MODE_CHOICE (braking behavior with hardware limit
switch).
The direction keys in the direction of approach are disabled.
Remedy
Initiate Reset.
Retract in the opposite direction (in JOG mode).
Correct the program.
Function
The software limit switches serve as limitations of the maximum traversing range of each in-
dividual axis.
2 software limit switch pairs are provided per axis, which are defined via the following ma-
chine data in the machine axis system:
MD 36100: POS_LIMIT_MINUS (1st software limit switch minus)
MD 36110: POS_LIMIT_PLUS (1st software limit switch plus)
MD 36120: POS_LIMIT_MINUS2 (2nd software limit switch minus)
MD 36130: POS_LIMIT_PLUS2 (2nd software limit switch plus)
Activation
The software limit switch monitoring is active in all operating modes after reference point
approach.
The position of the software limit switches can be approached.
The 2nd software limit switch can be activated from the PLC via the interface signal ”2nd
software limit switch plus/minus” (V380x 1000.3 or .2). The change will come into effect
immediately. The 1st software limit switch plus/minus is thus inactive.
The SW limit switch monitoring is not active with endlessly rotating rotary axes, i.e. if
MD 30310: ROT_IS_MODULO = 1. (modulo conversion for rotary axis and spindle)
Effect/reactions
Depending on the operating mode, there are different reactions if it was tried to overtravel a
software limit switch:
AUTO, MDA:
- The block that would violate the software limit switches will not start. The previous
block is completed correctly.
- The program execution is canceled.
- Alarm 10720 ”Software limit switch + or - ” is output.
JOG:
- The axis is stopped at the software limit switch position.
- Alarm 10621 ”Axis has stopped on software limit switch + or - ”.
- The direction keys in the direction of approach are disabled.
Special features:
- Switching over the software limit switch:
If the current position after switching over lies after the new software limit switch, the
axis is decelerated at the maximum permissible acceleration. If the axis interpolates
with other axes, these will also be decelerated. A contour violation may result.
Remedy
Initiate Reset.
Retract in the opposite direction (in JOG mode).
Correct the program.
Function
Working area limitations describe the range in which a machining can be carried out. In addi-
tion to the limit switches, the working area limitation is another means for the user to limit the
traversing range of the axes.
References: ”Operation and Programming“.
It is monitored whether the tool tip P is within the protected working area. The value entered
in the working area limitation is the last permissible position for the axis.
Using MD 21020: WORKAREA_WITH_TOOL_RADIUS (taking into account the tool radius in
the case of working area limitation), it can be determined whether the tool radius is taken into
account in the monitoring.
One pair of values (minus/plus) can be specified per axis to describe the protected working
area.
XMachine
G26
Xmax
Tool tip
Working area
W ZMachine
G25
Xmin
G25 G26
Zmin Zmax
Fig. 2-4 Working area limitation shown using the example of a turning machine
Activation
Using SD 43410: WORKAREA_MINUS_ENABLE, SD 43400: WORKA-
REA_PLUS_ENABLE (working area limitation in the negative or positive direction active),
it is possible to activate the working area limitation; it comes into effect after reference
point approach.
During the program execution, the working area limitation can be activated using the mo-
dal G codes ”WALIMON” and deactivated using ”WALIMOF”.
The working area limitation is not active with endlessly rotating rotary axes, i.e. if MD
30310: ROT_IS_MODULO = 1 (modulo conversion for rotary axis and spindle).
Effect/reaction
Depending on the operating mode, there are different reactions if it has been tried to over-
treavel the work area limitation:
AUTO, MDA:
- The block that violates the working area limitation is not started. The previous block is
still completed correctly.
- The program execution is aborted.
- Alarm 10730 ”Working area limitation + or - ” is set.
JOG:
- The axis stops at the position of the working area limitation.
- Alarm 10631 ”Axis stopped at working area limitation + or - ” is set.
- The direction keys in the direction of approach are disabled.
Remedy
Initiate Reset.
Check the working area limitation in the part program (G25/G26) or in the setting data.
Move away in the opposite direction (in JOG mode).
21020 WORKAREA_WITH_TOOL_RADIUS
MD number Taking into account the tool radius with working area limitation
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 0: The tool radius is not taken into account.
1: The tool radius is taken into account in the working area limitation.
36000 STOP_LIMIT_COARSE
MD number Exact stop coarse
Default: 0.04 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: An NC block is considered completed if the actual position of the path axes is away from the
setpoint position by the value of the entered exact stop limit. If the actual position of a path axis
is not within this limit, the NC block is not considered completed and the part program cannot be
continued. The time when the next block is processed depends on the size of the value entered.
The larger the value is, the earlier is the block change initiated. If the specified exact stop limit is
not reached,
- the block is not considered completed;
- the axis cannot be traversed further;
- the alarm 25080 “Positioning monitoring” is output after the time defined in
MD 36020: POSITIONING_TIME (exact stop fine monitoring time) has elapsed;
- the direction of movement +/ - is displayed for the axis on the position display. The eaxt stop
window is also evaluated for spindles in the position - controlled mode.
Special cases, errors, ...... This MD may not be less than MD 36010: STOP_LIMIT_FINE (exact stop fine). To achieve the
same block change behavior as with the exact stop fine criterion, the exact stop coarse window
may be identical to the exact stop fine window.
This MD may not be equal to or greater than MD 36030: STANDSTILL_POS_TOL (standstill
position tolerance).
Related to .... MD 36020: POSITIONING_TIME (exact stop fine delay time)
36010 STOP_LIMIT_FINE
MD number Exact stop fine
Default : 0.01 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: See MD 3600: STOP_LIMIT_COARSE (exact stop coarse)
Special cases, errors, ...... This MD may not be greater than MD 36000: STOP_LIMIT_COARSE (exact stop coarse).
This MD may not be equal to or greater than MD 36030: STANDSTILL_POS_TOL (standstill
position tolerance).
Related to .... MD 36020: POSITIONING_TIME (exact stop fine delay time)
36020 POSITIONING_TIME
MD number Time delay for exact stop fine
Default: 1.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: This MD is used to specify the time after which the following error must have reached the limit
value for exact stop fine after the time for approaching the position has elapsed (partial position
set value=0 at the end of the movement). If this is not the case, the alarm 25080 ”Positioning
monitoring” is set and the axis concerned is decelerated.
The MD should be selected so generously that the monitoring does not respond in normal mode,
since the entire traversing process (acceleration, constant traversing, braking) is monitored by
other functions continuously.
Related to .... MD 36010: STOP_LIMIT_FINE (exact stop fine)
36030 STANDSTILL_POS_TOL
MD number Standstill position tolerance
Default: 0.2 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: On completion of a traversing block (position setpoint has reached target), it is monitored whe-
ther the axis is no farther away from its set position than specified in
MD 36060: STANDSTILL_POS_TOL (standstill tolerance) after the parameterizable delay time
defined in MD 36040 STANDSTILL_DELAY_TIME (standstill monitoring delay time) has elapsed.
If the standstill position tolerance exceeds or falls below the set position, alarm 25040 ”Standstill
monitoring” is output and the axis is stopped.
Special cases, errors, ...... The standstill tolerance must be greater than the “Exact stop limit coarse”.
Related to .... MD 36040: STANDSTILL_DELAY_TIME (standstill monitoring delay time)
36040 STANDSTILL_DELAY_TIME
MD number Standstill monitoring delay time
Default: 0.4 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: see MD 36030: STANDSTILL_POS_TOL (standstill position tolerance)
Related to .... MD 36030: STANDSTILL_POS_TOL (standstill position tolerance)
36050 CLAMP_POS_TOL
MD number Clamping tolerance at interface signal ”Clamping active“
Default: 0.5 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm; degrees
Data type: DOUBLE Valid from SW release:
Meaning: The interface signal ”Clamping process running” (V380x0002.3) activates clamping monitoring. If
the monitored axis is pushed off the set position (exact stop limit) more than specified in the
clamping tolerance, alarm 26000 ”Clamping monitoring” is generated and the axis stopped.
Special cases, errors, ...... The clamping tolerance must be greater than the “Exact stop limit coarse”.
Related to .... IS ”Clamping process running“
36060 STANDSTILL_VELO_TOL
MD number Max. velocity/speed ”Axis/spindle at a standstill“
Default: 5.0 mm/min, Min. input limit: 0.0 Max. input limit: ***
0.0138 rpm
Change valid after NEW_CONF Protection level: 2/2 Unit:
Linear axis: mm/min
Rotary axis: rpm
Data type: DOUBLE Valid from SW release:
Meaning: This machine date defines the standstill area for the axis velocity and/or for spindle speed.
If the current actual velocity of the axis and/or the actual speed of the spindle is less than the
value entered and if the NC does no longer deliver setpoints to the axis/spindle, the
IS ”Axis/spindle at a standstill” (V390x0001.4) is set.
Vact
MD:STANDSTILL_VELO_TOL
Vstill
t
1
IS
Spindle at a standstill
0
Application example(s) In order to allow a controlled stop of the axis/spindle, the pulse enable should only be canceled if
the axis/spindle has stopped. Otherwise, the axis would coast down.
Related to .... IS ”Axis/spindle at a standstill” (V390x0001.4)
36100 POS_LIMIT_MINUS
MD number 1st software limit switch minus
Default: - 100 000 000 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: mm; degrees
Data type: DOUBLE Valid from SW release:
Meaning: The same meaning as the 1st software limit switch plus, but for the traversing area limit in the
negative direction.
The MD is active after reference point approach if the PLC interface signal
”2nd software limit switch minus” is not set.
MD inapplicable if ...... the axis is not referenced.
Related to .... IS ”2nd software limit switch minus”
36110 POS_LIMIT_PLUS
MD number 1st software limit switch plus
Default: 100 000 000 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: mm; degrees
Data type: DOUBLE Valid from SW release:
Meaning: In addition to the hardware switch, it is also possible to use a software switch. The absolute posi-
tion in the machine coordinate system of the positive traversing limit is entered in this MD for
each axis.
The MD is active after reference point approach if the IS ”2nd software limit switch plus” is not
set.
MD inapplicable if ...... the axis is not referenced.
Related to .... IS ”2nd software limit switch plus”
36120 POS_LIMIT_MINUS2
MD number 2nd software limit switch minus
Default: - 100 000 000 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: mm; degrees
Data type: DOUBLE Valid from SW release:
Meaning: The same meaning as the 2nd software limit switch plus, but for the traversing area limit in the
negative direction.
Which of the two SW limit switches 1 or 2 is to be active can be selected from the PLC using the
interfrace signal.
e. g. V380x1000 bit 2 = 0 ”1st software limit switch minus” active for 1st axis
Bit 2 = 1 ”2nd software limit switch minus” active for 1st axis
MD inapplicable if ...... the axis is not referenced.
Related to .... IS ”2nd software limit switch minus”
36130 POS_LIMIT_PLUS2
MD number 2nd software limit switch plus
Default: 100 000 000 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: mm; degrees
Data type: DOUBLE Valid from SW release:
Meaning: This machine data can be used to specify a 2nd software limit switch position in the machine
axis system in the positive direction.
Which of the two software limit switches 1 or 2 is to be active can be selected from the PLC
using the interface signal.
e. g.: V380x1000 Bit 3 = 0 ”1st software limit switch plus” active for the 1st axis
Bit 3 = 1 ”2nd software limit switch plus” active for 1st axis
MD inapplicable if ...... the axis is not referenced.
Related to .... IS ”2nd software limit switch plus”
36200 AX_VELO_LIMIT[0]....[5]
MD number Threshold value for velocity monitoring
Default: 11500 mm/min, Min. input limit: 0.0 Max. input limit: ***
31.944 rpm
Change valid after NEW_CONF Protection level: 2/7 Unit: mm/min
rpm
Data type: DOUBLE Valid from SW release:
Meaning: This MD is used to specify the threshold value of the actual - value velocity monitoring.
If the axis has at least one active encoder and this is below its limit frequency, alarm 25030 “Ac-
tual velocity alarm limit” is output if the threshold value is exceeded, and the axes are stopped.
Settings:
For axes, select a value that is 10 - 15 % higher than
MD 32000: MAX_AX_VELO (max. axis velocity).
For spindles, select a value per gear stage, which is 10 - 15 % higher than
MD 35110: GEAR_STEP_MAX_VELO_LIMIT[n] (max. gear stage speed).
The machine data index is coded as follows:
[control parameter block No.]: 0 - 5
For the activation of the control parameter records, please refer to:
References: Section ”Velocities, Setpoint/Actual - Value Systems, Closed - Loop Control“
36300 ENC_FREQ_LIMIT[0]
MD number Encoder limit frequency
Default: 300000 Min. input limit: 0.0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: Hz
Data type: DOUBLE Valid from SW release:
Meaning: This MD is used to specify the encoder limit frequency.
The active encoder is defined via the IS ”Position measuring system 1” (V380x0001.5).
Related to .... MD 36302: ENC_FREQ_LIMIT_LOW
36310 ENC_ZERO_MONITORING[0]
MD number Zero mark monitoring
Default: 0 Min. input limit: 0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: This machine data is used to activate the zero reference mark monitoring and to define the num-
ber of illegal zero reference mark errors.
0: Zero mark monitoring OFF, encoder HW monitoring ON
1 - 99, > 100: Number of detected zero mark errors at which the monitoring is to respond
100: Zero mark monitoring OFF, encoder HW monitoring OFF
Examples: MD value = 1: The monitoring will respond at the 1st error.
MD value = 2: The 1st error is tolerated. The monitoring will respond at the 2nd error.
MD value = 3: The 1st and 2nd errors are tolerated. At the 3rd error, the monitoring will re-
spond.
After turning on the encoder, the error count will always start from zero.
Special cases, errors, ...... For absolute encoders, the zero mark monitoring must be disabled with the value = 0!
36400 CONTOUR_TOL
MD number Contour monitoring tolerance band
Default: 1.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm; degrees
Data type: DOUBLE Valid from SW release:
Meaning: The tolerance band for maximum contour deviation.
The admissible deviation between the real and the expected actual value is entered in this MD.
The input of a tolerance band is intended to avoid false trippings of the contour monitoring due to
slight speed variations resulting from process - related control operations (e.g. on first cut).
This MD has to be adapted to the position controller gain and, in case of feedforward control, to
the accuracy of the line motion model MD 32810: EQUIV_SPEEDCTRL_TIME (equivalent time
constant for feedforward control of speed control loop) and to the permissible accelerations and
velocities.
Further references see Section 2.2.1
36600 BRAKE_MODE_CHOICE
MD number Braking behavior with hardware limit switch
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: If with a traversing axis a rising edge of the axis - specific hardware switch is detected, the axis is
decelerated immediately.
The deceleration mode is set in the machine data:
36610 AX_EMERGENCY_STOP_TIME
MD number Duration of brake ramp in case of errors
Default: 0.05 Min. input limit: 0.02 Max. input limit: 1000
Speed setpoint
MD 36210:
CTRLOUT_LIMIT
e.g. current
speed setpoint
Check MD 36610:
AX_EMERGENCY_STOP_TIME
Fig. 4 - 1 Braking ramp in case of errors
For spindle: With spindles without active position control, the speed - controlled spindle may go
on rotating if the encoder frequency monitoring responds (i.e. without valid actual value informa-
tion); rapid stop is not carried out. If the encoder is turned on, the speed setpoint monitoring is
active, but the actual - velocity monitoring (MD 36200) is active. The limiting of the spindle speed
has only a limiting effect (no alarm), the setpoint is limited to the max. chuck speed (MD 35100)
and displayed in the IS ”Programmed speed too high”.
The current speed is no longer displayed, since no valid actual value exists at this moment.
Meaning: With interpolating axes, it is not guaranteed that the contour is not violated during the brake
phase.
CAUTION: If you have set the time of the brake ramp in errored states too much, servo enable
will be canceled even if the axis/spindle is still traversing/rotating. It will then sud-
denly be stopped with speed setpoint 0. That’s why the time in MD 36610:
AX_EMERGENCY_STOP_TIME should be less than the time in MD 36620:
SERVO_DISABLE_DELAY_TIME (servo disable delay time).
Related to .... MD 36620: SERVO_DISABLE_DELAY_TIME Servo disable delay time
MD 36210: CTRLOUT_LIMIT Max. speed setpoint
43400 WORKAREA_PLUS_ENABLE
SD number Working area limitation in the positive direction active
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid: immediately Protection level: 7/7 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 0: The working area limitation of the axis in the positive direction is disabled.
1: The working area limitation of the axis in the positive direction is active.
The parameterization of the setting data is carried out from the operator panel in the “Parame-
ters” operating area by enabling/disabling the working area limitation.
SD inapplicable to ...... G code: WALIMOF
43410 WORKAREA_MINUS_ENABLE
SD number Working area limitation in the negative direction active
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid: immediately Protection level: 7/7 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 0: The working area limitation of the axis in the negative direction is disabled.
1: The working area limitation of the axis in the negative direction is active.
The parameterization of the setting data is carried out from the operator panel in the “Parame-
ters” operating area by enabling/disabling the working area limitation.
SD inapplicable to ...... G code: WALIMOF
43420 WORKAREA_LIMIT_PLUS
SD number Working area limitation plus
Default: 100 000 000 Min. input limit: *** Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: The working area limitation can be used to limit the working area of the MCS (machine coordi-
nate system) in the positive direction of the corresponding axis.
The setting data can be modified from the operator panel in the ”Parameters” operating area.
The positive working area limitation can be modified in the program using G26.
SD inapplicable to ...... G code: WALIMOF
Related to .... SD 43400: WORKAREA_PLUS_ENABLE
43430 WORKAREA_LIMIT_MINUS
SD number Working area limiting minus
Default: - 100 000 000 Min. input limit: *** Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: The working area limitation can be used to limit the working area in the MCS (machine coordi-
nate system) in the negative direction of the corresponding axis.
The setting data can be modified from the operator panel in the ”Parameters” operating area.
The negative working area limitation can be modified in the program using G25.
SD inapplicable to ...... G code: WALIMOF
Related to .... SD 43410: WORKAREA_MINUS_ENABLE
.
Signals to axis (V380x....) . Signals from axis (V390x....)
.
x=0 - > axis 1, Axis 3 x=0 - > axis 1,
x=1 - >axis 2, ... Axis 2
Axis 1 x=1 - >axis 2, ...
Signals to axis/spindle
3.1.1 Velocities
The maximum path, axis velocity and spindle speed depend on the machine design, the di-
mensioning of the drive dynamics and the limit frequency of the actual-value acquisition (en-
coder limit frequency).
The maximum axis velocity is defined in MD 32000: MAX_AX_VELO (maximum axis velo-
city).
The maximum permissible spindle speed is preset using MD 35100: SPIND_VELO_LIMIT
(maximum spindle speed).
References: Chapter ”Spindle”
In addition to the limitation by MD 32000: MAX_AX_VELO, the control system limits the maxi-
mum path velocity acc. to the formula below, depending on the particular situation:
In case the feed is higher (resulting from a feed programmed higher or due to feed override), it
is limited to Vmax.
With programs generated using CAD programs that contain extremely short blocks, this may
result in speed/velocity reduction over several blocks.
Example:
IPO cycle = 12 ms
N10 G0 X0 Y0; [mm]
N20 G0 X100 Y100; [mm]
⇒ programmed path length in the block = 141.42 mm
Vmin 10 3
Computational resolution[mm orIncr.
degrees
] * IPOcycle [s]
The ranges of values of the traversing ranges is dependent on the computational resolution
selected.
If the default setting has been selected for MD 10200: INT_INCR_PER_MM (computational
resolution for linear positions) (1,000 incr./mm) and/or MD 10210: INT_INCR_PER_DEG
(computational resolution for angle positions) (1,000 incr./degree), the range of values can be
programmed with the resolution specified:
The resolutions of linear and angle positions, velocities, accelerations and jerk differ by:
the input resolution, i.e. the input of data from the operator panel or via the part programs.
the display resolution, i.e. the display of data on the operator panel.
the computational resolution, i.e. the internal of the data input via the operator panel or the
part program.
The input and display resolution is determined by the operator panel used (display of machine
data), whereas the display resolution for position values/spindle speed can be modified using
MD 203: DISPLAY_RESOLUTION (display resolution, metric linear position, angle position
general) and/or MD 205: DISPLAY_RESOLUTION_SPINDLE (display resolution for spindle
speed).
MD 204: DISPLAY_RESOLUTION_INCH can be used to configure the display resolution for
linear position values with inch setting.
For programming in part programs, the input resolutions indicated in the Programming Instruc-
tions will apply.
The desired computational resolution is defined using the MD 10200: INT_INCR_PER_MM
(computational resolution for linear positions) and MD 10210: INT_INCR_PER_ DEG (compu-
tational resolution for angle positions). It is independent of the input/display resolution, but
should have at least the same resolution.
The computational resolution defines the maximum number of the active places after the deci-
mal point for position values, speed values etc. in the part program, as well as the number of
places after the decimal point for tool compensations, zero offsets etc. (and with it the maxi-
mum accuracy that can be obtained).
The input accuracy of angle and linear positions is limited to the computational resolution by
rounding the product of the programmed value with the computational resolution to an integer
number.
In order to ensure that the executed rounding can easily be traced, it is recommended to use
numbers raised to the power of 10 for the computational resolution.
Example of rounding:
Computational resolution : 1,000 increments / mm
Programmed path : 97.3786 mm
active value = 97.379 mm
Machine and setting data that have a physical quantity are interpreted by default with the fol-
lowing input/output units, depending on the basic scaling system used (metric/inch):
For certain workpiece-related data, it is possible to switchover between the scaling systems
using G70/G71 and G700/G710. The data that can be influenced by G70/G71/G700/G710 are
described in the Programming Instructions.
When the scaling system is switched over using the appropriate MMC softkey, these reset
positions are defaulted with G700 or G710, depending on the new scaling system.
Application:
This function can be used, e.g. with a metric scaling system to machine an inch thread in a
metric part program. Tool offsets, zero offsets and feeds remain metric.
Machine data are output on the screen in the scaling system selected using the MD 10240:
SCALING_SYSTEM_IS_METRIC (metric scaling system).
Any displays in the machine coordinate system, as well as displays of the tool data and zero
offsets are carried out in the default setting, displays in the workpiece coordinate system with
the current setting.
Note:
If programs, incl. data records (ZO, tool offset) are read in from an external source, which
have been programmed in a scaling system other from the inital system, first the inital setting
must be changed using MD 10240: SCALING_SYSTEM_IS_METRIC.
For interface signals that contain dimension-dependent information, such as feed for path and
positioning axes, the data exchange with the PLC is always carried out using the selected
default system.
G700/G710 is to be considered an extension of G70/G71 by the following functionality:
1. The feed is interpreted in the programmed scaling system:
G700: Length information [inch]; feeds [inch/min]
G710: Length information [mm]; feeds [mm/min]
The programmed feedrate acts modally, i.e. remains active beyond any following
G70/G71/G700/G710. If you wish the feedrate to become active in the new
G70/G71/G700/G710 context, it must be reprogrammed.
2. Reading and writing of length-related system variables and machine data in the part pro-
gram is carried out in the scaling system programmed.
These properties can be used to realize part programs that are independent of the current
basic setting of the scaling system.
Comparison of the effects of G70 and G700 on machine data and system variables in the part
program:
G70: is used for reading and writing in the scaling system.
G70: is used for reading and writing in programmed scaling system
Comparison of G70/G71-G700/G710
Meaning:
P: Reading/writing of data are carried out in the programmed scaling system
G: Reading/writing of data are carried out in the initial scaling system
(MD 10240: SCALING_SYSTEM_IS_METRIC) R/W:
Read/Write
General
The scaling system switchover for the whole machine is carried out using an MMC softkey
“Switch to mm > inch” and “Switch to inch > mm“ in the “POSITION” area.
Access to this softkey is only granted in JOG or MDA mode. The switchover will only be ac-
cepted if:
The channel is in the Reset status.
The axes are not traversed.
For the duration of the switchover operation, actions, such as part program start or mode
change, are disabled.
If no switchover can be carried out, an appropriate message will appear on the user interface.
This definition ensures that the program currently executed always finds a consistent data set
with reference to the scaling system.
The actual process of switching over to the scaling system is internally carried out by writing
of all required machine data and then activating them by RESET.
MD 10240: SCALING_SYSTEM_IS_METRIC and the corresponding settings
G70/G71/G700/G710 in MD 20150: GCODE_RESET_VALUES are switched over for all
channels configured automatically. Note: MD 20150 can only be read/written in expert mode
(protection level 1).
During this process, the value specified in MD 20150: GCODE_RESET_VALUES[12]
changes between G700 and G710, i.e. the default position of the G commands changes bet-
ween G700 and G710.
This process is carried out independently of the protection level currently set.
System data
When switching over the scaling system, from the view of the operator, all length-related data
are automatically converted to the new scaling system. These data include:
Positions
Feedrates
Accelerations
Jerk
Tool offsets
Compensation values
Machine data
Jog and handwheel weightings
After switchover, all a/m data will be available in the physical quantities according to Section
3.1.4.
Data for which no unambiguous physical quantities are defined, such as:
R parameters
will not be included in the automatic conversion. This is the user’s task to take into account
the scaling system currently active (MD 10240: SCALING_SYSTEM_IS_METRIC).
The scaling system setting currently active can be read from the PLC interface using the si-
gnal ”Inch scaling system“ V27000001.7.
Reference point
The reference point remains stored. Re-referencing is not necessary.
Data back-up
Data records that can be read from the control system separately and that have scaling sy-
stem relevant data, are assigned an inch and/or metric ID on reading, which corresponds to
MD 10240: SCALING_SYSTEM_IS_METRIC. This will save from which scaling system the
data have origininally been read.
This information is used to avoid that data records with a scaling system setting other than
currently set are re-read into the control system. In such a case, an appropriate alarm is pro-
vided (15030) and the writing process is aborted.
Since the language statement is also evaluated in part programs, these can also be “protec-
ted” against maloperation in the above mentioned manner. Thus it can be prevented that part
programs that, e.g. contain only metric data, can be run in an inch scaling system.
3.3.1 General
Block diagram
A servo loop with the following structure can be configured for each controlled axis/spindle:
Actual- Encoder
Actual- value value
processing G
assignment
Setpoint output
One setpoint each per axis/spindle can be output. The setpoint output to the actuator is provi-
ded either digitally or, with an analog spindle 10 V unidirectionally/bidirectionally.
Simulation axes
For testing purposes, it is possible to simulate the speed control loop of an axis. In this case,
the axis will “traverse” with a following error, similar to a real axis.
A simulation axis is defined by setting the two MD 30130: CTRLOUT_TYPE[n] (setpoint out-
put type) and MD 30240: ENC_TYPE[n] (actual-value output type) to ”0”.
After loading the standard machine data, the axes are set to simulation.
With reference point approach, setpoint and actual value can be set to the reference point
value.
MD 30350: SIMU_AX_VDI_OUTPUT (output of axis signals with simulation axes) can be
used to define whether the axis-specific IS are output to the PLC during the simulation.
General
The I/O devices connected to Profibus DP (e.g. SIMODRIVE 611-UE drives, I/O modules) are
accessible through DP slave. A DP slave is a profibus node that has a PROFIBUS address
(PB address) and is loaded with values which is supplied by a master (in this case the SINU-
MERIK 802D).
SINUMERIK 802D
DP master
Profibus-DP
Fig. 3-2 Principle of a Profibus configuration with drive 611UE (double-axis power section: drives A and B) and
I/O module
Note
With double -axis power sections, both drives (A and B) must always be assigned to one axis.
Otherwise, during power -up, an error message will occur, and the entire power section will not be
ready. If you wish to connect only one axis, the drive must be reparameterized.
MD 13060: DRIVE_TELEGRAM_TYPE[n] is used to set the default message type for the
communication with any drive. When using the SIMODRIVE 611UE drive as a digital axis
drive, the required value = 102 is already set (default value).
For a drive operating as a spindle control, other settings may be required:
MD value = 0: for an additional analog spindle control on the drive
MD value = 104: for a digital spindle with direct position encoder
For a digital sindle with motor measuring system, MD value = 102 will apply.
Example of a digital drive (axis or spindle):
Drive number 1 -> MD 13060: DRIVE_TELEGRAM_TYPE[0] = 102
Drive number 2 -> MD 13060: DRIVE_TELEGRAM_TYPE[1] = 102
Drive number 3 -> MD 13060: DRIVE_TELEGRAM_TYPE[2] = 102
etc.
The drive parameterization is carried out as follows:
- on the display and control unit at the SIMODRIVE 611-UE
- using the parameterization and start-up tool “SimoCom U”
To do so, you will need the following documentation:
Description of Functions “SIMODRIVE 611 UE“
Note
If you wish to use an analog spindle (instead of a digital one) in conjunction with the SIMO-
DRIVE 611UE drive, some additional notes must be observed. Please refer to the Chapter
“Spindle”.
Drive No. 1
Drive No.2
Drive No. 3
Drive No. 4
Drive No. 5
A A B A B
Example:
Single- and 2x double-axis power sec-
tion SIMODRIVE 611UE
(MD 11240:
PROFIBUS_SDB_NUMBER = 4)
Setpoint output
Single-axis Double -axis Double -axis
power section power section power section
Drive No. 1
Drive No.2
Drive No. 3
Drive No. 4
Drive No. 5
A A B A B
Example:
Single- and 2x double-axis power sec-
tion SIMODRIVE 611UE
(MD 11240:
PROFIBUS_SDB_NUMBER = 4)
Setpoint output
Single-axis Double -axis Double -axis
power section power section power section
Special features
MD 30110: CTRLOUT_MODULE_NR[0] and
MD 30220: ENC_MODULE_NR[0] of a machine axis must have the same drive number.
To operate a digital spindle with a direct position encoder, set
MD 30230: ENC_INPUT_NR[0] = 2 for the corresponding machine axis, and, if necessary,
correct the direction using
MD 32110: ENC_FEEDBACK_POL[0] = -1.
Set the message type for the appropriate drive n to:
MD 13060: DRIVE_TELEGRAM_TYPE[n-1] = 104
In addition, parameterize the drive (via SimoComU).
MD 32100: AX_MOTION_DIR
nMotor nSpindle
ÍÍÍÍÍ
MD 31030: LEADSCREW_PITCH
Controller M
Load Ball screw
gear only for linear axes
Traversing direction
MD 32100: AX_MOTION_DIR (traversing direction) can be used to revert the traversing direc-
tion of the axis (without effect on the control direction of the position control).
t [sec]
If values above the limit are specified, the value is limited to the value defined in MD 36210,
the axes are stopped, and an alarm is output. For detailed information, see Section “Axis mo-
nitoring functions”.
In the case of an analog spindle, the maximum output speed is limited by the maximum setpo-
int output voltage of 10 V. The value of MD 36210: CTRLOUT_LIMIT should not be above the
speed setpoint reached at this voltage (100 %).
Note
For special features regarding the control of a spindle, please refer to the Chapter “Spindle”.
MD 30200: NUM_ENCS 1 1 1 1 0
(number of encoders)
MD 30300: IS_ROT_AX 0 1 1 1 1
(rotary axis)
MD 31040: ENC_IS_DIRECT[0] 0 0 0 1 1
(encoder is installed directly on the machine)
MD 31070: - - - encoder -
DRIVE_ENC_RATIO_DENOM[n] rev’s
(resolver gearbox denominator)
Note
*) These MD are not required for the encoder adaptation (path evaluation). For setpoint calculation,
however, they must be entered correctly! Otherwise, the desired loop gain factor will not be set.
MD: IS_ROT_AX = 0
nEncoder
MD: ENC_IS_DIRECT=0
ÍÍÍÍÍ
Table
G M Ball screw
Load
gear nSpindle LEADSCREW_PITCH
nMotor
MD: MD: DRIVE_AX_RATIO_NUMERA No. of motor rev’s
ENC_RESOL =
MD: DRIVE_AX_RATIO_DENOM No. of spindle rev’s
Fig. 3-7 Linear axis with rotary encoder installed on the motor
MD: MD:
n ENC_IS_DIRECT=0 n IS_ROT_AX=1
Encoder Load
G M L Rotary table
Load
gear
n MD: DRIVE_AX_RATIO_NUMERA No. of motor rev’s
MD: Motor =
ENC_RESOL MD: DRIVE_AX_RATIO_DENOM No. of load rev’s
Fig. 3-8 Rotary axis with rotary encoder installed on the motor
n Load
Spindle chuck
MD:
ENC_IS_DIRECT=1
n Encoder
MD:
M L G ENC_RESOL
Fig. 3-9 Spindle with rotarory encoder installed on the the machine
Note:
MD 32110: ENC_FEEDBACK_POL (sign of actual value) can be used to change the sign of
the actual-value sensing and thus also the control direction of the position control.
General
The closed-loop control of an axis consists of the current and of the speed control loop of the
drive and of a higher-livel position-control loop in the NC.
The speed and current control are explained in:
References: Description of Functions “SIMODRIVE 611 UE”
MD 32400: AX_JERK_ENABLE
MD 32410: AX_JERK_TIME MD 32200: POSCTRL_GAIN
MD 32100: AX_MOTION_DIR
Speed [mmin]
KV ; Unit of servo gain factor acc. to the VDI standard
Followingerror [mm]
Note
For example, if a load gear is active for an axis, then this transmission ratio (numerator, deno-
minator) must also be entered in all of the remaining sets of parameters used for threads, in
addition to the parameter set with the index =0.
The current parameter set is displayed in the operating area “Diagnosis” in the display ”Ser-
vice of axis”.
10200 ** INT_INCR_PER_MM
MD number Computational resolution for linear positions
Default: 1000 Min. input limit: 1.0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DOUBLE Valid from SW release:
Meaning: This MD is used to define the number of internal increments per millimiter.
The input accuracy of linear positions is limited to the computational resolution by rounding the
product of the programmed value with the computational resolution to an integer number.
To be able to trace the rounding easily, numbers raised to the power of 10 should be used for the
computational resolution.
Application example(s) In the case of high demands on the accuracy of linear axes, the computational resolution can be
increased to values greater than 1,000 incr./mm.
** This machine data is not available with the 802D base line.
10210 ** INT_INCR_PER_DEG
MD number Computational resolution for angular positions
Default: 1000 Min. input limit: 1.0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DOUBLE Valid from SW release:
Meaning: This MD is used to define the number of internal increments per degree.
The input accuracy of angular positions is limited to the computational resolution by rounding the
product of the programmed value with the computational resolution to an integer number.
To be able to trace the rounding easily, numbers raised to the power of 10 should be used for the
computational resolution.
Application example(s) For a high-resolution rotary axis, the computational resolution can be changed to < 1,000 incr./de-
grees.
** This machine data is not available with the 802D base line.
10240 SCALING_SYSTEM_IS_METRIC
MD number Metric scaling system
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: The MD defines the scaling system used by the control system for the scaling of length-dependent
physical quantities for data I/O.
Internally, all data are stored in the basic units 1 mm, 1 degree and 1 sec.
When accessing from the part program, the operator panel or via external communication, the
following units are used for scaling:
SCALING_SYSTEM_IS_METRIC = 1: scaled in:
mm, mm/min, m/s2, m/s3, mm/rev.
SCALING_SYSTEM_IS_METRIC = 0: scaled in:
inch, inch/min, inch/s2, inch/s3, inch/rev.
The selection of the scaling system also defines the interpretation of the F value programmed for
linear axes:
metric inch
G94 mm/min inch/min
G95 mm/rev. inch/rev.
After the machine data have been modified, the control system must be rebooted; otherwise, the
machine data with physical units will not be scaled correctly.
Observe the following procedure:
MD change by manual input
Reboot the control system and then enter the appropriate machine data with their
physical units
MD change is carried out using a machine data file
Reboot the control system and then reload the machine data file so that the physical
units come into effect.
If the machine data are modified, the alarm 4070 ”Scaled machine data changed” is output.
Application example(s) Start-up in the metric system and then conversion to the inch system
11240 PROFIBUS_SDB_NUMBER
MD number SDB1000 number
Default: 0 Min. input limit: 0 Max. input limit: 6
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2
Meaning: Number of the system data block (SDB1000) used for configuring the Profibus I/Os. With
SINUMERIK 802D, the following possibilities are offered:
0: I/O module: 1st PP (DP addr.9 ), 2nd PP (DP addr.8) = digital inputs/outputs
Drives: none (axes in simulation)
1, 2: reserved
3: I/O module: 1st PP (DP addr.9 ), 2nd PP (DP addr.8) = digital inputs/outputs
Drives:
Double-axis power section (DP addr.12: Drive A = drive no. 1, drive B = drive no. 2)
+ Single-axis power section (DP addr.10 = drive no. 5)
+ Single-axis
Single axis power section (DP addr
addr.11
11 = drive no.
no 6)
4: I/O module: 1st PP (DP addr.9 ), 2nd PP (DP addr.8) = digital inputs/outputs
Drives:
Double-axis power section (DP addr.12: Drive A = drive no. 1, Antrieb B = drive no. 2)
+ Double-axis power section (DP addr.13: Drive A = drive no. 3, Antrieb B = drive no. 4)
+ Single-axis power section (DP addr.10 = drive no. 5)
5: I/O module: 1st PP (DP addr.9 ), 2nd PP (DP addr.8) = digital inputs/outputs
Drives:
Single-axis power section (DP addr.20 = drive no. 1)
+ Single-axis power section (DP addr.21 = drive no. 2)
+ Double-axis power section (DP addr.13: Drive A = drive no. 3, drive B = drive no. 4)
+ Single-axis power section (DP addr.10 = drive no. 5)
6: I/O module: 1st PP (DP addr.9 ), 2nd PP (DP addr.8) = digital inputs/outputs
Drives:
Einachs-Leistungsteil (DP-Adr.20 = drive no. 1)
+ Single-axis power section (DP addr.21 = drive no. 2)
+ Single-axis power section (DP addr.22 = drive no. 3)
+ Single-axis power section (DP addr.10 = drive no. 5)
Note:
The assignment of a drive to the relevant machine axis is provided via the axis-specific machine
data CTRLOUT_MODULE_NR = ENC_MODULE_NR = drive number.
13060 DRIVE_TELEGRAM_TYPE[n]
MD number Default message type for drives at Profibus DP
Default: Min. input limit: 0 Max. input limit: ***
(102, 102, 102, 102, 102)
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: Specify the message type for each drive at Profibus DP:
0: for additional analog spindle control on the drive
102: SIMODRIVE 611UE - digital axis/spindle
104: SIMODRIVE 611UE - spindle with direct measuring system
Index [n] of the machine data is coded as follows: [drive index]:
n=0: drive 1
n=1: drive 2, etc.
20150 GCODE_RESET_VALUES[n]
MD number Erase position of the G groups [G group no.]: 0...59
Default: see below Min. input limit: 0 Max. input limit: 14
Change valid after RESET Protection level: 1/1 Unit: -
Data type: BYTE Valid from SW release:
Meaning: Definition of the G codes that become active during start-up and reset or at the end of the part
program and when starting the part program.
As a default value, the index of the G codes must be specified in the appropriate groups.
Designation Group Standard Value
GCODE_RESET_VALUES[0] 1 2 (G01)
GCODE_RESET_VALUES[1] 2 0 (inactive)
GCODE_RESET_VALUES[2] 3 0 (inactive)
GCODE_RESET_VALUES[3] 4 1 (START FIFO)
GCODE_RESET_VALUES[4] 5 0 (inactive)
GCODE_RESET_VALUES[5] 6 1 (G17) for milling
GCODE_RESET_VALUES[6] 7 1 (G40)
GCODE_RESET_VALUES[7] 8 1 (G500)
GCODE_RESET_VALUES[8] 9 0 (inactive)
GCODE_RESET_VALUES[9] 10 1 (G60)
GCODE_RESET_VALUES[10] 11 0 (inactive)
GCODE_RESET_VALUES[11] 12 1 (G601)
GCODE_RESET_VALUES[12] 13 2 (G71)
GCODE_RESET_VALUES[13] 14 1 (G90)
GCODE_RESET_VALUES[14] 15 2 (G94)
GCODE_RESET_VALUES[15] 16 1 (CFC)
...
Further references
For a list of the G groups and the functions assigned to them, please refere to:
References: “Operation and Programming”
30110 CTRLOUT_MODULE_NR[n]
MD number Setpoint: Drive number/module number
Default: 1 Min. input limit: 1 Max. input limit: 9
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: Enter the drive number for a standard axis.
30120 CTRLOUT_NR[n]
MD number Setpoint: Output on the module
Default: 1 Min. input limit: 1 Max. input limit: 2
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: Number of output on a module used to address the setpoint output.
30130 CTRLOUT_TYPE[n]
MD number Setpoint output type
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: In this MD, the type of the speed setpoint output is entered:
0: Simulation (no hardware required)
1: Setpoint output active
Index [n] of the machine data is coded as follows: [setpoint branch]: 0
Application example(s) Simulation: Machine functions can also be simulated without a drive connected.
30200 NUM_ENCS
MD number Number of encoders
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: 1: Spindle/axis with direct measuring system (integrated in the motor or direct)
0: without measuring system (possible with spindle)
30220 ENC_MODULE_NR[n]
MD number Actual value: Drive number/measuring circuit number
Default: 1 Min. input limit: 1 Max. input limit: 9
Change valid after Power On Protection level: 2/7 Unit: -
Data type: BYTE Valid from SW release:
Meaning: Enter the drive number for a standard axis/spindle.
30230 ENC_INPUT_NR[n]
MD number Actual value: Input number on module/measuring circuit card
Default: 0 Min. input limit: 0 Max. input limit: 5
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: Number of the input on a module, which is used to address the encoder.
30240 ENC_TYPE[n]
MD number Actual value: Encoder type
Default: 0 Min. input limit: 0 Max. input limit: 4
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: In this MD, the type of the encoder used is entered:
0: Simulation
1: Signal generator (1VSS, sin, cos)
4: Absolute encoder with EnDat interface
2, 3, 5: reserved
Index [n] of the machine data is coded as follows: [encoder No.]: 0
Application example(s) Simulation:
Machine functions can also be simulated without measuring system connected.
30350 SIMU_AX_VDI_OUTPUT
MD number Output of axis signals with simulation axes
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: This machine data is used to define whether during the simulation of an axis axis-specific interface
signals are output to the PLC.
1: The axis-specific IS (interface signals) of a simulated axis are output to the PLC.
It is thus possible to test the PLC user program without the need to connect drives.
0: The axis-specific interface signals of a simulated axis are not output to the PLC.
All axis-specific interface signals are set to “0”.
MD inapplicable ...... MD 30130: CTRLOUT_TYPE (setpoint output type) = 1
Application example(s) MD: SIMU_AX_VDI_OUTPUT = 0
This prevents, e.g. that during the simulation of an axis the brake is released.
31000 ENC_IS_LINEAR
MD number Direct measuring system (linear scale)
Default: 0 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit:
Data type: BOOLEAN Valid from SW release: 1.1
Meaning: Value 1: Encoder is a linear scale
Further references
31010 ENC_GRID_POINT_DIST
MD number Scale division with linear scales
Default: 0.01 Min. input limit: 0.0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: mm
Data type: DOUBLE Valid from SW release: 1.1
Meaning: Distance of increments with linear encoders
Further references
31020 ENC_RESOL[n]
MD number Increments per revolution
Default: 2048 Min. input limit: 0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: In this MD, the increments per encoder revolution are entered.
The index [n] of the machine data is coded as follows: [encoder No.]: 0
31030 LEADSCREW_PITCH
MD number Leadscrew pitch
Default: 10.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: mm/rev.
Data type: DOUBLE Valid from SW release:
Meaning: In this MD, the leadscrew pitch is entered.
31040 ENC_IS_DIRECT[n]
MD number The encoder is directly mounted on the machine.
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 1: Encoder for actual position sensing is mounted directly on the machine.
0: Encoder for actual position sensing is mounted on the motor.
Index [n] of the machine data is coded as follows: [encoder No.]: 0
Special cases, errors, ...... A wrong entry may result in wrong encoder resolution, since, e.g. the wrong gear transmission
ratios are calculated.
31050 DRIVE_AX_RATIO_DENOM[n]
MD number Load gear denominator
Default: 1 Min. input limit: 1 Max. input limit: 2 147 000 000
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: In this MD, the denominator of the load gear must be entered.
Index [n] of the machine data is coded as follows: [control parameter set No.]: 0-5
Further references
31060 DRIVE_AX_RATIO_NUMERA[n]
MD number Load gear numerator
Default: 1 Min. input limit: -2 147 000 000 Max. input limit: 2 147 000 000
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: In this MD, the numerator of the load gear is entered.
Index [n] of the machine data is coded as follows: [control parameter set No.]: 0-5
31070 DRIVE_ENC_RATIO_DENOM[n]
MD number Resolver gearbox denominator
Default: 1 Min. input limit: 1 Max. input limit: 21 47 000 000
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: In this MD, the name of the resolver gearbox is entered.
Index [n] of the machine data is coded as follows: [encoder No.]: 0
31080 DRIVE_ENC_RATIO_NUMERA[n]
MD number Resolver gearbox numerator
Default: 1 Min. input limit: 1 Max. input limit: 2 147 000 000
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: In this MD, the numerator of the resolver gearbox is entered.
The index [n] of the machine data is coded as follows: [encoder No.]: 0
32000 MAX_AX_VELO
MD number Maximum axis velocity
Default: 10 000 mm/min, Min. input limit: 0.0 Max. input limit: ***
27.77 rpm
Change valid after NEW_CONF Protection level: 2/7 Unit: mm/min,
rpm
Data type: DOUBLE Valid from SW release:
Meaning: In this MD, enter the limit velocity up to which the axis can accelerate (rapid traverse limitation).
If rapid traverse G0 is programmed, this speed is used for traversing. Depending on
MD: IS_ROT_AX, enter the maximum linear ond/or rotary axis speed in the MD.
The max. permissible axis velocity depends on the machine and axis dynamics and the limit fre-
quency of actual-value sensing.
32100 AX_MOTION_DIR
MD number Traversing direction
Default: 1 Min. input limit: -1 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: This MD can be used to revert the direction of rotation of the machine axis. The control direction,
however, is not reverted, i.e. the closed-loop control remains stable.
0 or 1: no direction reversal
-1: direction reversal
32110 ENC_FEEDBACK_POL[n]
MD number Sign of actual value (control direction)
Default: 1 Min. input limit: - 1 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type:BYTE Valid from SW release:
Meaning: In this MD, the direction of evaluation of the encoder signals is entered.
0 or 1: no direction reversal
-1: direction reversal
In the case of direction reversal, the control direction is also reverted if the encoder is used for the
position control.
Index [n] of the machine data is coded as follows: [encoder No.]: 0
Special cases, errors, ...... If a wrong control direction is entered, the axis may run away.
Depending on the setting of the corresponding limit values, one of the following alarms may occur:
Alarm 25040 ”Zero-speed control“
Alarm 25050 ”Contour monitoring“
Alarm 25060 ”Speed setpoint limitation”
The corresponding limit values are described in:
References: Section ”Axis Monitoring Functions”
If there is an uncontrolled, sudden setpoint change when connecting a drive, a wrong control direc-
tion may have been set.
32200 POSCTRL_GAIN[n]
MD number Servo gain factor
Default: 1.0 Min. input limit: 0.0 Max. input limit: 2000
Change valid after NEW_CONF Protection level: 2/7 Unit: (m/min)/mm
Data type: DOUBLE Valid from SW release:
Meaning: Position controller gain, so-called servo gain factor.
The input/output unit for the user is [ (m/min)/mm].
i.e. POSCTRL_GAIN[n] = 1 corresponds to 1 mm following error at V = 1 m/min.
36210 CTRLOUT_LIMIT[n]
MD number Max. speed setpoint
Default: 110.0 Min. input limit: 0.0 Max. input limit: 200
Change valid after NEW_CONF Protection level: 2/7 Unit: %
Data type: DOUBLE Valid from SW release:
Meaning: This MD is used to define the maximum speed setpoint value in per cent.
This specification refers to the speed (100 %) at which the velocity defined in MD 32000:
MAX_AX_VELO is reached. A value greater than 100 % contains the required control margin with
digital drives.
If values above the limit are specified, the value is limited to the MD value, the axes are stopped
and an alarm is generated.
With an analog spindle, the maximum output speed is limited by the maximum setpoint output
voltage of 10 V. The value in this MD should not be above the speed setpoint reached at this vol-
tage (100 %).
Index[n] of the machine data is coded as follows: [setpoint branch]: 0
Further references see Section “Axis monitoring functions”
37600 ** PROFIBUS_ACTVAL_LEAD_TIME
MD number Actual-value sensing time (Profibus Ti)
Default: 0.000125 Min. input limit: 0.0 Max. input limit: 0.032
Change valid after Power On Protection level: 2/7 Unit: s
Data type: DOUBLE Valid from SW release: 1.1
Meaning: Data for setting the actual-value acceptance time (Ti) of the encoder at Profibus (Ti).
Note:
The real Ti value is read either directly from the Profibus configuration or from the drive (if possi-
ble). In this case, the value of the machine data is set to the read value and only serves for dis-
playing.
Further references
** This machine data is not available with the 802D base line.
Sudden acceleration
In case of the v/t linear velocity control of an axis, which is usually used, the motion is control-
led such that the acceleration changes suddenly over the time. With this discontinuous, sud-
den acceleration, jerk-free starting and deceleration of the axes is not possible, but a time-
optimized velocity/time profile can be realized.
Jerk-limited acceleration
The jerk is the change of the acceleration over the time. With jerk-limited acceleration, the
maximum acceleration is specified not suddenly, but along a ramp. Due to the smoother acce-
leration characteristic, the traversing time increases towards a sudden acceleration whereas
the path, velocity and acceleration remain the same. In some cases, this loss in time can be
compensated by setting a higher settable axis acceleration.
This, however, has the following advantages:
Saving of the machine mechanics
Reduction of the excitation of high-frequency vibrations of the machine, which can badly
be controlled.
Note
This function is not available with the 802D base line.
Active range
The path-related jerk limitation is available for the interpolating path axes in the operating mo-
des AUTO and MDA. The acceleration profiles SOFT and BRISK can be used together with
the traversing mode “Exact stop” G09, G60, continuous-path mode G64 and LookAhead. The
profiles are also active with the function “Dry Run Feed”. Alarms that trigger off a rapid stop
will disable both acceleration profiles.
For more detailed information on the behavior of velocity, acceleration, jerk when traversing in
the continuous-path mode and, in particular, at block transitions, please refer to:
References: Section ”Continuous Path Mode, Exact Stop and Look Ahead”
Note: It is recommended to set the MD 32431: MAX_AX_JERK and
MD 32432: PATH_TRANS_JERK_LIM (maximum axis-specific jerk with path movement at
the block transition) to the same values for the appropriate axis.
Note
This function is not available with the 802D base line.
Function
Some program sections may require to programmably modify the axis or spindle acceleration
defined in machine data. This programmable acceleration is a percentage acceleration correc-
tion.
The program command: ACC[channel axis name] = percentage value
can be used to program a percentage value > 0% and 200% for each axis (e.g.: X) or
spindle (S1). In this case, the axis interpolation is carried out on the basis of this proportional
acceleration. The acceleration stored in the axis-specific MD 32300: MAX_AX_ACCEL con-
stitutes the reference for an axis (100%). For the spindle, this reference (100%) depends on
the active spindle mode and the gear stage (n = 1 ... 5)
MD 35200: GEAR_STEP_SPEEDCTRL_ACCEL[n] in control mode or
MD 35210: GEAR_STEP_POSCTRL_ACCEL[n] in positioning mode.
References: Chapter ”Spindle”
Example: N10 ACC[X]=80 ; 80% of the acceleration for the X axis
References: ”Operation and Programming”
Activation
The limitation is active in all interpolation modes of AUTOMATIC and MDA modes. The limita-
tion is not active in JOG mode and during reference point approach.
The value assignment ACC[...] = 100 disables the correction (100% of the MD values); the
same applies to RESET and end of program.
The programmed value is also active during dry run feed.
Error states
The limitation of the acceleration is inactive in error states that lead to a rapid stop with open
position control loop (since the axis is stopped along a braking ramp of the speed setpoint
value).
Note: A value programmed greater than 100% can only be executed if the drives have the
appropriate reserves - otherwise, alarm messages are output.
32300 MAX_AX_ACCEL
MD number Axis acceleration
Default: 1.0 m/s2 Min. input limit: 0.0 Max. input limit: ***
2.77 rev/s2
Change valid after NEW_CONF Protection level: 2/7 Unit: m/s2, rev/s2
Data type: DOUBLE Valid from SW release:
Meaning: The acceleration specifies a velocity change of the axis over a certain time. Different axes need
not absolutely necessary have the same acceleration. The lowest acceleration value will be used
for interpolating axes.
For rotary axes, the entered value corresponds to the angular acceleration.
The machine manufacturer must find out for which permanent brake mode and which permanent
acceleration is suited for the machine. This value must then be entered in this machine data.
The acceleration value is active for each acceleration/deceleration process.
MD inapplicable to ...... error states resulting in rapid stop
32420 JOG_AND_POS_JERK_ENABLE
MD number Enable axis-specific jerk limitation
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: Enables the function of axis-specific jerk limitation for the modes JOG, REF and the positioning
axis mode.
Related to .... MD 32430: JOG_AND_POS_MAX_JERK (axis-specific jerk)
32430 JOG_AND_POS_MAX_JERK
MD number Axis-specific jerk
Default: 1000.00 m/s3, Min. input limit: 10 - 9 Max. input limit: ***
2777.77 rev./s3
Change valid after RESET Protection level: 2/2 Unit: m/s3, rev./s3
Data type: DOUBLE Valid from SW release:
Meaning: The jerk limit value limits the change in axis acceleration in JOG mode.
MD inapplicable to ...... path interpolation and error states resulting in rapid stop
Related to ...... MD 32420: JOG_AND_POS_JERK_ENABLE (enable axis-specific jerk limitation)
32431** MAX_AX_JERK
MD number Maximum axis-specific jerk when traversing along the contour
Default: 1000.00 m/s3, Min. input limit: 10 - 9 Max. input limit: ***
2777.77 rev./s3
Change valid after NEW_CONF Protection level: 3/3 Unit: m/s3, rev./s3
Data type: DOUBLE Valid from SW release:
Meaning: This maximum axis-specific jerk is active with path movements.
Path movements are possible in AUTO and MDA modes..
Related to ... MD 32432: PATH_TRANS_JERK_LIM is active at block transition.
It is recommended to set both MD to the same value.
** This machine data is not available with the 802D base line.
Spindle application
Depending on the machine type, the following functions are possible for an NC-controlled
spindle:
Definition of a direction of rotation of the spindle (M3, M4)
Definition of a spindle speed (S)
Spindle stop, without orientation (M5)
Spindle positioning (SPOS=)
(position-controlled spindle required)
Gear step switchover (M40 to M45)
Thread cutting/tapping (G33, G331, G332, G63)
Revolutional feed (G95)
Constant cutting speed (G96)
Programmable spindle speed limitations (G25, G26, LIMS=)
Position encoder mounted on the spindle or on the spindle motor
Spindle monitoring for min. and max. speed
Dwell time in spindle revolutions (G4 S)
Instead of the controlled spindle, a “switched” spindle can be used. In this case, the spindle
speed (S) is not specified from the program, but, e.g. by manual operation (gearbox) on the
machine. It is thus also not possible to program any speed limitations. The following is possi-
ble via the program:
Definition of a direction of rotation of the spindle (M3, M4)
Spindle stop, without orientation (M5)
Tapping (G63)
If the spindle is equipped with a position encoder, in addition to the above mentioned func-
tions, the functions listed below are possible:
Thread cutting/tapping (G33)
Revolutional feed (G95)
For a switched spindle, the setpoint output for the spindle via MD 30130: CTRLOUT_TYPE =0
must be suppressed.
Spindle modes
The spindle can be operated in the following modes:
Control mode see Section 5.2.1
Oscillation mode see Section 5.2.2.
Positioning mode see Section 5.2.3
Tapping without compensating chuck also refer to Section“Feed” (Thread Interpola-
tion) and
References: ”Operation and Programming“
Oscillation m.
Rigid tapping
(without compen-
sating chuck)
Prerequisites
A spindle actual position encoder is absolutely necessary for M3/M4/M5 in conjunction with
revolutional feed (G95, F in mm/rev. or inch/rev.), constant cutting rate (G96, G97) and thread
cutting (G33).
Note
The spindle can always be decelerated using the IS ”Delete distance to go/spindle reset”.
CAUTION: If G94 is provided, the program will go on running. With G95, the axes will come
to a standstill due to the missing feed and thus also the program run if G1, G2, ... is active.
Oscillation time
For each direction of rotation, the oscillation time can be defined in a machine data:
Oscillation time in M3 direction (in the following referred to as t1) in
MD 35440: SPIND_OSCILL_TIME_CW
Oscillation time in M4 direction (in the following referred to as t2) in
MD 35450: SPIND_OSCILL_TIME_CCW
Block change
If the spindle has been switched over to oscillation mode (IS ”Switchover gear”
(V390x2000.3) is set), the part program execution is stopped. No new block will be started. If
the oscillation mode is ended by the IS ”Gear has been switched over” (V380x2000.3), the
part program execution is resumed. A new block will be executed.
Speed
(1/min)
Time (s)
Special features
The acceleration is defined in MD 35410: SPIND_OSCILL_ACCEL (acceleration on oscil-
lation).
If the IS ”Oscillation speed” (V380x2002.5) is reset, the oscillation stops. The spindle mode
“Oscillation”, however, is not quitted.
The gear stage change should always be ended by the IS “Gear is switched over”.
The IS ”Reset” (V30000000.7) will not cancel the oscillation mode.
If an indirect measuring system is used, the synchronization gets lost. Upon next zero
mark overtravel, a synchronization is carried out again.
Note
Possibility to abort: Set IS ”Delete distance-to-go/spindle reset” (V380x0002.2)
Block change
Programming with SPOS:
The block change is carried out as soon as all functions programmed in the block have re-
ached their block end criterion (e.g. axes terminated, all auxiliary functions acknowledged
from the PLC) and as soon as the spindle has reached its position (IS ”Exact stop fine” for
the spindle (V390x0000.7)).
Prerequisites
Spindle actual position encoder is absolutely necessary.
Phases 1 to 5:
Speed
(1/min) 1 MD 36300: ENC_FREQ_LIMIT
( limit frequency of the encoder)
MD 36302: ENC_FREQ_LIMIT_LOW
(encoder limit frequency resynchronization)
2
3
MD 35300: SPIND_POSCTRL_VELO
(position controller threshold speed)
1a 4
4a
5 Time (s)
SPOS=...
Sequence
Phase 1: The spindle rotates at a speed less than the encoder limit frequency. The spindle is
synchronized. It is in control mode. Continued with phase 2.
Phase 1a: The spindle rotates at a speed less than the position controller threshold speed.
The spindle is synchronized. It is in control mode. Continuation is possible with 4a.
Phase 1b (not shown): The spindle rotates at a speed higher greater than the encoder limit
frequency. First, the spindle is not synchronized, but will be synchronized when the speed
defined in MD 3602: ENC_FREQ_LIMIT_LOW (percentage value of MD 36300) is undershot.
Continued with phase2.
Phase 2: When the SPOS instruction comes into effect, the spindle starts to decelerate to the
position controller threshold speed at the acceleration stored in MD 35200:
GEAR_STEP_SPEEDCTRL_ACCEL.
Phase 3: When the position controller threshold speed stored in
MD 35300: SPIND_POSCTRL_VELO + is reached:
the position control is connected,
the distance to go (to the target position) is calculated , (it is more likely to be possible from
phase 1a)
the acceleration to MD 35210: GEAR_STEP_POSCTRL_ACCEL (acceleration in position
control mode) is switched over (is always active below the position controller threshold
speed)
Phase 4: The spindle brakes from the calculated ”braking point” at
MD 35210: GEAR_STEP_POSCTRL_ACCEL until the target position is reached.
Phase 5: The position control remains active and keeps the spindle in the programmed posi-
tion. The IS ”Position reached at exact stop fine” (V390x0000.7) and ”... coarse”
(V390x0000.6) are set, if the distance between the actual spindle position and the program-
med position (spindle setpoint position) is less than the exact stop fine and coarse (determi-
ned in MD 36010: STOP_LIMIT_FINE and MD 36000 :STOP_LIMIT_COARSE).
Speed
(1/min) Phases 1 to 4:
MD 35300:
SPIND_POSCTRL_VELO 2
(Position controller threshold speed)
3
1
Fig. 5-4 Positioning with the spindle stopped and not synchronized
Sequence
Phase 1: If SPOS is programmed, the spindle will accelerate at the acceleration defined in
MD 35210: GEAR_STEP_ POSCTRL_ACCEL (acceleration in position control mode) until
the speed entered in MD 35300: SPIND_POSCTRL_VELO (position controller switch-on
speed) is reached.
The direction of rotation is determined by MD 35350: SPIND_POSITIONING_ DIR (direction
of rotation when positioning from the standstill), unless there is no preset value from the
SPOS programming ( ACN, ACP, IC). The spindle is synchronized with the next zero mark of
the position actual-value encoder.
Phase 2: After the spindle has been synchronized, the position control is enabled. The
spindle will rotate not faster than specified in MD 35300: SPIND_POSCTRL_VELO until the
brake starting point calculation recognizes when the spindle may exactly approach the pro-
grammed spindle position with the acceleration defined.
Phase 3: The spindle brakes at the brake threshold point at the acceleration defined in
MD 35210: GEAR_STEP_ POSCTRL_ACCEL (acceleration in position control mode).
Phase 4: The spindle has reached the position and is at a standstill. The position control is
active and keeps the spindle in the programmed position. The IS ”Position reached with exact
stop fine” (V390x0000.7) and ”... coarse” (V390x0000.6) are set if the distance between the
spindle actual position and the programmed position (spindle setpoint position) is less than
the value of exact stop fine and coarse ( MD 36010: STOP_LIMIT_FINE and MD 36000:
STOP_LIMIT_COARSE).
Speed
(1/min) Phases 1 to 4:
MD 35300:
SPIND_POSCTRL_VELO 2
(Position controller switch-on speed)
3a 3
1
4a 4
Sequence
The spindle is traversed time-optimized until the programmed time is reached. Depending on
the related boundary conditions, the spindle will pass the phases 1 - 2 - 3 - 4 or 1 - 3a - 4a.
Phase 1: SPOS will switch the spindle to position control mode. The acceleration from the
MD 35210: GEAR_STEP_POSCTRL_ACCEL (acceleration in position control mode) beco-
mes active. The direction of rotation is determined by the present distance to go (type of path
specification with SPOS). The limit frequency set in MD 35300: SPIND_POSCTRL_VELO
(position control threshold speed) will not be exceeded.
The calculation of the distance to be traversed to the target position will be carried out. If the
target point can be reached from this phase immediately, it is continued with phases 3a and
4a, instead of phase 2.
Phase 2: The system has been accelerated up to the speed entered in
MD 35300: SPIND_POSCTRL_VELO (position controller threshold speed). The brake thres-
hold point calculation will recognize at which time the programmed spindle position
(SPOS=...) can be approached at the acceleration stored in MD 35210:
GEAR_STEP_POSCTRL_ACCEL .
Phase 3 and phase 4: “Braking” and “Position reached” have the same sequence as with a
non-synchronized spindle.
Spindle reset
The positioning process can be canceld using the IS ”Delete distance to go/spindle reset”
(V380x0002.2). However, the spindle will remain in positioning mode.
Notes
The spindle override switch continues to apply in Positioning mode.
The positioning (SPOS) can be canceled either with “Reset” or “NC STOP”.
Prerequisites
The spindle can be switched from the spindle mode to the axis mode (rotary axis) if a common
motor is used both for the spindle and for the axis modes.
The axis mode requires a position actual-value encoder.
Activation/deactivation
Set the spindle to the position-controlled mode (positining mode):
N10 SPOS=0
If the spindle is synchronized, switching to the position-controlled mode is also possible via
M70 or SPCON.
Now, the axis can be traversed in the program as a rotary axis:
N20 G94 G1 C124.4 F4000 ; Feedrate F: 4,000 degrees/min
Switching back to the speed-controlled spindle mode is performed by programming
N100 M3 ; or M4, M5, M41 ... M45 or SPCOF
Special features
The feedrate override factor is effective.
By default, RESET will not quit the axis mode.
The IS “Spindle/no axis” (V390x 0000.0) is set to zero.
The axis mode can be enabled in any gear stage.
If the axis mode is active, the gear stage cannot be changed.
In the axis mode, the MD of the parameter set with index zero apply in order to be able to
make adaptations in this mode.
5.3 Synchronizing
Why synchronizing?
To ensure that the control system exactly finds the 0 degree position after the control system
has been turned on, the control system must be synchronized with the position encoder of the
spindle. Only a synchronized spindle can perform thread cutting or positioning.
As far as axes are concerned, this process is called “referencing” (see Chapter “Reference
Point Approach”).
Synchronization options
After the control system has been turned on, the spindle can be synchronized as follows:
The spindle is started at a spindle speed (S function) and with a spindle rotation direction
(M3 or M4) and synchronizes itself with the next zero mark of the position measuring sy-
stem or BERO signal. The 0-degree position is offset by MD 34080: REFP_MOVE_DIST
+ MD 34090: REFP_MOVE_DIST - MD 34100: REFP_SET_POS.
Note: To offset the 0-degree position, only use MD 34080: REF_MOVE_DIST. The moni-
toring using MD 34060: REFP_MAX_MARKER_DIST should be set to two spindle revolu-
tions (720 degrees).
by programming SPOS=... from different states (see Section 5.2.3 “Spindle mode: Positio-
ning mode”)
In JOG mode, the spindle is started in speed control mode using the direction keys and
synchronizes itself with the next zero mark of the position measuring system or the BERO
SIGNAL.
Value acceptance
When synchronizing the spindle, the corresponding reference point value and a resulting off-
set of the reference point (if any) is accepted from MD 34100: REFP_SET_POS[0] (default
value =0). These offsets (machine data) act independently of the connected measuring sy-
stem and are described in the Section “Reference point approach”.
Resynchronizing
In the following case, however, the position measuring system of the spindle must be resyn-
chronized:
The position measuring system is mounted on the motor, a BERO (clearance sensor for syn-
chronization signal) is mounted on the spindle, and the gear stage is changed. The synchroni-
zation is internally initiated when the spindle rotates at the new gear stage.
Motor
speed With automatic gear stage change,
(1/min) this speed range will not be utilized
in gear stage 1.
Max. motor speed
Gear
stage 1
Gear
stage 2
0
Spindle speed (1/min)
n n2max
1max
g1min g1max
g2min g2max
Can be defined by MD:
n1max ...max. spindle speed of the 1st gear stage
g1min ... min. spindle speed of the 1st gear stage
for autom. gear stage selection
g1max ...max. spindle speed of the 1st gear stage
for autom. gear stage selection
n2max ...max. spindle speed of the 2nd gear stage
g2min ... min. spindle speed of the 2nd gear stage
for autom. gear stage selection
g2max ...max. spindle speed of the 2nd gear stage
for autom. gear stage selection
M41 to M45
The gear stage can be firmly defined in the part program using M41 to M45. If a gear stage is
specified using M41 to M45, which is not equal to the current (actual) gear stage, the IS
”Switch over gear” (V390x2000.3) and the IS ”Set gear stage A to C” (V390x2000.0 bis .2) are
set. The programmed spindle speed (S function) refers to the gear stage defined as a fixed
gear stage. If a spindle speed is programmed which is above the max. speed of the firmly de-
termined gear stage, a limitation of the max. speed of the gear stage is carried out, and the IS
”Setpoint speed limited” (V390x2001.1) is set.
M40
M40 in the part program serves to define the gear stage by the control system automatically. A
check is carried out to see whether the programmed spindle speed (S function) is possible. If
a gear stage is found which is not equal to the current (actual) gear stage, the IS ”Switch over
gear” (V390x2000.3) and the IS ”Set gear stage A to C” (V390x2000.0 bis .2) are set.
The automatic gear stage selection is carried out such that first the programmed spindle
speed is compared with the min. and max. speed of the current gear stage. If the comparison
is positive, no new gear stage is set. If the comparison is negative, the comparison is carried
out for all 5 gear steps (starting with gear stage 1) until it is positive. If the comparison is not
positive even for the 5th gear stage, no gear stage change is carried out. The speed is limited,
if necessary, to the maximum speed of the current gear stage, and/or is raised to the minimum
speed of the current gear stage, and the IS ”Setpoint speed limited” (V390x2001.1) and/or
”Setpoint speed increased” (V390x2001.2) is set).
Speed
(1/min)
stage 1
stage 2
Gear
Gear
ÉÉÉ
MD35100:SPIND_VELO_LIMIT: Max. spindle speed
MD35130:GEAR_STEP_MAX_VELO_LIMIT[2]: Max. speed of gear stage 2
ÉÉÉ
MD35110:GEAR_STEP_MAX_VELO[2]: Max. speed for gear stage change 2
ÉÉÉ
ÉÉÉ
MD35130:GEAR_STEP_MAX_VELO_LIMIT[1]: Max. speed of gear stage 1
ÉÉÉ
ÉÉÉ
Max. speed for gear stage change 1
ÉÉÉ
ÉÉÉ
MD35110:GEAR_STEP_MAX_VELO[1]:
ÉÉÉ
ÉÉÉ
MD35120:GEAR_STEP_MIN_VELO[2]: Min. speed of gear stage change 2
ÉÉÉ
ÉÉÉ
ÉÉÉ
ÉÉÉ
MD35120:GEAR_STEP_MIN_VELO_LIMIT[2]: Min. speed for gear stage 2
MD35120:GEAR_STEP_MIN_VELO[1]: Min. speed for gear stage change 1
MD35120:GEAR_STEP_MIN_VELO_LIMIT[1]: Min. speed for gear stage 1
Fig. 5-7 Example of speed ranges with automatic gear stage selection (M40)
IS ”Control mode”
IS ”Oscillation mode”
IS ”Spindle stopped”
Spindle speed
IS ”Spindle STOP” 0
t1 t2 t3 t4
t1 The NCK recognizes a new gear stage by programming S1300 (2nd gear stage),
sets the IS ”Switch over gear” and disables the execution of the next part program block.
Set of parameters
One set of parameters each is provided for each of the 5 gear stages. The appropriate para-
meter set is enabled by the IS “Actual gear stage A” to “... C” (V380x2000.0 to .2). The para-
meter set assignment is as follows:
Parameter set, PLC interface, coding for the Data of data record Contents,
Index IS “Actual gear stage A”, machine data
n to “...C” for
CBA
0 - Data for axis mode
servo gain factor,
factor
1 000 Data for 1st gear stage monitoring functions,
001 min/max speed,
p ,
2 010 Data for 2nd gear stage accelerations
l ti
The machine data that are contained in a parameter set are especially marked in Section
3.7.2 “Machine data”. For each gear stage, the following machine data are added to parame-
ter set index n (n=1 -> 1st gear stage of the spindle, etc.):
MD 35110: GEAR_STEP_MAX_VELO[n]
MD 35120: GEAR_STEP_MIN_VELO[n]
MD 35130: GEAR_STEP_MAX_VELO_LIMIT[n]
MD 35140: GEAR_STEP_MIN_VELO_LIMIT[n]
MD 35200: GEAR_STEP_SPEEDCTRL_ACCEL[n]
MD 35210: GEAR_STEP_POSCTRL_ACCEL[n]
MD 35310: SPIND_POSIT_DELAY_TIME[n]
5.5 Programming
Functions
The spindle can be programmed for the following functions:
G95 Revolutional feed
G96 S... LIMS=... Constant cutting rate in m/min,
Upper limit speed
G97 Cancel G96 and freeze last spindle speed
G33, G331, G332 Thread cutting, tapping
G4 S... Dwell time in spindle revolutions
M3 Spindle rotation CW
M4 Spindle rotation CCW
M5 Spindle stop, without orientation
S... Spindle speed in 1/min, e.g.: S300
Speed ranges
The spindle monitoring functions and the currently active functions (G94, G95, G96, G33,
G331, G332, etc.) define the admissible speed ranges of the spindle.
Speed
Spindle stopped
0
Speed range of current gear stage
Speed range of current gear stage
IS ”Referenced/synchronized”
at constant cutting speed
IS ”Axis/spindle stopped”
Only if the spindle has stopped, e.g. if the spindle actual speed falls below a value defined in
MD 36060: STANDSTILL_VELO_TOL, the IS “Axis/spindle stopped” (V390x 0001.4) is set. It
is thus possible to enable such function as tool change, open machine door or feedrate.
The monitoring is active in all three spindle modes.
The spindle monitoring “Spindle in set range” checks whether the programmed spindle speed
has been reached, whether the spindle has stopped (IS ”Axis/spindle stopped”) or is still in the
acceleration phase.
A comparison between the setpoint speed (programmed speed with spindle correction taking
into account the active limitations) and the actual speed is made in the spindle mode “Control
mode”.
If the actual speed deviates from the setpoint speed more than the spindle speed tolerance
value (MD 35150: SPIND_DES_VELO_TOL (spindle speed tolerance):
the IS ”Spindle in set range” (V390x2001.5) is set to zero.
the next processing block is not enabled, if MD 35500:
SPIND_ON_SPEED_AT_IPO_START is set.
Max. speed
The maximum speed of the gear stage is entered in MD 35130:
GEAR_STEP_MAX_VELO_LIMIT. In the gear stage engaged, this (set) speed can never be
exceeded. In the case of a limitation of the programmed spindle speed, the IS ”Setpoint speed
limited” (V390x2001.1) is set.
Min. speed
In MD 35140: GEAR_STEP_MIN_VELO_LIMIT, the minimum speed of the gear stage is ent-
ered. It is not possible that the speed falls below this (set) speed if an S value is programmed,
which is too small; the interface signal ”Setpoint speed increased” (V390x2001.2) is set in this
case.
The min. speed of the gear stage is only active in control mode of the spindle and can only be
undershot of by:
Spindle override 0%
M5
S0
IS ”Spindle stop“
Disable IS ”Servo enable“
IS ”Reset”
IS ”Spindle Reset”
IS ”Oscillation speed”
NST ”NC-STOP Axis and spindle”
IS ”Axis/spindle lock”
Warning
! The max. encoder limit frequency of the spindle actual position encoder is monitored by the
control system (exceeding possible). The machine tool manufacturer must ensure by appro-
priate dimensioning of the components spindle motor, gearbox, resolver gearbox and encoder
in conjunction with the corresponding machine data that the max. speed (mechanical limit
speed) of the spindle actual position encoder cannot be exceeded.
Function
On positioning (spindle is in spindle mode “Positioning mode”), the distance how far the actual
position of the spindle is away from the programmed spindle set position (target point) is moni-
tored.
To this aim, two limit values can be set in MD 36000: STOP_LIMIT_COARSE (exact stop co-
arse) and MD 36010: STOP_LIMIT_FINE (exact stop fine) as an incremental path (starting
from the setpoint position). Irrespective of the two limit values, the accuracy of the spindle po-
sitioning is always as good as specified by the connected spindle transducer, the backlash,
the gear transmission ratio, etc.
Set position
Speed
Position
Exact stop limit fine
Function
With SW 2.0 and higher, the kinematic transformation functions TRANSMIT and TRACYL are possi-
ble to carry out milling on turning machines. These functions require a 2nd spindle for the driven
milling toll. When using these functions, the main spindle is run as a rotary axis.
Master spindle
The master spindle is connected to various functions which are only possible with this spindle:
G95 ; Revolutional feedrate
G96, G97 ; Constant cutting rate
LIMS ; Upper limit speed with G96, G97
G33, G34, G35, G331, G332 ; Thread cutting, thread interpolation
M3, M4, M5, S... ; Simple specifications for the direction of rotation, stop and speed
The master spindle is defined via configuration (machine data). This is usually the main
spindle (spindle 1). In the program, it is also possible to define a different spindle as the ma-
ster spindle:
SETMS(n) ; Spindle n (= 1 or 2) is master spindle as of now
Switching back is also possible as follows:
SETMS ; The configured master spindle is master spindle as of now again or
SETMS(1) ; Spindle 1 is master spindle as of now again.
The definition of the master spindle changed in the program only applies up to the end of the
program / program abortion. Then, the configured master spindle is active again.
2 spindles fitted
It is possible to interrogate the following in the program:
$P_NUM_SPINDLES ; Number of spindles configured (in the channel)
$P_MSNUM ; Number of the programmed master spindle
$AC_MSNUM ; Number of the active master spindle
Function
For the function “Analog spindle”, the analog output of the SIMODRIVE 611UE closed-loop
control unit is used as the setpoint output and the encoder interface as the actual value input.
For special machine data settings and the parameterization of the SIMODRIVE 611UE drive,
please refer to:
References: “Start-Up Guide 802D”
References: “Description of Functions, SIMODRIVE 611UE“
20090 SPIND_DEF_MASTER_SPIND
MD number
Default: 1 Min. input limit: 0 Max. input limit: 2
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: Definition of the default setting for the master spindle (in the channel).
The number of the spindle is entered.
The master spindle is connected to various functions which are not possible with a different
spindle.
Note:
using the language command SETMS(n), the spindle number n can be declared a master spindle.
With SETMS, the spindle defined in this MD becomes a master spindle again.
At program end / program abortion, the spindle defined in this MD is also defined a master spindle.
Further references
30134 IS_UNIPOLAR_OUTPUT
MD number Setpoint output is unipolar
Default: 0 Min. input limit: 0 Max. input limit: 2
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning:
Application example(s) Unipolar output driver (for unipolar analog drive actuators) ->analog spindle:
In the case of unipolar setting, only positive speed setpoint values are delivered to the drive; the
sign of the speed setpoint is output separately in a separate digital control sign.
0: bipolar output (10V) with pos./neg. speed setpoint, servo enable (normal case)
1: unipolar output 0...+10V with enable and direction signals
(servo enable, neg. traversing direction)
2: unipolar output 0...+10V with linking of the enable and direction signals
(servo enable for pos. traversing direction, servo enable for neg. traversing direction)
Further references For the assignment of the signal terminals on the SIMODRIVE 611UE drive, please refer to:
“Start-Up Guide 802D”
35000 SPIND_ASSIGN_TO_MACHAX
MD number Assignment of spindle to machine axis
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: This MD is used to enter which machine axis is used as the spindle.
Application example(s) Example of a milling machine with 3 machine axes (X1, Y1, Z1) and a spindle:
SPIND_ASSIGN_TO_MACHAX [AX1] = 0 - - -> X1
SPIND_ASSIGN_TO_MACHAX [AX2] = 0 - - -> Y1
SPIND_ASSIGN_TO_MACHAX [AX3] = 0 - - -> Z1
SPIND_ASSIGN_TO_MACHAX [AX4] = 1 - - -> Spindle 1 is the 4th machine axis
Related to .... MD 30300: IS_ROT_AX (rotary axis/spindle)
MD 30310: ROT_IS_MODULO (modulo conversion for rotary axis/spindle)
These machine data must be set; otherwise, the alarms 4210 ”Rotary axis declaration missing”
and 4215 ”Modulo axis declaration missing” (modula display 360 degrees) are output.
IS “Spindle/no axis” (V390x 0000.0)
35010 GEAR_STEP_CHANGE_ENABLE
MD number Gear stage change is possible
Default: 0 Min. input limit: 0 Max. input limit: 2 (not available with the
802D)
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: If the spindle motor is directly mounted on the spindle (1:1) or with a transmission ratio that cannot
be changed, GEAR_STEP_CHANGE_ENABLE (gear stage change is possible) must be set to
zero. A gear stage change with M40 to M45 is not possible.
If the spindle motor is mounted on the spindle via a gear with variable gear steps,
GEAR_STEP_CHANGE_ENABLE must be set to one. The gear may have up to 5 gear stages
that can be selected using M40, M41 to M45.
Related to .... MD 35110: GEAR_STEP_MAX_VELO (max. speed for gear stage change)
MD 35120: GEAR_STEP_MIN_VELO (min. speed for gear stage change)
GEAR_STEP_MAX_VELO and GEAR_STEP_MIN_VELO must cover the entire speed range.
35040 SPIND_ACTIVE_AFTER_RESET
MD number Spindle activate after RESET
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: This MD is used to set how the spindle behaves after reset (V32000000.7) and program end (M2,
M30). It is only active in the spindle mode “Control mode”.
0:
Control mode: - Spindle stops, is valid for M2/M30 and reset
- Program is aborted; applies to M2/M30
Oscillation mode: -
Alarm 10640 ”No stop during gear stage change“
-
Oscillation is not aborted
-
Axes are stopped
-
Program is aborted after gear stage change or spindle reset;
the alarm is deleted.
Positioning mode: - is stopped.
Axis mode: - is stopped.
-------------------------------------------------------------------------
1:
Control mode: - Spindle does not stop
- Program is aborted.
Oscillation mode: - Alarm 10640 ”No stop during gear stage change“
- Oscillation is not aborted
- Axes are stopped
- Program is aborted after gear stage change, the
alarm is deleted and the spindle continues to rotate
at the programmed M and S values.
Positioning mode: - is stopped.
Axis mode: - is stopped
35100 SPIND_VELO_LIMIT
MD number Maximum spindle speed
Default: 10 000.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: In this MD, the max. spindle speed is entered which may not be exceeded by the spindle (the
spindle chuck with the workpiece or the tool). The NCK limits the set spindle speed to this value if
the set speed is too large. If the max. actual spindle speed with consideration of the spindle tole-
rance (MD 35150: SPIND_DES_VELO_TOL) is nevertheless exceeded, a drive error exists and
the IS ”Speed limit exceeded“ (V390x2001.0) is set. In addition, the alarm 22050 ”Maximum speed
reached“ is output, and all axes and spindle of the channel are decelerated (prerequisite: encoder
is not defective).
Related to .... MD 35150: SPIND_DES_VELO_TOL (spindle speed tolerance)
IS ”Speed limit exceeded“ (V390x2001.0)
Alarm 22050 ”Maximum speed reached“
35110 GEAR_STEP_MAX_VELO[n]
MD number Max. speed for gear stage change [gear stage number]: 0...5
(Index 0 has no meaning for spindles)
Default: Min. input limit: 0.0 Max. input limit: ***
(500, 500, 1000, 2000, 4000, 8000 )
Change valid after NEW_CONF Protection level: 2/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: The max. of the gear stage for the automatic gear stage change (M40 ) is preset. The gear stages
must be defined by this MD and the MD 35120: GEAR_STEP_MIN_VELO such that no gaps re-
sult between the gear stages in the programmed spindle speed range.
Wrong
GEAR_STEP_MAX_VELO [gear stage 1] =1000
GEAR_STEP_MIN_VELO [gear stage 2] =1200
Right
GEAR_STEP_MAX_VELO [gear stage 1] =1000
GEAR_STEP_MIN_VELO [gear stage 2] =950
Related to .... MD 35010: GEAR_STEP_CHANGE_ENABLE (gear stage change is possible)
MD 35120: GEAR_STEP_MIN_VELO (min. speed for gear stage change)
MD 35140: GEAR_STEP_MIN_VELO_LIMIT (min. speed of gear stage)
MD 35130: GEAR_STEP_MAX_VELO_LIMIT (max. speed of gear stage)
35120 GEAR_STEP_MIN_VELO[n]
MD number Min. speed for gear stage change [gear stage number]: 0...5
Default: Min. input limit: 0.0 Max. input limit: ***
(50, 50, 400, 800, 1500, 3000)
Change valid after NEW_CONF Protection level: 2/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: The min. speed of the gear stage is preset for the automatic gear stage change (M40).
For further details, see MD 35120: GEAR_STEP_MAX_VELO.
Related to .... MD 35110: GEAR_STEP_MAX_VELO (max. speed for gear stage change)
MD 35010: GEAR_STEP_CHANGE_ENABLE (gear stage change possible)
MD 35140: GEAR_STEP_MIN_VELO_LIMIT (min. speed of gear stage)
MD 35130: GEAR_STEP_MAX_VELO_LIMIT (max. speed of gear stage)
35130 GEAR_STEP_MAX_VELO_LIMIT[n]
MD number Max. speed of gear stage [gear stage number]; 0...5
Default: Min. input limit: 0.0 Max. input limit: ***
(500, 500, 1000, 2000, 4000, 8000 )
Change valid after NEW_CONF Protection level: 2/2 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: The maximum speed of the gear stage is entered. This speed can never be exceeded in the gear
stage currently engaged.
Special cases, errors, ...... If the position control is enabled, the speed is limited to 90% of this value (control margin)
If an S value is programmed, which is greater than the max. speed of the gear stage
engaged, the speed setpoint is limited to the max. speed of the gear stage (with gear stage
selection - M41 to M45); furthermore, the IS: ”Programmed speed too high” is set.
If the programmed S value is greater than the max. speed required for the gear stage change, a
new gear stage will be specified (with automatic gear stage selection - M40).
If the programmed S value is greater than the max. speed of the highest gear stage, the
speed is limited to the max. speed of the gear stage (with automatic gear stage
selection - M40).
If an S value is programmed for which no matching gear stage exists, no gear stage
change is carried out.
Related to .... MD 35010: GEAR_STEP_CHANGE_ENABLE (gear stage change is possible)
MD 35110: GEAR_STEP_MAX_VELO (max. speed for gear stage change)
MD 35120: GEAR_STEP_MIN_VELO (min. speed for gear stage change)
MD 35140: GEAR_STEP_MIN_VELO_LIMIT (min. speed of gear stage)
IS ”Set speed limited” (V390x 2001.1)
35140 GEAR_STEP_MIN_VELO_LIMIT[n]
MD number Min. speed of gear stage [gear stage number]: 0...5
Default: Min. input limit: 0.0 Max. input limit: ***
(5, 5, 10, 20, 40, 80)
Change valid after NEW_CONF Protection level: 2/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: The minimum speed of the gear stage is entered. This speed cannot be undershot by program-
ming an S value that is too small.
The minimum speed can only be undershot by the signals/commands/states that occur in conjunc-
tion with ”Min./max. speed of gear stage”.
MD inapplicable to ...... Spindle modes “Oscillation mode”, “Positioning mode”
Application example(s) Smooth run of the motor is no longer guaranteed below the minimum speed.
Related to .... MD 35010: GEAR_STEP_CHANGE_ENABLE (gear stage change is possible)
MD 35110: GEAR_STEP_MAX_VELO (max. speed for gear stage change)
MD 35120: GEAR_STEP_MIN_VELO (min. speed for gear stage change)
MD 35130: GEAR_STEP_MAX_VELO_LIMIT (max. speed of gear stage)
IS ”Set speed increased” (V390x 2001.2)
35150 SPIND_DES_VELO_TOL
MD number Spindle speed tolerance
Default: 0.1 Min. input limit: 0.0 Max. input limit: 1.0
0.1 = 10%
Change valid after RESET Protection level: 2/2 Unit:
Data type: DOUBLE Valid from SW release:
Meaning: factor for the spindle speed for determining the tolerance in the spindle mode “Control mode”.
The setpoint speed (programmed speed x spindle override with taking into account the limitations)
is compared with the actual speed.
If the actual speed differs from the set speed more than SPIND_DES_VELO_TOL,
the IS ”Spindle in set range“ (V390x2001.5) is set to zero.
If the actual speed exceeds the maximum spindle speed (MD 35100: SPIND_VELO_LIMIT)
more than SPIND_DES_VELO_TOL, the IS ”Speed limit exceeded” (V390x2001.0) is set and
the alarm 22050 ”Maximum speed reached” is output. All axes and spindles of the channel are
decelerated.
MD inapplicable ...... Spindle mode “Oscillation mode”
Spindle mode “Positioning mode”
Fig. 5-11
Speed
(1/min) SPIND_DES_VELO_TOL
Upper
spindle speed tolerance
Set speed
Lower
spindle speed tolerance
Actual speed
Time (t)
Related to .... MD 35500: SPIND_ON_SPEED_AT_IPO_START
MD 35100: SPIND_VELO_LIMIT (max. spindle speed)
IS ”Spindle in set range“ (V390x2001.5)
IS ”Speed limit not reached“ (V390x2001.0)
Alarm 22050 ”Max. speed reached“
35160 SPIND_EXTERN_VELO_LIMIT
MD number Spindle speed limiting from PLC
Default: 1000.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: A limit value for the spindle speed is entered, which is taken into account if the IS ”Velocity/speed
limitation” (V380x0003.6) is set. The control system will limit the speed to this value.
35200 GEAR_STEP_SPEEDCTRL_ACCEL[n]
MD number Acceleration in speed control mode [gear stage number]: 0...5
Default: Min. input limit: 0.001 Max. input limit: ***
(30, 30, 25, 20, 15, 10)
Change valid after NEW_CONF Protection level: 2/7 Unit: rev./s2
Data type: DOUBLE Valid from SW release:
Meaning: If the spindle is in control mode, the acceleration is entered in
GEAR_STEP_SPEEDCTRL_ACCEL.
Special cases, errors, ...... The acceleration in speed control mode can be set in such a way that the current limit is reached.
Related to .... MD 35210: GEAR_STEP_POSCTRL_ACCEL (acceleration in position control mode)
35210 GEAR_STEP_POSCTRL_ACCEL[n]
MD number Acceleration in position control mode [gear stage number]: 0...5
Default: Min. input limit: 0.001 Max. input limit: ***
(30, 30, 25, 20, 15, 10)
Change valid after NEW_CONF Protection level: 2/7 Unit: rev./s2
Data type: DOUBLE Valid from SW release:
Meaning: The acceleration in position control mode must be adjusted such that the current limit is not
reached.
Related to .... MD 35200: GEAR_STEP_SPEEDCTRL_ACCEL
35300 SPIND_POSCTRL_VELO
MD number Position control threshold speed
Default: 500.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: When positioning a spindle not operated in position control mode, the position control is only con-
nected if the spindle has reached the speed defined in SPIND_POSCTRL_VELO. The speed can
be varied using FA[Sn] from the part program.
For the behavior of the spindle under different boundary conditions (positioning from the move-
ment, positioning from the standstill), see Section “Spindle mode: ”Positioning mode”
Related to .... MD 35350: SPIND_POSITIONING_DIR (direction of rotation when positioning from the standstill)
if no snychronization is provided.
35310 SPIND_POSIT_DELAY_TIME[n]
MD number Positioning delay time [gear stage number]: 0...5
Default: Min. input limit: 0.0 Max. input limit: ***
(0.0, 0.05, 0.1, 0.2, 0.4, 0.8)
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release: 1.1
Meaning: After the end of positioning has been reached (exact stop fine), the delay time is enabled if block
search is active when an accumulated positioning block is output (SPOS).
Related to ....
35350 SPIND_POSITIONING_DIR
MD number Direction of rotation when positioning with the spindle not synchronized
Default: 3 Min. input limit: 3 Max. input limit: 4
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: The programming of SPOS switches the spindle to position control mode and accelerates it at the
acceleration defined in MD 35210: GEAR_STEP_POSCTRL_ACCEL (acceleration in position
control mode) if no synchronization is provided. The direction of rotation is determined by
MD 35350: SPIND_POSITIONING_ DIR (direction of rotation when positioning from the standstill).
SPIND_POSITIONING_DIR = 3 - - -> direction of rotation in CW direction
SPIND_POSITIONING_DIR = 4 - - -> direction of rotation in CCW direction
Related to .... MD 35300: SPIND_POSCTRL_VELO (position control threshold speed)
35400 SPIND_OSCILL_DES_VELO
MD number Oscillation speed
Default: 500.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: On oscillation, a certain motor speed is specified for the spindle motor using the IS ”Oscillation
speed“ (V380x2002.5). This motor speed is defined here. This motor speed does not depend on
the current motor speed. In the AUTOMATIC and MDA screen forms, the oscillation speed is dis-
played in the Set Spindle window until the gear stage change has been carried out.
MD inapplicable ...... spindle modes other than oscillation mode
Application example(s) The engaging of a new gear stage can be facilitated by oscillation of the spindle motor, since the
gear wheels may thus be better meshed.
Special cases, errors, ...... For the oscillation speed defined in this MD, the acceleration on oscillation applies
(MD 35410: SPIND_OSCILL_ACCEL).
Related to .... MD 35410: SPIND_OSCILL_ACCEL (acceleration on oscillation)
MD 35130: GEAR_STEP_MAX_VELO_LIMIT[n] (maximum speed ofthe gear stage)
IS ”Oscillation by the PLC“ (V380x2002.4)
IS ”Oscillation speed” (V380x2002.5)
35410 SPIND_OSCILL_ACCEL
MD number Acceleration on oscillation
Default: 16.0 Min. input limit: 0.001 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: rev./s2
Data type: DOUBLE Valid from SW release:
Meaning: The acceleration defined here only applies to the output of the oscillation speed
(MD 35400: SPIND_OSCILL_DES_VELO) to the spindle motor. The oscillation speed is selected
using the IS ”Oscillation speed”.
MD inapplicable ...... spindle modes other than oscillation mode
Related to .... MD 35400: SPIND_OSCILL_DES_VELO (oscillation speed)
IS ”Oscillation speed“ (V380x2002.5)
IS ”Oscillation from PLC” (V380x2002.4)
35430 SPIND_OSCILL_START_DIR
MD number Start direction on oscillation
Default: 0 Min. input limit: 0 Max. input limit: 4
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: With the IS ”Oscillation speed”, the spindle motor accelerates to the speed defined in MD 35400:
SPIND_OSCILL_DES_VELO. The starting direction is defined by this
MD: SPIND_OSCILL_START_DIR if the IS ”Oscillation from PLC” is not set.
0: Starting direction according to the last direction of rotation
1: Start direction opposite to the last direction of rotation
2: Start direction opposite to the last direction of rotation
3: Start direction is M3
4: Start direction is M4
MD inapplicable ...... spindle modes other than oscillation mode
Related to .... MD 35400: SPIND_OSCILL_DES_VELO (oscillation speed)
IS ”Oscillation speed“ (V380x2002.5)
IS ”Oscillation by the PLC” (V380x2002.4)
35440 SPIND_OSCILL_TIME_CW
MD number Oscillation time for M3 direction
Default: 1.0 Min. input limit: 0.0 Max. input limit: ***
(”0” means a time from one interpolation
clock)
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: The oscillation time set here is active in the M3 direction.
MD inapplicable ...... spindle modes other than oscillation mode
if oscillation by the PLC (IS ”Oscillation by PLC“ (V380x2002.4) is set)
Related to .... MD 35450: SPIND_OSCILL_TIME_CCW (oscillation time for M4 direction)
NST ”Oscillation speed” (V380x2002.5)
NST ”Oscillation by PLC” (V380x2002.4)
35450 SPIND_OSCILL_TIME_CCW
MD number Oscillation time for M4 direction
Default: 0.5 Min. input limit: 0.0 Max. input limit: ***
(”0” means a time from one interpolation
clock)
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: The oscillation time defined here acts in the M4 direction.
MD inapplicable ...... spindle modes other than oscillation mode
if oscillation by the PLC (IS ”Oscillation from PLC“ (V380x2002.4) is set)
Fig. 5-12
Speed
(1/min)
Oscillation time
Time (t)
35500 SPIND_ON_SPEED_AT_IPO_START
MD number Feed enable for spindle in set range
Default: 1 Min. input limit: 0 Max. input limit: 2
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: 0: The path interpolation is not influenced
1: The path interpolation is only enabled if the spindle has reached the preset speed (tolerance
band is set via MD 35150).
2: Function as with value=1,
value=1 and,and in addition:
Traversing path axes are also stopped before the machining starts, e.g.:, continuous path mode
(G64) and change from rapid traverse (G0) to a machining block (G1, G2,..). The path is stopped
at the last G0 block and starts only when the spindle is in the speed setpoint range.
Application example(s) see MD 35510
Related to .... MD 35150: SPIND_DES_VELO_TOL (spindle speed tolerance)
IS ”Spindle in set range” (V390x2001.5)
35510 SPIND_STOPPED_AT_IPO_START
MD number Feed enable with the spindle stopped
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: If a spindle is stopped (M5), the path feed is disabled if SPIND_STOPPED_AT_IPO_START is set
and the spindle is in control mode.
If the spindle has come to a standstill (IS ”Axis/spindle stopped” (V390x0001.4) is set), the fee-
drate will be enabled.
Application example(s) MD 35500 and this MD 35510 can be used to handle the feedrate as follows, depending on the
spindle actual speed (control mode):
If the spindle is in the acceleration phase (programmed set speed not yet reached), the feedrate
will be disabled.
If the actual speed deviates from the set speed less than the spindle speed tolerance
(MD 35150: SPIND_DES_VELO_TOL), the feedrate is enabled.
If the spindle is in the brake phase, the feedrate will be disabled.
If the spindle is signaled stopped (IS: ”Axis/spindle stopped” V390x0001.4),
the feedrate is enabled.
Blocks that contain G0 cannot be manipulated in this way.
Related to .... MD 35500: SPIND_ON_SPEED_AT_IPO_START (feed enable for spindle in set range)
36720 DRIFT_VALUE
MD number Drift base value for analog spindle only
Default: 0.0 Min. input limit: -5.0 Max. input limit: 5.0
Change valid after NEW_CONF Protection level:: 2/2 Unit: %
Data type: DOUBLE Valid from SW release: 1.1
Meaning: The drift base value entered here is always provided as an additional speed setpoint if an analog
spindle is used.
MD inapplicable ......
43210 SPIND_MIN_VELO_G25
SD number Programmable lower spindle speed limitation with G25
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: In this SDS, a min. spindle speed limitation is entered, which may not be exceeded by the spindle.
If the spindle speed is too low, the NCK will limit it to this value.
The minimum spindle speed may ony be undershot by:
Spindle override 0%
M5
S0
IS ”Spindle stop“ (V380x0004.3)
IS ”Servo enable“ (V380x0002.1)
IS ”Reset” (V30000000.7)
IS ”Spindle reset” (V380x0002.2)
IS ”Oscillation speed” (V380x2002.5)
SD inapplicable ...... any other spindle modes than control mode
Special cases, errors, ...... The value in SPIND_MIN_VELO_G25 can be modified by:
G25 S.... in the part program
Operation from HMI
The value in SD: SPIND_MIN_VELO_G25 remains stored even after RESET or mains power off.
Related to .... SD 43220: SPIND_MAX_VELO_G26
SD 43230: SPIND_MAX_VELO_LIMS (progr. spindle speed limitation with G96)
43220 SPIND_MAX_VELO_G26
SD number Progr. spindle speed limitation with G26
Default: 1000.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: In this SD, a max. spindle speed limitation is entered which may not be exceeded by the spindle. If
the spindle speed is too high, the NCK will limit the spindle speed to this value.
SD inapplicable to ...... spindle modes other than control mode
Special cases, errors, ...... The value in SD: SPIND_MIN_VELO_G26 can be modified by:
G26 S.... in the part program
Operation from HMI
The value in SD: SPIND_MIN_VELO_G26 remains stored even after RESET or mains power off.
Related to .... SD 43210: SPIND_MIN_VELO_G25 (progr. spindle speed limiting G25)
SD 43230: SPIND_MAX_VELO_LIMS (progr. spindle speed limiting with G96)
43230 SPIND_MAX_VELO_LIMS
SD number Progr. spindle speed limitation G96
Default: 100.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: With constant cutting rate (G96 and G97), in addition to the limitations permanently active, an addi-
tional limitation acts, which is entered in SPIND_MAX_VELO_LIMS. Furthermore, it is possible to
describe SPIND_MAX_VELO_LIMS in the part program using LIMS=.... .
SD inapplicable to ...... all spindle modes except for G96 and G97 (constant cutting rate)
Application example(s) On parting and in the case of very small machining diameters, the spindle with the workpiece (tur-
ning machine) accelerates higher and higher at constant cutting rate (G96), theoretically reaching
an infinitely high set speed in the position of the traverse axis X=0. In these cases, the spindle
accelerates to its max. spindle speed of the current gear stage (if applicable, limited by G26). If
you wish to limit the spindle to a lower speed (especially, with G96), this can be dopne using
LIMS=.... SPIND_MAX_VELO_LIMS.
Special cases, errors, ...... The value in SD 43210: SPIND_MIN_VELO_LIMS can be modified by:
LIMS S.... in the part program
Operation from HMI
The value in SD: SPIND_MIN_VELO_LIMS remains stored even after RESET and mains off.
Related to .... SD 43220: SPIND_MAX_VELO_G26 (max. spindle speed)
SD 43210: SPIND_MIN_VELO_G25 (min. spindle speed)
Signals to axis/spindle
notice
Note
The geometry axes ( X, Y, Z) cannot be used as rotary axes or as a spindle. These geometry axes
are defined by MD 20050: AXCONF_GEOAX_ASSIGN_TAB (assignment of geometry axes to
channel axis).
+B
-X -Z
+C +A
+Z +X
-Y
Fig. 6-1 Axis designations and positive direction of movement of rotary axes
For axes/rotary axes, an extended addressing (e.g.: C2=) or a free axis address (name) can
be defined by configuration using MD 1000: AXCO=NF_MACHAX_NAME_TAB or
MD 20080: AXCONF_CHANAX_NAME_TAB.
Units
By default, the following units are used for the input and output of rotary axes:
1) These units will be interpreted by the control system with axis-specific machine data if the axis concerned is
declared a rotary axis.
References: Section ”Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control“
Feed
With rotary axes alone in a block, the programmed feedrate F corresponds to a certain angu-
lar speed [degrees/min].
If rotary axes and linear axes traverse along a certain path with G94 or G95, the feed must be
interpreted in the unit of the linear axes [e.g. mm/min, inch/min].
The tangential velocity of the rotary axes refers to the diameter DE (unit diameter DE = 360/p
whereby p = circular constant). If the diameter is equal to the unit diameter (D=DE), the nume-
rical values of the programmed angular speed in degrees/min. and of the tangential speed in
mm/min (or inch/min) are the same.
The following general rule applies to the tangential speed:
F = FW * D / DE F = tangential speed [mm/min]
FW = angular speed [degrees/min]
D = diameter at which F is active [mm]
with DE = 360 / p DE = unit diameter [mm]
p = circular constant Pi = 3.14...
Axis is modulo
MD 30310 : ROT_IS_MODULO = 1:
With activation of the machine data, the specific rotary axes features become obvious. These
features also determine the positioning behavior of the rotary axis on programming (G90, AC,
ACP, ACN or DC). After taking into account the current zero offsets internally by the control
system, a modulo 360° imaging is carried out. The target position determined in this way is
then approached within one revolution.
The software limit switches and the work area limitings are not active and the work area is
thus endless.
For a modulo axis, the position display Modulo 360° should always be selected (MD 30320:
DISPLAY_IS_MODULO = 1).
MD 30320 : DISPLAY_IS_MODULO = 0:
In contrast to the display Modulo 360°, +360° is displayed after one revolution, and +720° after
two revolutions etc. in absolute position display mode, e.g. for a positive direction of rotation.
In this case, the display range is limited by the controller according to the linear axes.
Note
For general information on programming, refer to:
References: “Operation and Programming“
30300 IS_ROT_AX
MD number Rotary axis
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 1: Axis: The axis is defined as a “rotary axis”.
By default, the units of the axis-specific machine and setting data are interpreted
by the control system as follows:
Positions in degrees
Velocities in rev./minute
Accelerations in rev./s2
Jerk limiting in rev./s3
Spindle:
For a spindle, the machine data must generally be set to “1”; otherwise,
alarm 4210 ”Rotary axis declaration missing” is signaled.
0: The axis is defined as a “lineary axis”.
Special cases, errors, ...... For axis: Alarm 4200 if the axis is already defined as a geometry axis.
For spindle: Alarm 4210
Related to .... The following machine data are active only after activation of
MD 30300:IS_ROT_AX = 1 :
MD 30310:ROT_IS_MODULO (Modulo conversion for rotary axis)
MD 30320:DISPLAY_IS_MODULO (Position display is modulo)
MD 10210:INT_INCR_PER_DEG (Calculation resolution for angular positions)
Further references Tab. 2.2 Possible combinations of machine data
30310 ROT_IS_MODULO
MD number Modulo conversion for a rotary axis
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 1: With the setpoint positions for the rotary axis, a modulo conversion is carried out.
The software limit switches and the work area limitations are inactive; the
traversing range is therefore endless in both directions.
The MD 30300: IS_ROT_AX must be set to ”1”
0: no modulo conversion
MD inapplicable ...... MD 30300: IS_ROT_AX = 0 (Linear axis)
Tab. 2.2 possible combinations of machine data
Application example(s) Endless rotating rotary axes (e. g. for out-of-center turning, grinding, winding)
Related to .... MD 30320: DISPLAY_IS_MODULO (position display is modulo 360°)
MD 30300: IS_ROT_AX = 1 (rotary axis)
MD 36100: POS_LIMIT_MINUS (software limit switch minus)
MD 36110: POS_LIMIT_PLUS (software limit switch plus)
SD 43430: WORKAREA_LIMIT_MINUS (working area limitation minus)
SD 43420: WORKAREA_LIMIT_PLUS (working area limitation plus)
30320 DISPLAY_IS_MODULO
MD number Position display is modulo 360°
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 1: Position display ”Modulo 360°” is active:
The position display of rotary axis or spindle (with base or machine coordinate system) is
defined to ”Modulo 360°”. With the positive direction of rotation, the position display is
thus internally reset by the control system to 0.000 degrees periodically after 359.999°. The
display range is always positive and always between 0° and 359,999°.
0: Absolute position display is active:
In contrast to the position display Modulo 360°, with the absolute position display, e.g. with the
positive direction of rotation +360° is displayed after 1 revolution, +720° after 2 revolutions, etc.
The display range is limited according to the linear axes.
MD inapplicable to ...... Linear axes MD 30300: IS_ROT_AX = 0
Application example(s) For endlessly turning rotary axes (MD 30310:ROT_IS_MODULO = 1), it is
recommended to activate also the position display by modulo 360°.
For spindles, the position display must always be activated with modulo 360°.
Related to .... MD 30300: IS_ROT_AX = 1 (axis is rotary axis)
34220 ENC_ABS_TURNS_MODULO[n]
MD number Range of rotatory absolute encoders
Default: 4096 Min. input limit: 1 Max. input limit: 4096
Change valid after Power On Protection level: 2 / 2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: Number of encoder revolutions that a rotatory absolute encoder can resolve.
0 degrees <= position <= n*360 degrees, (where n = ENC_ABS_TURNS_MODULO)
Note: If the control system is turned off, the encoder may be turned by max. the half of this value.
Special cases, errors, ...... Only numbers raised to the power of 2 are permitted as values ( 1, 2, 4, 8, 16, ..., 4096).
If any other values are entered, these will be “rounded off”. If such a rounding has been carried
out, it is visible in the machine data and signaled by alarm 26025.
The MD only applies to rotary encoders (at linear and rotary axes).
Important recommendation:
When using an encoder with smaller Multiturn information or when using single-turn encoders, this
value must be reduced accordingly. In any case the value for multiturn-absolute encoders should
be matched with the value max. supported in order to be able to use the max. defined traversing
range (Note: This value also influences the permissible position offset with the encoder inactive/
Power Off).
Related to ....
Axis/spindle-specific
30300 IS_ROT_AX Axis is a rotary axis
30310 ROT_IS_MODULO Modulo conversion for rotary axis
30320 DISPLAY_IS_MODULO Actual-value display modulo
34220 ENC_ABS_TURNS_MODULO Range of rotary absolute encoders
36100 POS_LIMIT_MINUS Software limit switch minus A3
36110 POS_LIMIT_PLUS Software limit switch plus A3
JOG mode
If DIAMON is active, the increments of the related transverse axis, which have been entered
for the machine functions INC (incremental dimension) and hand-wheel traversing in JOG
mode, will be interpreted in and traversed by diameter values (traversing in the WCS with this
axis).
Offsets
All offsets (e. g. tool offsets, programmable and settable zero offsets) are always entered, pro-
grammed and displayed as radius dimensions (even if they are active for the transverse axis
and if DIAMON is active).
Functionality
Prerequisite: A controlled spindle must be provided.
With the G96 function enabled, the spindle speed is matched with the diameter of the work-
piece currently machined (position of the transverse axis=geometry axis X) such that a pro-
grammed cutting rate S at the tool edge remains constant (spindle speed by diameter = con-
stant).
From the block that contains G96, the S word is interpreted as the cutting rate. G96 is modally
active until it is canceled by another G function of the group (G94, G95, G97).
Programming
G96 S... LIMS=... F... ;Constant cutting rate ON
G97 ;Constant cutting rate OFF
S Cutting rate, unit m/min
LIMS= Upper limit speed of spindle, active with G96, G97
F Feed in the measuring unit mm/rev. -as with G95
References: “Operation and Programming“
X (Transverse axis)
M D2 W SD=Spindle speed
D1
D1, D2 =Diameter
Why referencing?
To ensure that the control system detects the machine zero point exactly after the control sy-
stem has been turned on, it must be synchronized with the position measuring system of
each machine axis. This process is called referencing.
The procedure for the spindle (synchronization) is to a large degree described in the Chapter
“Spindle”.
Cams
A cam for the reference point approach may be required for linear axes and performs the fol-
lowing tasks using its signal :
Selection of the traversing direction when approaching the zero mark (synchronous pulse)
Selection of the zero mark as necessary
BERO
A BERO (inductive proximity switch) can be used as an encoder for the synchronous pulse
(instead of the position encoder zero mark) (preferrably for rotary axes, spindle).
In this case, the connection is made on the drive SIMODRIVE 611U. This drive must be para-
meterized accordingly (using SimoComU).
References: “Start - Up Guide“
Special features
The IS ”Reset” (V3000 0000.7) is used to cancel referencing. All axes that have not yet
reached their reference points until this moment are considered not referenced.
The IS ”Referencing active” is reset, and alarm 20005 is output.
Working area limitations and software limit switches are not active for machine axes not
referenced.
When referencing, the specified axis - specific accelerations are observed at all times (ex-
cept in case of alarms).
To start reference - point approach, only the direction key defined for the corresponding
direction in MD 34010: REFP_CAM_DIR_IS_MINUS will be active.
Note: MD 20700: REFP_NC_START_LOCK = 1 will disable the start of a part program (alarm
output), unless all the specified axes are referenced.
Time sequence
The time sequence when referencing using incremental measuring systems can be divided
into 3 phases:
1st phase: Traversing to the reference cam
2nd phase: Synchronization with the zero mark
3rd phase: Traversing to the reference point
IS ”Referenced/synchronized
(V390x0000.4)
Position encoder zero mark
|Velocity|
MD 34020: REFP_VELO_SEARCH_CAM
Reference point approach velocity
MD 34070: REFP_VELO_POS
Reference point approach velocity
MD 34040: REFP_VELO_SEARCH_MARKER
Reference point shutdown velocity
t
Fig. 8-1 Referencing sequence when using incremental measuring systems (example)
Synchronuous
Type of referencing pulse Sequence of motions
(zero mark, BERO)
Synchronuous pulse
before cam, RV
VC
reference coordinate
before synchronuous VP
with reference point cams pulse VM
(MD 34000: RK
= without reversal: Start
REFP_CAM_IS_ACTIVE = 1)
(MD 34050:
REFP_SEARCH_MARK Cam
ER_REVERSE = 0) Synchronuous
pulse
Synchronuous pulse RV
on the cam, VC
reference coordinate VP
after synchronuous pulse VM
on the cam
RV
If the machine axis does not come to a standstill at the reference cam (IS ”Reference point
approach delay” (V380x1000.7) has been reset), alarm 20001 is output. Alarm 20001 may
occur if the reference - cam is too short and the machine axis overruns the reference cam
when decelerating in phase 1.
If the reference cam extends up to the traversing end of the axis, an inadmissible starting
point for the referencing (after the cam) is excluded.
Warning
! If the reference cam is not adjusted exactly, it may happen that a false sychronuous pulse (zero mark) is evalua-
ted. As a result, the control system is assigned an incorrect machine zero point and it will traverse the axes to
wrong positions. The software limit switches will be active at false positions and will therefore not be able to
protect the machine.
8.3.1 General
Prerequisites
Referencing of an axis using absolute encoders is carried out automatically when turning on
the control system and if the appropriate axis is recognized adjusted. This acceptance of the
absolute value is carried out without axis movement, e.g. at POWER ON. Two conditions
must be met for automatic referencing:
The axis has an absolute encoder for the position control.
The absolute encoder is adjusted (MD 34210: ENC_REFP_STATE=2)
Adjustment
In case of axes provided with absolute encoders, the measuring system is not synchronized
by approaching a reference cam. Instead of this, an adjustment is carried out. The actual va-
lue of the absolute encoder is set during the start - up once and accepted by the control sy-
stem.
General procedure
Move the axis to be adjusted to a defined position and then set the appropriate actual value.
Chronological sequence
Note
This known position must be approached at a slow velocity and always from a defined direc-
tion to make sure that this position is not invalidated by the backlash in the drive system.
3. Enter the actual value that corresponds to the position approached in MD 34100:
REFP_SET_POS. This value may be a specific design - related value (e. g. fixed stop), or
it can now be determined using a measuring system.
4. Set MD 34210: ENC_REFP_STATE to “1”. This will enable the “Adjustment” function.
5. Press RESET to enable the changed machine data.
6. Change to JOG - REF mode.
7. Pressing the traversing key already used in step 2 will enter the current offset into
MD 34090:REF_MOVE_DIST_CORR, and MD 34210: ENC_REFP_STATE will change to
“2”, i.e. the axis is considered adjusted. (Pressing the traversing keys will also update the
display.)
Note
The axis will not move if the appropriate traversing key is pressed. The value entered in MD
34100: REFP_SET_POS will be displayed in the actual - value display of the axis position.
Adjusting time
The adjustment determines the offset between the machine zero point and the encoder zero
point and stores it in a non - volatile memory. Normally, this adjustment must be made only
once during the commissioning. The control system will then know this value and can calcu-
late the absolute machine position from the encoder absolute value at any time. This status is
characterized by MD 34210: ENC_REFP_STATE=2.
The offset is stored in MD 34090: REFP_MOVE_DIST_CORR (SRAM).
This adjustment must be repeated:
after removing/installing or replacing the encoder or the motor with motor - integrated en-
coder;
after switching over a gearbox (if any) between motor (with absolute encoder) and load;
generally, whenever the mechanical connection between encoder and load has been di-
sconnected and has not been mounted exactly in the way it was.
CAUTION: The control system cannot detect all cases that require a re - adjustment! If the
control system detects it, it will note this by setting machine data MD 34210:
ENC_REFP_STATE to the value 0 or 1.
The following is detected: Switching over to a gear stage with a different transmission ratio
between encoder and load.
In any other cases the user himself must overwrite the machine data
MD 34210: ENC_REFP_STATE.
Data back - up
Saving the machine data will also save the state of MD 34210: ENC_REFP_STATE.
By loading such a data record, the axis is therefore automatically declared adjusted.
Warning
! If the data record arises from another machine (e. g. in case of series machine start - up), an adjust-
ment must be carried out after loading and enabling the data.
20700 REFP_NC_START_LOCK
MD number NC START inhibit without reference point
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/7 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 0: The IS ”NC START“ (V32000007.1) for starting part programs or part program blocks (MDA)
is possible even if none or not all axes of the channel are referenced. To ensure that the
axes nevertheless reach the correct position after NC START, the workpiece coordinate
system (WCS) must be set to a correct value using other methods (scratching method).
1: NC START only if all axes are referenced.
31122 BERO_DELAY_TIME_PLUS[0]
MD number BERO delay time plus
Default: 0.000110 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: In conjunction with the setting MD 34200: ENC_REFP_MODE = 7, this MD results in a signal
runtime compensation in the positive direction of movement when determining the position using
a BERO (zero mark).
Related to .... MD 34200: ENC_REFP_MODE
31123 BERO_DELAY_TIME_MINUS[0]
MD number BERO delay time minus
Default: 0.000078 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release:
Meaning: In conjunction with the setting MD 34200: ENC_REFP_MODE = 7, this MD results in a signal
runtime compensation in the negative direction of movement when determining the position
using a BERO (zero mark).
Related to .... MD 34200: ENC_REFP_MODE
34000 REFP_CAM_IS_ACTIVE
MD number Axis with reference point cam
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: Machine axes that have only one zero mark over their entire traversing range or rotary axes that
have only one zero mark per revolution will not be marked as a machine axis with reference cam
by REF_CAM_IS_ACTIVE. The machine axis marked in this way will accelerate to the velocity
specified in MD 34040: REFP_VELO_SEARCH_MARKER (reference point shutdown velocity)
after the traversing key plus/minus has been pressed, and will synchronize itself with the next
zero mark.
MD inapplicable ......
34010 REFP_CAM_DIR_IS_MINUS
MD number Reference- point approach in minus direction
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 0: Reference point approach in plus direction
1: Reference point approach in minus direction
Approach with incremental measuring systems:
Starting using the traversing key is only possible in the specified direction. If the wrong traversing
key is pressed, no reference point approach start is carried out.
If the machine axis is upstream the reference cam, it accelerates to the velocity specified in
MD 34020: REFP_VELO_SEARCH_CAM (reference point approach velocity).
If the machine axis is on the reference cam, it accelerates to the velocity specified in MD 34020:
REFP_VELO_SEARCH_CAM and first moves in the opposite direction of the cam.
34020 REFP_VELO_SEARCH_CAM
MD number Reference point approach velocity
Default: 5000.0 mm/min Min. input limit: 0.0 Max. input limit: ***
13.88 rpm
Change valid after RESET Protection level: 2/2 Unit: mm/min,
rpm
Data type: DOUBLE Valid from SW release:
Meaning: The reference point approach velocity is the velocity at which the machine axis traverses in the
direction of the reference cam after pressing the traversing key (phase 1). This value should be
set to such a large value that the axis can be decelerated to 0 before it reaches a hardware limit
switch.
MD inapplicable ......
34030 REFP_MAX_CAM_DIST
MD number Max. distance to be traversed to the reference cam
Default: 10000.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after RESET Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: If the machine axis traverses a path defined by REFP_MAX_CAM_DIST from its home position
in the direction of the reference cam without reaching the reference cam (IS ”Delayed reference -
point approach” is reset), the axis stops, and alarm 20000 ”Reference cam not reached” is out-
put.
MD inapplicable ......
34040 REFP_VELO_SEARCH_MARKER[n]
MD number Reference point shutdown velocity [encoder No.]: 0
Default: 300.0 mm/min Min. input limit: 0.0 Max. input limit: ***
0.833 rpm
Change valid after RESET Protection level: 2/2 Unit: mm/min,
rpm
Data type: DOUBLE Valid from SW release:
Meaning: 1) With incremental measuring systems:
The axis traverses at this velocity within the time from detecting the first reference
cam and until the synchronization with the first zero mark (phase 2).
Traversing direction: opposite to the direction set for the cam search
(MD 34010: REFP_CAM_DIR_IS_MINUS)
If MD 34050: REFP_SEARCH_MARKER_REVERSE (direction reversal to reference
cam) is set, in case of synchronization with the rising reference cam will traverse to
the cam at the velocity specified in MD 34020: REFP_VELO_SEARCH_CAM.
2) Indirect measuring system with load - end BERO (preferably for the spindle)
The zero mark belonging to the BERO is searched at this speed/velocity.
The zero mark is accepted if the actual speed is within the tolerance range
determined by MD 35150: SPIND_DES_VELO_TOL of the speed/velocity specified by
MD 34040: REFP_VELO_SEARCH_MARKER[n].
34050 REFP_SEARCH_MARKER_REVERSE[n]
MD number Direction reversal to the reference cam [encoder No.]: 0
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: This machine data can be used to set the direction in which the zero mark is searched.
0: Synchronization with falling reference cam edge
The machine axis accelerates to the velocity defined in MD 34040:
REFP_VELO_SEARCH_MARKER (reference - point shutdown velocity).
When leaving the reference point (IS ”Delayed reference point approach” is reset), the control
system will synchronize itself with the first zero mark.
1: Synchronization with rising reference cam edge
The machine axis accelerates to the velocitiy specified in MD 34020: REFP_CAM_DIR_IS_MI-
NUS, irrespective of the pressed traversing key plus/minus. When leaving the reference point (IS
”Delayed reference point approach” is reset), the machine axis will decelerate to a standstill and
will then traverse at the velocity specified in MD: REFP_VELO_SEARCH_MARKER in the oppo-
site direction to the reference cam. If the reference cam is reached (IS ”Delayed reference - point
approach” is set), the control system synchronizes itself with the first zero mark.
MD inapplicable ......
34060 REFP_MAX_MARKER_DIST[n]
MD number Max. distance to the reference mark [encoder No.]: 0
Default: 20.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after RESET Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: With incremental measuring systems:
If the machine axis traverses a distance defined in MD: REFP_MAX_MARKER_DIST (IS ”De-
layed reference point approach” is reset) without detecting the reference mark, the axis stops
and alarm 20002 ”Zero mark missing” is output.
Application example(s) If it is intended that with incremental measuring systems the control system reliably detects that
the same zero mark is always used for synchronization (otherwise, a wrong machine zero point
is recognized), the max. value in this MD may not exceed the distance between two reference
marks.
34070 REFP_VELO_POS
MD number Reference point approach velocity
Default: 1000.0 mm/min Min. input limit: 0.0 Max. input limit: ***
2.77 rpm
Change valid after RESET Protection level: 2/2 Unit: mm/min,
rpm
Data type: DOUBLE Valid from SW release:
Meaning: With incremental measuring systems:
The axis traverses at this velocity from the synchronization with the zero mark until the reference
point is reached.
34080 REFP_MOVE_DIST[n]
MD number Reference point distance/target position with distance - coded system [encoder No.]: 0
Default: - 2.0 Min. input limit: *** Max. input limit: ***
Change valid after RESET Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: With incremental measuring systems:
After synchronization with the first zero mark, the machine axis accelerates to the velocity
specified in MD 34070: REFP_VELO_POS (reference point approach velocity), and traver-
ses a distance resulting from adding up the distances efined in MD:REFP_MOVE_DIST
and MD 34090: REFP_MOVE_DIST_CORR (reference point offset). The distance determi-
ned by addition is exactly the distance between the zero mark (in phase 2) and the refe-
rence point.
MD 34100: REFP_SET_POS[0]
MD 34020:
REFP_VELO_SEARCH_CAM
(ref. point approach velocity)
MD 34040: REFP_VELO_SEARCH_
MARKER
(ref. point shutdown velocity)
Delayed
Zero mark ref. pt. approach Ref. point cam
34090 REFP_MOVE_DIST_CORR[n]
MD number Reference point offset/absolute offset distance - coded, n: [encoder No.]: 0
Default: 0.0 Min. input limit: *** Max. input limit: ***
Change valid after RESET Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: Incremental encoder with zero mark(s):
After detecting the zero reference mark, the axis is positioned away from the zero mark by the
distance MD 34080: REFP_MOVE_DIST + REFP_MOVE_DIST_CORR. If this axis has been
traversed, the axis has reached its reference point. MD 34100: REFP_SET_POS is accepted as
the actual value.
During the traversing movement as defined in REFP_MOVE_DIST+REFP_MOVE_DIST_CORR,
override switches are active
Absolute value encoder:
REFP_MOVE_DIST_CORR acts as an absolute offset. It describes the offset between machine
zero point and the zero point of the absolute measuring system.
Note: The control system will change this machine data in conjunction with absolute encoders if
adjusting processes and modulo corrections are required.
34092 REFP_CAM_SHIFT
MD number Electronic reference cam offset for incremental measuring systems with equidistant zero marks
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after RESET Protection level: 2/2 Unit: mm
Data type: DOUBLE Valid from SW release:
Meaning: When the reference cam signal occurs, the search for the zero mark is started not imme-
diately, but with a delay after the distance defined in REFP_CAM_SHIFT has been traver-
sed. This ensures the repeatability of the zero mark search even in case of a tempera-
ture- dependent extension of the reference cam by defined selection of a zero mark.
Since the reference cam offset is calculated by the control system in the interpolation
clock, the real cam offset is at least REFP_CAM_SHIFT and max.
REFP_CAM_SHIFT+(MD 34040: REFP_VELO_SEARCH_MARKER*interpolation clock)
The reference cam offset acts in the search direction of the zero mark.
Only if the cam exists (MD 34000: REFP_CAM_IS_ACTIVE=1), the reference cam offset
is active.
ÉÉÉÉ
Thermal extension
ÉÉÉÉÉÉÉ
ÉÉÉÉÉÉÉ Zero mark search
Zero marker
ÉÉÉÇÇÇÇ
1 2
ÉÉÉÇÇÇÇ
Cam signal with
REMEDY offset
REFP_CAM_SHIFT 1+2
34093 REFP_CAM_MARKER_DIST
MD number Distance ’reference cam - reference mark’
Default: 0.0 Min. input limit: *** Max. input limit: ***
Change valid after POWER ON Protection level: - /7 Unit: mm
Data type: DOUBLE Valid from software release: 2.0
Meaning: The value displayed corresponds to the distance between the time when the reference cam is
left and the time when the reference mark occurs. If these values are too low, it is possible that
the reference point cannot be determined due to temperature influences or due to a varying run-
time of the cam signal. The distance traversed can be used as an orientation for the setting of
the electronic reference cam offset.
The machine data is read - only.
Related to .... REFP_CAM_IS_ACTIVE, REFP_SHIFT_CAM
34100 REFP_SET_POS[0]
MD number Reference point with incremental systems
Default: 0.0 Min. input limit: *** Max. input limit: ***
Change valid after RESET Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release:
Meaning: Incremental encoder with zero mark(s):
Position value set after detecting the zero mark and traversing the distance defined in
REFP_MOVE_DIST + REFP_MOVE_DIST_CORR (relative to the zero mark) as the current axis
position.
Absolute value encoder:
REFP_SET_POS corresponds to the correct actual value at the adjusting position. The reaction
of the machine depends on the state of MD34210: ENC_REFP_STATE:
If MD 34210: ENC_REFP_STATE = 1, the value of REFP_SET_POS is accepted as an absolute
value.
If MD 34210: ENC_REFP_STATE = 2 and MD 34330: REFP_STOP_AT_ABS_MARKER = 0, the
axis approaches the target position stored in REFP_SET_POS. The value defined in
REFP_SET_POS is used.
34110 REFP_CYCLE_NR
MD number Axis order on channel - specific referencing
Default: 0 Min. input limit: - 1 Max. input limit: 4
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: 0: Axis - specific referencing
The axis - specific referencing is started by the IS ”Traversing keys plus/minus” for each machine
axis separately. All axes can be referenced at the same time. If the machine axes are to be refe-
renced in a defined order, the following is required:
The operator must observe the starting sequence.
The PLC must either check the starting sequence or define it automatically.
The machine axis will not be started by channel - specific referencing. NC Start is not possible
without referencing this axis.
- 1 : The machine axis will not be started by channel - specific referencing.
NC Start is not possible without referencing this axis.
Note:
The effect of setting all axes of a channel to “ - 1” can be achieved by setting the channel - specific
MD 20700: REF_NC_START_LOCK (NC Start inhibited without reference point) to zero.).
34200 ENC_REFP_MODE[n]
MD number Referencing mode [encoder No.]: 0
Default: 1 Min. input limit: 0 Max. input limit: 7
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: The installed position measuring systems can thus be divided for referencing as follows:
0: If an absolute encoder is provided: Acceptance of MD 34100: REFP_SET_POS
Other encoders: no reference point approach possible
1: Referencing using incremental measuring systems:
incremental rotary measuring system
incremental linear measuring system (length measuring system)
zero pulse on the encoder track
(not for absolute encoders)
2, 3, 4, 5, 6: not available
7: Synchronize spindle with BERO, configured approach velocity (MD 34040)
Related to ....
34210 ENC_REFP_STATE[n]
MD number Status of absolute encoder [encoder No.]: 0
Default: 0 Min. input limit: 0 Max. input limit: 2
Change valid: immediately Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: Absolute value encoder:
0: Default on comissioning: Encoder not adjusted
1: Encoder adjustment enabled, encoder not yet adjusted
2: Encoder adjusted
Incremental encoder:
0: Default: No automatic referencing
1: Automatic referencing enabled, but encoder not yet referenced and/or not at exact stop
2: Encoder is referenced and at exact stop, automatic referencing will be active with the
next encoder activation
Application example(s) MD ENC_REFP_STATE can be modified by the start - up engineer and from the operating sy-
stem:
Absolute- value encoder:
- Modification by the start - up engineer:
The data must be set to “1” if an adjustment of the encoder is necessary or desired.
- Modification from the operating system:
in case of successful adjustment from 1 ==> 2
in case of invalid adjustment from 2 ==> 0 or 1
Any losses in the SRAM information or gear switchover operations with changes in the
transmission ratio will be detected by the operating system.
Any modifications to the construction of the machine mechanics
(e.g. change of encoder, motor incl. encoder etc.) will not be detected.
Incremental encoder:
- Modification by the start - up engineer:
The data must be set to “1” if automatic referencing is required or desired.
- Modification from the operating system:
in case of referenced axis and ”Axis at exact position stop“ from 1 ==> 2
in case of invalid referencing position reference or if the axis on exact position stop does
not change from 2 ==> 1
In contrast to the absolute encoder, any changes of the position with inactive encoder or
during Power - Off will not be detected.
MD inapplicable ......
36302 ENC_FREQ_LIMIT_LOW
MD number Encoder limit frequency for re - synchronization
Default: 99.9 Min. input limit: 0.0 Max. input limit: 100
Change valid after NEW_CONF Protection level: 2/2 Unit: %
Data type: DOUBLE Valid from SW release:
Meaning: The encoder limit frequency uses a hysteresis.
MD 36300: ENC_FREQ_LIMIT defines the encoder limit frequency at which the encoder is swit-
ched off, and ENC_FREQ_LIMIT_LOW the frequency at which the encoder is switched on again.
ENC_FREQ_LIMIT_LOW is a fraction of ENC_FREQ_LIMIT as a percentage.
Normally, the preselection of ENC_FREQ_LIMIT_LOW is sufficient. When using absolute enco-
ders with an En - Dat interface, however, the limit frequency of the absolute track is considerably
lower than the limit frequency of the incremental track. With a smaller value in
MD: ENC_FREQ_LIMIT_LOW, it can be achieved that the encoder is only switched on below the
limit frequency of the absolute track and therefore only referenced if this is permitted by the ab-
solute track. For spindles, this referencing is carried out automatically.
Example EQN 1325:
Encoder limit frequency of the incremental track: 430 kHz
===>MD 36300: ENC_FREQ_LIMIT = 430,000 Hz
Limit frequency of absolute track approx. 2,000 encoder rpm at 2,048 increments, i.e. at a limit
frequency of (2000/60) * 2048 Hz = 68 kHz
===>MD 36302: ENC_FREQ_LIMIT_LOW = 68/430 = 15 %
Related to ....
Signals to channel
Signals to axis/spindle
V390x0000.4 Referenced/synchronized 1
Interface signal Signal(s) from axis/spindle (NCK - > PLC)
Edge evaluation: Signal(s) updated: Signal(s) valid from SW release:
Signal state 1 or edge Axes:
change 0 - - - > 1 If the machine axis has arived at the reference point (incremental measuring systems) or at
the target point (length measuring systems with clearance - coded reference marks) during
the reference point approach; the machine axis is referenced and the
IS ”Referenced/synchronized 1” is set (depending on which position encoder is active on
referencing).
Spindles:
After mains ON, a spindle is synchronized after one spindle revolution at the latest (zero
mark) or when the BERO is overrun.
Signal state 0 or edge The machine axis/spindle is not referenced/synchronized with position measuring system 1.
change 1 - - - > 0
Related to .... IS ”Position measuring system 1” (V380x0000.5)
Further references Chapter “Spindles”
Axis - specific
34093 REFP_CAM_MARKER_DIST Distance ’reference cam/reference mark
34100 REFP_SET_POS[0] Reference point value
34110 REFP_CYCLE_NR Axis order on channel - specific referencing
34200 ENC_REFP_MODE[0] Referencing mode
34210 ENC_REFP_STATE[0] State of absolute encoder
34220 ENC_ABS_TURNS_MODULO Range of absolute encoder with rotary encoders R2
36300 ENC_FREQ_LIMIT Encoder limit frequency A3
36302 ENC_FREQ_LIMIT_LOW Encoder limit frequency for re - synchronization
36310 ENC_ZERO_MONITORING Zero mark monitoring A3
JOG mode
In JOG mode, the axes/spindle can be traversed by manual operation. The active operating
mode is signaled to the PLC via the IS “Active mode: JOG” (V3100 000.2) and is displayed
on the screen.
References: Chapter “Operating Modes, Program Mode“
Traversing options
The axes can be traversed either using the traversing keys of a connected machine control
panel (manual traversing) or via connected handwheels (handwheel traversing).
It is possible either to use the keys to traverse all machine axes simultaneously (provided an
appropriate design of a user - specific machine control panel) or to traverse the axes using the
handwheel according to the number of handwheels connected.
In the case of this simultaneous movement of several machine axes, no interpolation is car-
ried out between the axes.
Coordinate systems
The operator can traverse the axes in the following coordinate systems:
Machine coordinate system (MCS); each axis can be traversed manually.
Workpiece coordinate system (WCS); the geometry axes can be traversed manually.
Machine functions
There are the following variants of manual traversing (the so - called machine functions):
Continuous traversing
Incremental traversing (INC, specification of a certain number of traversing increments)
With metric scaling setting of the system, an increment is evaluated with 0.001 mm.
A machine function present at the machine control panel interface of the user must be con-
verted by the PLC user program to the appropriate PLC/NCK interface. To this aim, the axis -
specific NCK/PLC interface must be used in the case of a machine axis/spindle, in the case
of a geometry axis, the channel - specific NCK/PLC interface, and for all axes/spindle and the
geometry axes the signals in the mode area (see also next Section).
Handwheel traversing
Traversing of the axes using the handwheel is also possible in the MCS or WCS. To evaluate
the handwheel pulses, set an incremental traversing method (INC...) (see Section 9.4).
Velocity
The velocity/speed of the axes/spindle on manual traversing in JOG mode is defined by the
following value specifications:
in the case of linear axes using the general SD 41110: JOG_SET_VELO (JOG velocity
with G94) and in the case of rotary axes using SD 41130: JOG_ROT_AX_SET_VELO
(JOG velocity with rotary axes) er SD 41200: JOG_SPIND_SET_VELO (JOG speed for
the spindle).
If the appropriate SD is zero, the appropriate axis - specific MD 32020: JOG_VELO (con-
ventional axis velocity) will apply.
With geometry axes, the value of the assigned machine axis is used in this case: X - >X1,
Y - >Y1, Z - >Z1 (with default setting).
Speed override
The speed in JOG mode can additionally be controlled using the axis - specific feed override
switch provided the axial IS ”Override active“ (V380X0001.7) is set.
In switch position 0%, the axis will not be traversed even if the IS “Override active” is not set.
In the case of geometry axes, the channel - specific feed override switch or, in the case of ra-
pid traverse override, the rapid traverse override switch will be active.
If a spindle is used, the enabled spindle override switch willö be active.
References: Section ”Feed”
Acceleration
The maximum axis acceleration is defined using the axis - specific MD 32300: MAX_AX_AC-
CEL. When traversing in JOG mode, it is also possible to set the acceleration according to a
specified characteristic. For possible settings, please refer to:
References: Section ”Acceleration“
PLC interface
For geometry axes (axes in the WCS), a separate PLC interface is provided (VB 3200 1000,
ff or VB 3300 1000, ff), which contains the same signals as the axis - specific PLC interface.
When traversing the spindle manually, the PLC interface signals between NCK and PLC act
analogously as with the machine axes. The IS ”Position reached with exact stop fine or co-
arse“ will only be set if the spindle is in position control mode.
For the purely spindle - specific interface signals, the following must be observed when traver-
sing the spindle in JOG mode:
The following PLC interface signals provided to the spindle will not be active:
- IS ”Invert M3/M4” (V380x2001.6)
- IS ”Set direction of rotation CCW“ or ”Set direction of rotation CW” (V380x2002.7 or .6)
- IS ”Oscillation speed“ (V380x2001.5)
The following PLC interface signals provided from the spindle will not be set:
- IS ”Actual rotation CW“ (V390x2001.7)
- IS ”Spindle in set range“ (V390x2001.5)
Note
Pressing Reset will cancel the manual traversing movement (axis/spindle) and generate a
braking ramp.
Limitations
On manual traversing, the following limitations are active:
Working area limitation (axis must be referenced)
Software limit switches 1 or 2 (axis must be referenced)
Hardware limit switches
The control system internally ensures that the traversing movement is aborted once the first
valid limitation is reached. The velocity control ensures that the braking process is initiated in
due time so that the axis comes to a stop exactly at the limit position (e.g. software limit
switch). The axis will only be decelerated with “Rapid stop” if the hardware limit switch re-
sponds.
If the corresponding limitation is reached, an alarm message is output. A continuation of the
movement in this direction is internally prevented by the control system. The traversing keys
and the handwheel remain inactive for this direction.
Important
To ensure that the software limit switches and working area limitations are enabled, first the
axis must be referenced.
Machine manufacturer
The retraction of an axis that has approached the limit position depends on the machine manufac-
turer. Please refer to the Documentation of the machine manufacturer.
For further information on working area limitations, as well as hardware and software limit
switches, refer to:
References: Section ”Axis monitoring functions“
Selection
Selecting JOG mode will automatically set the active machine function IS “continuous”:
with geometry axes: V3300 1001.6, V3300 1005.6, V3300 1009.6)
with machine axes/spindle: V390x0005.6.
In JOG mode, it is also possible to activate continuous traversing via the PLC interface (IS
”Machine function: continuous“).
The PLC determines in which signal area the INC/continuous signals are provided to the
NCK via the IS “INC inputs in mode group area active” (V26000001.0):
V26000001.0 = 1 - > in the mode group area: VB30000002,
applicable to all axes
V26000001.0 = 0 - > in the geometry/axis area:
VB32001001, VB32001005,
VB32001009, VB380x0005
Traversing keys +/ -
The traversing keys plus and minus will traverse the corresponding axis in the desired direc-
tion. PLC traversing key signals to NCK IS:
with geometry axes (traversing in the WCS): V3200 1000.7 /.6, V3200 1004.7
/.6,
V3200 1008.7 /.6
with machine axes/spindle (traversing in MCS): V380x 004.7 /.6V32001000.7/.6.
Pressing both traversing keys of an axis at the same time will not result in a traversing move-
ment or will stop an axis being traversed.
Traversing commands +/ -
Once a traversing request is provided for an axis (e.g. when the traversing key is pressed),
the IS ”Traversing command +” or ”Traversing command - ” is output to the PLC, depending
on the direction of movement.
with geometry axes: V3300 1000.7 /.6, V3300 1004.7 /.6, V3300 1008.7 /.6
with machine axes/spindle: V390x 004.7 /.6
Setting increments
The distance to be traversed by the axis is defined by so - called increments (also called in-
cremental dimension). Before the machine operator traverses the axis, he must set the desi-
red increment.
The setting is carried out, e.g. on the machine control panel. The IS “Machine function: INC1
to INCvar” corresponding to the desired increment must be set in the PLC user program after
an appropriate logic operation.
The PLC defines in which signal area the INC signals are provided to the NCK via the IS “INC
inputs in mode group area active” (V26000001.0):
V26000001.0 = 1 - > in the mode group area: VB30000002,
applicable to all axes
V26000001.0 = 0 - > in the geometry/axis area:
VB32001001, VB32001005,
VB32001009, VB380x0005
The active machine function: IS “INC... “ is signaled from the NCK to the PLC:
with geometry axes: V3300 1001.0 , V3300 1005.0, V3300 1009.0 to .5
with machine axes/spindle: V390x 0005.0 to .5
Settable increments
The operator can set different increment sizes. These divide into:
fixed increments whose increment sizes are common for all axes: INC1, INC10, INC100,
INC1000 (only via IC: INC10000 ).
and a variable increment (INCvar). Specifying an increment for a variable increment is
also possible together for all axes using the general SD: JOG_VAR_INCR_SIZE (size of
the variable increment with INC/handwheel).
Selection
JOG mode must be active. In addition, the operator must set the increment INC1, INC10, ...
active when traversing using the handwheel.
A maximum of 3 handwheels can be connected. It is thus possible to move simultaneously
and independently up to 3 axes using handwheels.
The geometry or machine axes (WCS or MCS) is assigned a handwheel via interface signals.
Which axis is traversed by turning the handwheel 1 ... 3, can be set:
via the PLC user interface with the IS ”Enable handwheel 1 to 3”
with a machine axis (traversing in the MCS): V380x 0004.0 to .2
with a geometry axis (traversing in the WCS): V3200 0000.0 to .2, V3200 0004.0 to .2,
V3200 0008.0 to .2
The linking to the PLC interface is carried out by the PLC user program. It is possible to
assign a handwheel several machine axes at a time
or via menu - assisted operation (HMI)
When the softkey Handwheel is pressed in the main menu of JOG mode, the window
“Hand - wheel” will be displayed. In this window, each handwheel can be assigned an axis
(WCS or MCS).
To activate the handwheel from the operator panel (HMI), a separate user interface is provi-
ded between HMI and PLC. This interface provided by the PLC basic program for handw-
heels 1 to 3 contains the following information:
the axis numbers assigned to the corresponding handwheel
IS ”Axis number of handwheel n” (VB19001003, ff)
the additional information ’machine or geometry axis’
IS ”Machine axis“ (VB19001003.7, ff)
The PLC user program must set the appropriate IS ”Enable handwheel” either to ”0” (Disable)
or to ”1” (Enable) for the given axis.
Weighting
The resulting distance to be traversed (=path)/velocity when turning the handwheel depends
on the following factors:
Number of handwheel pulses received at the interface
Active increment (machine function INC1, INC10, INC100, ... )
With metric system scaling setting, one increment is weighted with 0.001 mm.
Pulse weighting of handwheel using the general MD: HANDWH_IMP_PER_LATCH
(handwheel pulses per lathc position)
Traversing commands +/ -
During the axis movement, the IS ”Traversing command +” or ”Traversing command - ” is pro-
vided to the PLC, depending on the direction of movement.
with geometry axes: V3300 1000.7/.6, V3300 1004.7/6, V3300 1008.7/.6
with machine axes/spindle: V390x 004.7/.6.
If the axis is already traversed using the traversing keys, additional handwheel traversing is
not possible. The alarm 20051 ”Handwheel traversing not possible” is output.
Velocity
The velocity results from the pulses generated using the handwheel and the pulse weighting:
Distance to be traversed per time unit.
This velocity is limited by the value in the axis - specific
MD 32000: MAX_AX_VELO.
11310 MN_HANDWH_REVERSE
MD number Threshold for handwheel direction reversal
Default: 2 Min. input limit: 0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: 0: No immediate traversing in the opposite direction
>0: Immediate traversing in the oppositie direction if the handwheel is rotated in the
opposite direction at least by the specified number of pulses
11320 HANDWH_IMP_PER_LATCH[n]
MD number Handwheel pulses per latch position [handwheel index]:
Default: (1, 1, 1) Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DOUBLE Valid from SW release
Meaning: This MD is used to match the connected handwheels with the control system.
In this MD, the number of pulses generated by the handwheel per latch position is entered. The
handwheel pulse weighting must be defined for each connected handwheel (1 ... 3) separately.
With this matching, each handwheel latch position has the same effect as a traversing key would
have been pressed on incremental traversing.
A negative value will result in a direction reversal of the handwheel rotation.
Related to .... MD: JOG_INCR_WEIGHT (weighting of an increment of a machine axis with INC/handwheel)
11346 HANDWH_TRUE_DISTANCE
MD number Handwheel path or velocity specification
Default: 0 Min. input limit: 0 Max. input limit: 3
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: 0: The specifications from the handwheel are velocity specifications. The braking
to the handwheel standstill is carried out on the shortest possible path.
1: The specifications from the handwheel are path specifications. No pulses are lost.
Due to a limitation to the maximum admissible velocity, overtraveling of the axes may occur.
2: The same ffect as with value=0, but longer deceleration dist. when the handwheel stops.
3: The same effect as with value=1, but longer deceleration dist. when the handwheel stops.
Related to ....
32010 JOG_VELO_RAPID
MD number Conventional rapid traverse
Default: 10000 mm/min, Min. input limit: 0.0 Max. input limit: ***
27.77 rpm
Change valid after RESET Protection level: 2/7 Unit:
Linear axis: mm/min
Rotary axis: rpm
Data type: DOUBLE Valid from SW release:
Meaning: The entered axis velocity applies to traversing in JOG mode with the rapid traverse override key
pressed and an axial feed override of 100%.
The entered value may not exceed the max. permissible axis velocity (MD MAX_AX_VELO).
MD 32010 is not used for the programmed rapid traverse G0.
MD inapplicable to ...... AUTOMATIC and MDA modes
Related to .... MD 32000: MAX_AX_VELO (max. axis velocity)
IS ”Rapid traverse override“ (V32001000.5, V32001004.5, V32001008.5, V380x0004.5,)
IS ”Feed override” (VB380x 0000), axis - specific
IS “Rapid traverse override” (VB3200 0005), with geometry axes
32020 JOG_VELO
MD number Conventional axis velocity
Default: 2000 mm/min Min. input limit: 0.0 Max. input limit: ***
5.55 rpm
Change valid after RESET Protection level: 2/7 Unit:
Linear axis: mm/min
Rotary axis: rpm
Data type: DOUBLE Valid from SW release:
Meaning: The entered velocity applies to traversing axes in JOG mode with the feed override switch posi-
tion 100%.
The velocity of MD 32020: JOG_VELO is only used if the general SD 41110: JOG_SET_VELO =
0 for linear axes or if the SD 41130: JOG_ROT_AX_SET_VELO = 0 is set for rotary axes.
If this is the case, the axis velocity is active:
- for continuous traversing
- for incremental traversing (INC1, ... INCvar)
The value entered must not exceed the maximum admissible velocity
(MD 32000: (MAX_AX_VELO).
41010 JOG_VAR_INCR_SIZE
SD number Size of the variable increment with INC/handwheel
Default: 0.0 Min. input limit: *** Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: mm or degrees
Data type: DOUBLE Valid from SW release: 1.1
Meaning: This setting data defines the number of increments when selecting the variable increment
(INCvar). This increment size is traversed by the axis per latch position when pressing the tra-
versing key or turning the handwheel if the variable increment is selected (IS “Active machine
function: INC variable” if the machine or geometry axis has a 1 - signal).
Note: Please take into account that the increment size applies both to incremental traversing
and handwheel traversing.
SD inapplicable ...... if INCvar is not active
Related to .... IS ”Active machine function: INCvariabel”(V32001001.5, V32001005.5, V32001009.5,
V380x0005.5)
41110 JOG_SET_VELO
SD number JOG velocity for linear axes (for G94)
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: mm/min
rpm
Data type: DOUBLE Valid from SW release:
Meaning: Value > 0:
The entered velocity applies to all linear axes traversed in JOG mode if these are traversed ma-
nually using the traversing keys plus or minus..
The axis velocity is active:
- for continuous traversing
- for incremental traversing (INC1, ... INCvar)
The value entered may not exceed the maximum admissible axis velocity
(MD 32000: (MAX_AX_VELO).
Value = 0:
The appropriate axis - specific MD 32020: JOG_VELO “Conventional axis velocity” acts as the
feedrate in JOG mode. It is thus possible to define for each axis its own JOG velocity (axial MD).
SD inapplicable ...... - for rotary axes (SD 41130: JOG_ROT_AX_SET_VELO is active here)
Related to .... Axis - specific MD 32020: JOG_VELO (conventional axis velocity)
Axis - specific MD 32000: MAX_AX_VELO (maximum axis velocity)
SD 41130: JOG_ROT_AX_SET_VELO (JOG velocity for rotary axes)
41130 JOG_ROT_AX_SET_VELO
SD number JOG velocity for rotary axes
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: rpm
Data type: DOUBLE Valid from SW release: 1.1
Meaning: as SD 41110: JOG_AX_SET_VELO - but for all rotary axes instead of linear axes
Application example(s) The operator can thus specify a JOG velocity application - specifically.
Related to .... MD 32020: JOG_VELO (conventional velocity)
MD 32000: MAX_AX_VELO (maximum axis velocity)
41200 JOG_SPIND_SET_VELO
SD number JOG speed for the spindle
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: rpm
Data type: DOUBLE Valid from SW release:
Meaning: Value > 0:
The entered velocity applies to spindles in JOG mode if these are traversed manually using the
traversing keys plus or minus.
The velocity is active:
- for continuous traversing
- for incremental traversing (INC1, ... INCvar)
The value entered may not exceed the max. admissible velocity (MD 32000: (MAX_AX_VELO).
Value = 0:
If 0 has been entered in the setting data, MD 32020: JOG_VELO will act as the JOG velocity
(conventional axis velocity). It is thus possible to define a separate JOG velocity for each axis
(axis - specific MD).
When the spindle is traversed in JOG mode, the maximum speeds of the active gear stage are
taken into account (MD 35130 : GEAR_STEP_MAX_VELO_LIMIT).
SD inapplicable ...... axes
Related to .... MD 32020: JOG_VELO (conventional axis velocity)
MD 35130: GEAR_STEP_MAX_VELO_LIMIT (maximum speed of gear stages)
Further references Section ”Spindle”
Related to ....
IS ”Machine axis” (V19001003.7 ff)
IS ”Enable handwheel” 1 to 3 /geometry axes 1, 2, 3
(V32001000.0 to .2, V32001004.0 to .2, V32001008.0 to .2)
IS ”Enable handwheel 1 to 3 /machine axes (V380x0004.0 to .2)
MD 10000: AXCONF_MACHAX_NAME_TAB [n] (machine axis name)
MD 20060: AXCONF_GEOAX_NAME_TAB [n] (name of geometry axis in the channel)
V3000 0000.0 to .6 Machine function INC1, INC10, INC100, INC1000, INC10000, INCvar, continuous
Interface signal Signal(s) to operating modes (PLC - > NCK)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge This input area is only used if the IS “INC inputs in mode group area active” (V2600 0001.0) is
change 0 - - - > 1 set. In this case, the signals will apply to all axes and geometry axes.
The IS “INC...” defines how many increments the axis traverses per latch position when the tra-
versing key is pressed or the handwheel is turned. When doing so, JOG mode must be active.
With “INCvar”, the value in the general SD 41010: JOG_VAR_INCR_SIZE will apply.
With “Continuous”, the appropriate axis can be traversed using the plus or minus traversing key
with holding down the traversing key as required.
Once the selected machine function is active, this is signaled to the PLC interface (IS ”Active
machine function INC1; ...” ). If several machine function signals (INC1, INC... or ”Continuous
traversing”) are selected at the interface at the same time, no machine function is enabled inter-
nally in the control system.
Note:
The input IS “INC...” or “Continuous” to modify an active machine function must be present at
least one PLC cycle. It need not be present statically.
Signal state 0 or edge The appropriate machine function is not selected. No modification to the active machine function
change 1 - - - > 0 is requested.
If an axis is just traversing an increment, the movement is aborted with deselection or switchover
of the machine function.
Related to .... IS “INC inputs in mode group area active“ (V2600 0001.0)
IS ”Machine function INC1, ..., continuous”
for geometry axis 1 (V3200 1001.0 to .6)
for geometry axis 2 (V3200 1005.0 to .6)
for geometry axis 3 (V3200 1009.0 to .6)
IS ”Machine function INC1, ..., continuous” in the axis area (V380x 0005.0 to .6)
IS ”Active machine function INC1, ..., continuous”
for geometry axis 1 (V3300 1001.0 to .6)
for geometry axis 2 (V3300 1005.0 to .6)
for geometry axis 3 (V3300 1005.0 to .6)
IS ”Active machine function INC1, ..., continuous” in the axis area (V390x 0005.0 to .6)
V3200 1000.7 and .6 Traversing keys plus and minus for geometry axis 1
V3200 1004.7 and .6 for geometry axis 2
V3200 1008.7 and .6 for geometry axis 3
Interface signal Signal(s) to channel (PLC - > NCK)s
Edge evaluation: yes Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge In JOG mode, the traversing keys plus and minus can be used to traverse the selected axis in
change 0 - - - > 1 both directions.
Incremental traversing
With signal state 1, the axis starts to traverse the set increment. If the signal changes
to 0 status before the increment has been traversed, the traversing movement will be
aborted. If the signal state is 1 again, the traversing movement will be continued.
Until the increment is traversed completely, the traversing movement of the axis can
be stopped and continued several times as described.
Continuous traversing
If no INC dimension is selected, the axis will traverse as long as the traversing axis
remains pressed.
If both traversing signals (plus and minus) are set at the same time, no traversing movement is
carried out or the traversing movement is aborted.
The effect of the traversing keys can be disabled for each axis separately using the PLC inter-
face signal ”Traversing key lock”.
CAUTION: In contrast to machine axes, with geometry axes it is possible to traverse only
one geometry each simultaneously. If you try to traverse more than one
geometry axis using the traversing keys, alarm 20062 will be output.
Signal state 0 or edge no traversing
change 1 - - - > 0
Signal inapplicable ...... AUTOMATIC and MDA modes
Special cases, errors, ...... The geometry axes cannot be traversed in JOG mode.
- if it is already traversed (as a machine axis) via the axial PLC interface;
- if another geometry axis is already traversed via the traversing keys.
Alarm 20062 ”Axis is already active” is output.
Related to .... IS ”Traversing keys plus and minus” for machine axes (V380x0004.7 and .6)
IS ”Traversing key lock” for geometry axis 1 (V32001000.4)
for geometry axis 2 (V32001004.4)
for geometry axis 3 (V32001008.4)
With “INCvar”, the value in the general SD 41010: JOG_VAR_INCR_SIZE will apply.
With “Continuous”, the appropriate axis can be traversed using the plus or minus traversing key
with holding down the traversing key as required.
Once the selected machine function is active, this is signaled to the PLC interface (IS ”Active
machine function INC1; ...” ).
If several machine function signals (INC1, INC... or ”Continuous traversing”) are selected at the
interface at the same time, no machine function is enabled internally in the control system.
Note:
The input IS “INC...” or “Continuous” to modify an active machine function must be present at
least one PLC cycle. It need not be present statically.
Signal state 0 or edge The appropriate machine function is not selected. No modification to the active machine function
change 1 - - - > 0 is requested.
If an axis is just traversing an increment, the movement is aborted with deselection or switchover
of the machine function.
Related to .... IS ”Active machine function INC1, ...” for geometry axis 1 (V33001001.0 ... .6)
for geometry axis 2 (V33001005.0 ... .6)
for geometry axis 3 (V33001005.0 ... .6)
IS “INC inputs in mode group area active” (V2600 0001.0)
V33001000.7 and .6 Traversing commands plus and minus for geometry axis 1
V33001004.7 and .6 for geometry axis 2
V33001008.7 and .6 for geometry axis 3
Interface signal Signal(s) from channel (NCK - > PLC)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge A traversing movement is to be carried out in the axis direction concerned. The traversing com-
change 0 - - - > 1 mand is initiated in different ways, depending on the operating mode.
- JOG mode: using the traversing key plus or minus
- REF submode: using the traversing key leading to the reference point
- AUTO/MDA modes: A program block that contains a coordinate value for the axis
concerned is carried out.
Signal state 0 or edge No traversing request is currently pending for the axis direction concerned or a traversing move-
change 1 - - - > 0 ment carried out has been completed.
JOG mode:
- The traversing key is cancaled.
- When quitting traversing using the handwheel
REF submode:
when the reference point is reached
AUT/MDA modes:
- The program block has been executed (and the next following program block does not
contain a coordinate value for the axis concerned)
- Abortion by ”RESET”, etc.
- IS ”Axis lock“ is provided
Application example(s) Release of clamping (in case of axes with clamping)
Note: If the clamping is only released with the traversing command, no continuous -
path mode is possible for these axes.
Related to .... IS ”Traversing key plus” and ” ... minus” for geometry axis 1 (V32001000.7 and .6 )
for geometry axis 2 (V32001004.7 and .6 )
for geometry axis 3 (V32001008.7 and .6 )
If both traversing signals (plus and minus) are set at the same time, no traversing movement is
carried out or the traversing movement is aborted.
The effect of the traversing keys can be disabled for each axis separately using the PLC inter-
face signal ”Traversing key lock”.
V380x0005.0 ... .6 Machine function INC1, INC10, INC100, INC1000, INC10000, INCvar, continuous
Interface signal Signal(s) to axis/spindle (PLC - > NCK)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge This input area is only used if the IS “INC inputs in mode group area active” (V2600 0001.0) is
change 0 - - - > 1 not set.
The IS “INC...” defines how many increments the axis traverses per latch position when the tra-
versing key is pressed or the handwheel is turned. When doing so, JOG mode must be active.
With “INCvar”, the value in the general SD 41010: JOG_VAR_INCR_SIZE will apply.
With “Continuous”, the appropriate axis can be traversed using the plus or minus traversing key
with holding down the traversing key as required.
Once the selected machine function is active, this is signaled to the PLC interface (IS ”Active
machine function INC1; ...” ).
If several machine function signals (INC1, INC... or ”Continuous traversing”) are selected at the
interface at the same time, no machine function is enabled internally in the control system.
Note:
The input IS “INC...” or “Continuous” to modify an active machine function must be present at
least one PLC cycle. It need not be present statically.
Signal state 0 or edge The corresponding machine function is not selected.
change 1 - - - > 0 While an axis traverses an incremental dimension, abortion or switching of the machine function
will also abort the movement.
Related to .... IS ”Active machine function INC1, ...” (V390x0005.0 ... .6)
IS “INC inputs in mode group area active” (V2600 0001.0)
Axis/spindle- specific
V380x0004 .7 or .6 Traversing keys plus or minus
V380x0005 .0 to .6, Machine function INC1 up to continuous in the axis area
V390x0000 .7 / .6 Position reached with exact stop coarse / fine
V390x0004 2, .1, .0 Handwheel active (3, 2, 1)
V390x0004 .7 or .6 Traversing command plus or minus
V390x0005 .0, ..., .6 Active machine function INC1 up to continuous
Program mode
Program mode is provided if part programs or part program blocks are processed in either of
the modes AUTOMATIC or MDA. During the program execution, the program sequence can
be manipulated by PLC interface signals and commands.
Channel
A channel is a unit in which a part program can be processed.
The system assigns the channel an interpolator with related program execution. A certain
operating mode will apply.
The SINUMERIK 802D control system possesses one channel.
Enabling
The desired operating mode is enabled via the interface signals in VB3000 0000. There is no
priority if several operating modes are selected at the same time:
JOG (high priority): Traversing of the axes by manual operation of the hand wheel or tra-
versing keys. Channel - specific signals and interlocks are not taken into account.
MDA: Program blocks can be executed.
AUTOMATIC (low priority): Automatic execution of part programs
Stop
The IS ”NC Stop” (V3200 0007.3), IS ”NC Stop for axes and spindles” (V3200 0007.4) or ”NC
Stop at block border” (V3200 0007.2) can be used to provide a stop signal. Depending on the
stop signal selected either only the axes or, in addition, also the spindle or the axes are stop-
ped at block end.
RESET
The IS ”Reset” (V3000 0000.7) will abort the active part program.
The following actions are carried out after the IS ”Reset”:
The part program preparation is stopped immediately.
Axes and spindles are stopped.
Any auxiliary functions of the current block not yet output at this moment are no longer
output.
The block pointer is reset to the beginning of the corresponding part program.
All reset alarms are deleted from the display.
The reset is completed if the IS ”Channel status: Reset” (V3300 0003.7) is set.
Ready to operate
Readiness for operation is displayed by the IS ”802 - Ready” (V 3100 0000.3).
General
A mode change is requested and activated via the interface.
Note
The mode will only be changed internally in the control system if ”Channel status active”
(IS V3300 0003.5) is no longer provided.
In the channel status Reset (IS V3300 0003.7), e.g. after pressing the RESET key, it is possi-
ble to switch over from one mode to another.
In the channel status “Interrupted“ (IS V3300 0003.6), switching over is bound to certain
conditions (see Table 10 - 1).
If you quit AUTO to switch over to JOG, you must return to AUTO or press RESET. A change
AUTO - JOG - MDA is thus impossible. The same applies to MDA from which you can neither
directly nor indirectly change to AUTO unless the RESET status is not provided.
For the operating mode changes possible according to the current operating mode and the
channel status (”Channel in reset” or “Channel interrupted”), please refer to the following Ta-
ble.
AUTOMATIC X X X
JOG X X X X
MDA X X X
Overview of functions
Which function can be selected in which operating mode and in which operating status, is to
be seen in the following Table.
Channel interrupted
Channel active
Channel active
Channel active
Channel active
Channel active
Functionalities
Loading a program from external sb sb sb sb sb sb sb sb
using ”Services”
Execution of a part program/ s s b s s b
block
Block search s s b
Reference point approach per sb sb
part program command (G74)
s: Function cannot be started in this status
b: Function can be executed in this status
Channel interrupted
Channel active
Channel active
Channel active
Channel active
Channel active
Axis - specific monitoring functions or when positioning the spindle
SW limit switch + x x x x x x x
SW limit switch - x x x x x x x
HW limit switch + x x x x x x x x x x x x x x
HW limit switch - x x x x x x x x x x x x x x
Exact stop coarse/fine x x x x x x x x x x x x x x
Clamping tolerance x x x x x x x x x x x x x x
DAC limitation x x x x x x x x x x x x x x
(analog spindle)
Contour monitoring x x x x x x x
Spindle- specific monitoring functions
Speed limit exceeded x x x x x x
Spindle stopped x x x x x x x x x x x x x x
Spindle synchronized x x x x x x
Speed within set range x
Overview of interlocks
In the individual operating modes, various interlocks can be active.
Which interlock can be enabled in which operating mode and in which operating status is to
be seen in the Table below:
Channel interrupted
Channel active
Channel active
Channel active
Channel active
Channel active
General interlocks
802- Ready x x x x x x x x x x x x x x
Mode change lock x x x x x x x x x x x x x x
Channel- specific interlocks
Feed stop x x x x x x x
NC Start inhibited x x x x x x x x x x x x x x
Read- in disable x x x x x x x x x x x x x x
Axis/specific interlocks
Spindle disable x x x x x x x x x x x x x x
Servo disable x x x x x x x x x x x x x x
Axis disable x x x x x x x x x x x x x x
Spindle- specific interlocks
Servo disable x x x x x x x x x x x x x x
Spindle lock x x x x x x x x x x x x x x
x: Interlock can only be enabled in this status
Definition
Program mode means that a part program is carried out in the AUTOMATIC mode and/or
program blocks are carried out in MDA mode.
Program manipulation
During program mode, it is possible to manipulate the program mode from the PLC via inter-
face signals. The manipulation is carried out using mode - specific or channel - specific inter-
face signals.
The channel advises the PLC of its current program mode status.
Selection
The selection of a part program can only be carried out if the channel concerned is in the RESET
status.
The part program can be selected as follows:
via the operation (”Machine” operating area) / Program manager
via the PLC
- by selecting a program via the program number in ”Program list” (see Manual ”Opera-
ting and Programming...”, Chapter 7)
- by reselecting an active program via the PLC - HMI interface (see Section 19.5)
Alarms
The START command will not come into effect if this prerequisite is not fulfilled. In this case
one of the following alarms will occur: 10200, 10202, 10203
Channel status
The STOP command can only be executed if the channel concerned is in the status ”Channel
active” (V3300 0003.5).
STOP commands
There are various commands to stop the program execution and to set the channel status to
”Interrupted”. These are:
IS ”NC STOP at block border” (V3200 0007.2)
IS ”NC STOP” (V3200 0007.3)
IS ”NC STOP axes and spindle” (V3200 0007.4)
IS ”Single block” (V3200 0000.4)
Programming command ”M0” and/or ”M1” and the appropriate enabling
Function
The RESET command (IS ”Reset” (V3000 0000.7)) can be executed in each channel status.
This command cannot be interrupted by any other command.
A RESET command allows to abort an active part program and/or part program blocks. After
execution of the RESET command, the IS ”Channel status: Reset” (V3300 0003.7) and the IS
“Program status: Aborted” (V3300 0003.4) are set.
It is now no longer possible to continue the part program from the interruption position. All
axes in the channel are at exact stop.
After the RESET command, the following actions are carried out:
The part program preparation is stopped immediately.
Axes and (if any) the spindle are decelerated.
Any auxiliary functions of the current block, which are not yet output at this moment, will
not be output any more.
The block pointer is reset to the beginning of the corresponding part program.
All alarms will be deleted from the display if they are not POWER ON alarms.
Selection/activation
The user can control the execution of the part program from the operator interface. In the
“Program control” menu (AUTOMATIC mode, operating area “Position”), certain functions can
be selected, whereas some functions have an influcence on PLC interface signals. These
interface signals are merely to be understood as selection signals from the user interface.
They will not yet activate the selected function.
In order to render the selected functions active, these signal states must be transferred to a
different area. For a manipulation on the part of the PLC, these signals must be set directly.
Program statuses
The status of the selected program for the particular channel is displayed in AUTOMATIC and
MDA modes at the interface. If you change to JOG moide with the program stopped, the pro-
gram status “Interrupted” or, in case of Reset, “Aborted” is displayed.
The following program statuses are possible:
IS ”Program status: Aborted” (V3300 0003.4)
IS ”Program status: Interrupted” (V3300 0003.3)
IS ”Program status: Stopped” (V3300 0003.2)
IS ”Program status: Running” (V3300 0003.0)
Effects of commands/signals
The program status can be manipulated by activating various commands or interface signals.
The Table below illustrates the resulting program status (supposed status prior to the signal
-> Program status: Running).
Channel statuses
The current status of the channel is imaged to the interface. Based on this status, the PLC
can initiate certain reactions or interlocks, which can be configured by the manufacturer. The
channel status is displayed in all operating modes.
The following channel states are possible:
IS ”Channel status: Reset” (V3300 0003.7)
IS ”Channel status: Interrupted” (V3300 0003.6)
IS ”Channel status: Active” (V3300 0003.5)
Effects of commands/signals
The channel status can be manipulated by enabling various commands or interface signals.
The Table below shows the resulting channel status (supposed status prior to the signal ->
channel status: Active).
The ”Channel status: Active” is achieved if a part program or part program block is executed
or the axes are traversed in JOG mode.
Reactions
The Table below contains a list of channel and program statuses that may occur after certain
operator or program actions.
The left part of the Table contains the channel and program statuses, as well as the operating
modes under which the initial situation must be searched. The right part of the Table contains
certain operating/program actions; the number of the situation is specified for each action in
brackets after the corresponding action has been carried out.
R U A N U S W A A M J
9 x x x NC Start (13); mode change (10 or 11)
10 x x x NC Start (16); mode change (9 or 11)
11 x x x Direction key (17); mode change (9 or 10)
12 x x x NC Start (13); mode change (10 or 11)
13 x x x NC Stop (12)
14 x x x NC Stop (7); at block end (5)
15 x x x NC Stop (8); at JOG end (6)
16 x x x NC Stop (10); at block end (10)
17 x x x NC Stop (11); at JOG end (11)
Explanation: t4 t5
Linking by PLC user program
t4: Block relaying to N20 with “Read - in disable” stopped, Spindle run - up Axis running
t5: Program interrupted with RESET Program:
N10 G01 G90 X100 M3 S1000 F1000 M88
N20 M0
Objective
For testing a new part program, various control functions are provided. These functions con-
siderably reduce any hazards to the machine during the test phase and also reduce the re-
quired time. It is possible to enable several program test functions at the same time.
The following test possibilities will be described in the following:
Program execution without axis movements
Program execution in single block mode
Program execution with dry run feed
Execution of certain program sections
Skipping of certain program parts
Graphic simulation
Functionality
With the Program Test function active, the part program can be started and executed using
the IS ”NC Start” (V32000007.1), i.e. including auxiliary function output, dwell times, etc. Me-
rely the axes/spindle are simulated. The safety function of the software limit switches remains
active.
The position control is not interrupted so that the axes need not be referenced after swit-
ching - off of the function.
The user can thus check the programmed axis positions and the auxiliary function outputs of
a part program.
NOTE: The program execution without axis movements can also be enabled together with
the function ”Dry run feed”.
Selection/enabling
This function is selected using the user interface in the menu “Program control”. With the se-
lection, the IS ”Program test selected” (V1700 0001.7) is set.
The function must be enabled by the PLC user program using the IS ”Enable program test”
(V3200 0001.7).
Display
As a check - back message that the program test function is active, ”PRT” is displayed in the
status line of the operator interface and the IS” Program test active” (V3300 0001.7) is set in
the PLC.
Functionality
The user can use this function to execute a part program step by step and check the indivi-
dual machining steps. If he has found the executed part program block to be correct, he can
request the next block. Progression to the next part program block is carried out via the IS
“NC Start”
(V3200 0007.1).
With the single block function activated, however, the execution of the part program will stop
after each program block. The program status will change to ”Program status: Stopped”. The
channel status remains set active.
Caution
! For a series of G33 blocks, single block is only active if DRY RUN FEED is selected.
Selection/enabling
As a rule, the selection signal comes from a user machine control panel.
This function must be enabled from the PLC user program via the IS ”Enable single block”
(V3200 0000.4).
The selection “Single block coarse” or “Single block fine” is made on the user interface in the
“Program control” menu.
Display
As a check - back message of active single block mode, ”SBL” is displayed in the appropriate
field of the user interface.
Once the part program execution has completed a part program block in single block mode,
the IS ”Channel status: Interrupted” (V3300 0003.6) and the IS “Program status: Stopped“
(V3300 0003.2) are set and the IS “Channel status: Active” (V3300 0003.5) and the IS “Pro-
gram status: Running” (V3300 0003.0) are reset.
Functionality
The part program can be started via the IS ”NC Start” (V3200 0007.1). With the function ena-
bled, the traversing rates that have been programmed in conjunction with G1, G2, G3, CIP,
CT, are replaced by the feed value stored in SD 42100: DRY_RUN_FEED. The dry run feed
will also be used instead of the programmed revolutional feed in program blocks with G95. If,
however, the programmed feed is greater than the dry run feed, the larger value will be used.
Caution
! If the function “Dry run feed” is enabled, no workpiece machining must be carried out, since the
cutting rates of the tools may be exceeded and/or the workpiece or the machine tool may be des-
troyed due to the changed feed values.
Selection/enabling
The operation with dry run feed is selected in the operating area “Position” - > softkey “Pro-
gram control” (AUTOMATIC mode). This selection will set the IS ”Dry run feed selected”
(V17000000.7). In addition, the desired value of the dry run feed must be entered in the set-
ting data menu. This will, however, not yet enable the function.
The function is enabled using the IS ”Enable dry run feed” (V3200 0000.4) and is evaluated
with NC Start.
The dry run feed must have been entered in SD 42100: DRY_RUN_FEED before program
start.
Display
As a check - back message of active dry run feed, ”DRY” is displayed in the status line of the
user interface.
Functionality
To position the control system on a certain block (target block) of a part program, the Block
search function can be used.. When doing so, it can be selected whether or not during the
block search to the target block the same calculations are to be carried out as in normal pro-
gram mode.
After the target block has been reached, the program can be started via the IS ”NC Start” (to
be provided 2x) (V3200 0007.1). If necessary an automatic compensation movement of the
axes to the starting or end position of the target block is carried out. Then the program is con-
tinued.
Note: Make absolutely sure that a collision - free starting position and the appropriate techno-
logical values are provided and that the appropriate tools are enabled. If necessary first a
collision - free starting position must be approached using JOG mode. Select the target block
with due consideration of the selected block search type.
Selection/enabling
The block search function is selected from the operator interface in AUTOMATIC mode.
The block search function can be enabled for the following functions using the appropriate
softkey:
Block search with calculation at the contour
Is used to be able to approach the contour in any situation. ”NC Start” is used to approach
the starting position of the target block or the end position of the block prior to the tar-
get block. This will be traversed up to the end position. The execution of this block is car-
ried out true to the contour.
Block search with calculation at the block end point
is used to be able to approach the target position (e. g. tool change position) in any situa-
tion. The end point of the target block or the next programmed position is approached
using the interpolation type valid in the target block. This will not be carried out true to the
contour. Only the axes programmed in the target block will be approached.
Block search without calculation
is used for quick search in the main program.
No calculation is carried out. The control - internal values are in the states as prior to the
block search. Whether or not a processing can be carried out, depends on the program
and must be decided by the operator.
This block search type is especially suited to carry out fast syntax checks for new pro-
grams.
Interface signal
The IS
”Block search active” (V3300 0001.4)
”Action block active” (V3300 0000.3)
”Approach block active” (V3300 0000.4)
”Last action block active” (V3300 0000.6)
Note
The IS “Approach block active” will only be set in case of “Block search with calculation at the con-
tour”, since in case of “Block search with calculation at the block end point” no separate approach
block is generated (approach block is identical to target block).
Approach block
active
(V3300 0000.4)
After the IS “Block search with calculation at the block end point” and from the moment “Last
action block active” until the part program execution is continued by NC Start, no automatic
repositioning is executed. The start point of the current axis position is NC Start, and the end
point results from the execution of the part program.
Action blocks
Action blocks contain the actions accumulated during ”Block search with calculation”, such as
auxiliary function outputs, tool (T, D), spindle (S), feed programming.
During ”Block search with calculation” (contour or block end point), actions, such as the out-
put of M functions, are accumulated in so - called action blocks. These blocks are output with
”NC Start” after ”Searched block found”.
Note
With the action blocks, the accumulated spindle programming (S value, M3/M4/M5, SPOS) will also
become active. It must be guaranteed by the PLC user program that the tool can be operated and
the spindle programming is reset via the IS “Spindle reset“(V380x0002.2).
Supplementary condition
The approach movement ”Block search with calculation at the block end point” is carried out
using the interpolation type valid for the target block. Reasonably, it should be G0 or G1. With
other interpolation types, the approach movement can be aborted with alarm (e. g. circle end
point error with G2/G3).
Note
For further information on the function ”Block search”, please refer to:
References: “Operation and Programming“
Functionality
To test new programs, it is useful to lock or skip certain part program blocks for program ex-
ecution.
N10 ...
N20 ...
Block being N30 ...
processed Blocks
/N40 ... N40 and N50 are skip-
ped during the
/N50 ...
program execution
N60 ...
N70 ...
N80 ...
N90 M2
Selection/enabling
The skip function is selected on the user interface from the menu “Program control”. The se-
lection will set the IS ”Skip block” (V1700 0002.0). In addition, a slash ”/ ” must be put in front
of the block to be skipped (see Fig. 10 - 3). This will, however, not yet enable the function.
The activation of the function is carried out via the IS ”Enable block skip” (V3200 0002.0).
Display
As a check - back message of the activated function ”Skip block”, ”SKP” is displayed in the
status line of the user interface.
Function
A selected and opened program can be simulated graphically on the screen of the control
system in the AUTOMATIC mode. The motions of the programmed axes are recorded as bro-
ken - line graphics after actuating “NC Start”.
Selection/deselection
The graphical simulation is accessible for the program selected via the operating area “Pro-
gram”, “Load program” and using the “Simulation” softkey. At the same time, the IS “Simula-
tion active” (V1900 0000.6) is set and is reset again when quitting the operating area “Pro-
gram” or changing over to “Edit”.
Display
Various operating options are provided to show an entire workpiece or simply a magnified
section of the workpiece on the screen.
References: “Operation and Programming“
Note
In addition to the graphical simulation, the “Record” function is provided. This function can be
used to record the axes movements of a running program in the operating area “Position” - >
Softkey “Record” as a broken - line graphics on the screen. This function is available in AU-
TOMATIC mode. The display is carried out in the same way as with the graphical simulation.
References: “Operation and Programming“
Function
The function “Program runtime” provides timers that can be used for the monitoring of tech-
nological processes in the program or simply on the display.
These timers are read - only timers. There are timers that are always active; other timers are
activated via machine data.
Display
The contents of the timers is displayed on the screen in the operating area
“OFFSET/PARAM” - > Softkey “Setting data” - >PageDown (2nd page):
Run time = $AC_OPERATING_TIME
Cycle time = $AC_CYCLE_TIME
Cutting time = $AC_CUTTING_TIME
Setup time = $AN_SETUP_TIME
Power on time = $AN_POWERON_TIME
“Cycle time” is additionally displayed in AUTOMATIC mode in the operating area “Position” in
the Tips line.
References: “Operation and Programming“
Function
The function “Workpiece counter” provides counters which can be used to count workpieces.
These counters exist as channel - specific system variables with read/write access from the
program or operator panel (observe the protection level for writing).
The range of values is: 0 to 999 999 999.
Channel - specific machine data MD 27880: PART_COUNTER and
MD 27882: PART_COUNTER_MCODE can be used to control the counter activation, the
time of resetting to zero and the counting algorithm.
Counters
Number of the required workpieces ( workpiece setpoint number ):
$AC_REQUIRED_PARTS
This counter can be used to define the number of workpieces at which the number of cur-
rent workpieces $AC_ACTUAL_PARTS is set to zero.
MD 27880: PART_COUNTER (bit 1) can be used to activate the generation of the display
alarm 21800 “ Workpiece setpoint number reached” and the output of the IS “Workpiece
setpoint number reached” (V330040002.1).
Total number of workpieces manufactured ( total actual number ):
$AC_TOTAL_PARTS
The counter indicates the number of all workpieces manufactured from the start time.
Number of current workpieces ( current actual number ):
$AC_ACTUAL_PARTS
This counter registers the number of all workpieces manufactured from the start time.
When the workpiece setpoint number is reached ( $AC_REQUIRED_PARTS ), the timer
is automatically set to zero ( provided that $AC_REQUIRED_PARTS is unequal to 0.).
Number of workpieces specified by the user:
$AC_SPECIAL_PARTS
This counter allows the user to carry out workpiece counting according to his own defini-
tion. An alarm output can be defined in case of identity with
$AC_REQUIRED_PARTS ( workpiece setpoint number ). The user must reset the counter
to zero by himself.
As the starting time, the first output of the M command for counting after setting the counter
to zero is used. This M command is set for the appropriate counter in MD 27880: PART_CO-
UNTER or
MD 27882: PART_COUNTER_MCODE.
Display
The contents of the counters is displayed on the screen in the operating area “OFFSET/PA-
RAM” - > softkey “Setting data” - >PageDown (2nd page):
Part total = $AC_TOTAL_PARTS
Part required = $AC_REQUIRED_PARTS
Part count = $AC_ACTUAL_PARTS
$AC_SPECIAL_PARTS not available on the display
“Part count” is additionally displayed in AUTOMATIC mode in the operating area “Position” in
the Tips line.
References: “Operation and Programming“
283 MM_CTM_SIMULATION_DEF_X
MD number Simulation of default value X
Default: 0 Min. input limit: - 10000 Max. input limit: 10000
Change valid: immediately Protection level: Unit: mm and/or inch
Data type: INTEGER Valid from SW release:
Meaning: This MD is used to define the size of the X coordinate of the display range. In ”Simula-
tion”, you will get to the default value set here after pressing the softkey TO ORIGIN.
Related to ... MD 284: MM_CTM_SIMULATION_DEF_Y
MD 285: MM_CTM_SIMULATION_DEF_VIS_AREA
284 MM_CTM_SIMULATION_DEF_Y
MD number Simulation of default value Z
Default: 0 Min. input limit: - 10000 Max. input limit: 10000
Change valid: immediately Protection level: Unit: mm and/or inch
Data type: INTEGER Valid from SW release:
Meaning: This MD defines the size of the 2nd coordinate (Y or Z) of the display range. In ”Simula-
tion”, you will get to the default value set here after pressing the softkey TO ORIGIN.
Related to ... MD 283: MM_CTM_SIMULATION_DEF_X
MD 285: MM_CTM_SIMULATION_DEF_VIS_AREA
285 MM_CTM_SIMULATION_DEF_VIS_AREA
MD number Simulation of default value for display range
Default: 100 Min. input limit: - 10000 Max. input limit: 10000
Change valid: immediately Protection level: Unit: mm and/or inch
Data type: INTEGER Valid from SW release:
Meaning: These machine data are used to define the size of the display range for the X coordinate.
The Z coordinate will be calculated from this value automatically.
Related to ... MD 283: MM_CTM_SIMULATION_DEF_X
MD 284: MM_CTM_SIMULATION_DEF_Z
286 MM_CTM_SIMULATION_MAX_X
MD number Simulation of max. display X
Default: 0 Min. input limit: - 10000 Max. input limit: 10000
Change valid: immediately Protection level: Unit: mm and/or inch
Data type: INTEGER Valid from SW release:
Meaning: This MD is used to define the size of the X coordinate of a second display range (e.g. in
case of larger workpieces).
In ”Simulation”, you will get to the default value set here after pressing the MAX softkey.
287 MM_CTM_SIMULATION_MAX_Y
MD number Simulation for max. display Z
Default: 0 Min. input limit: - 10000 Max. input limit: 10000
288 MM_CTM_SIMULATION_MAX_VIS_AREA
MD number Simulation for max. display range
Default: 1000 Min. input limit: - 10000 Max. input limit: 10000
Change valid: immediately Protection level: Unit: mm and/or inch
Data type: INTEGER Valid from SW release:
Meaning: This MD is used to define the second display range for the X coordinate. The Z coordi-
nate will be calculated from this value automatically.
Related to ... MD 286: MM_CTM_SIMULATION_MAX_X
MD 287: MM_CTM_SIMULATION_MAX_Y
289 MM_CTM_SIMULATION_TIME_NEW_POS
MD number Simulation for actual - value updating rate
Default: 100 Min. input limit: 0 Max. input limit: 4000
Change valid: immediately Protection level: Unit: ms
Data type: WORD Valid from SW release:
Meaning: This MD is used to define in which intervals the simulation graphics is visualized for the
current processing on the machine tool.
Value = 0 means ’no updating’.
290 MM_CTM_POS_COORDINATE_SYSTEM
MD number Position of the coordinate system
Default: 2 Min. input limit: 0 Max. input limit: 7
Change valid: immediately Protection level: Unit: -
Data type: BYTE Valid from SW release:
Meaning: The position of the coordinate system can be changed as follows:
+X +X
0 1
+Z +Z
+Z +Z
2 3
+X +X
+Z +Z
4 5
+X +X
+X +
X
6 7
+Z +Z
291 MM_CTM_CROSS_AX_DIAMETER_ON
MD number Diameter display for transverse axes active
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid: immediately Protection level: Unit: -
Data type: BYTE Valid from SW release:
Meaning: 0: Inputs for absolute values as a radius value.
Zero point offsets always in radius,
tool lengths always in radius,
tool wear always in radius
292 MM_CTM_G91_DIAMETER_ON
MD number Incremental infeed
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid: immediately Protection level: Unit: -
Data type: BYTE Valid from SW release:
Meaning: 0: Input in radius
1: Input in diameter
21000 CIRCLE_ERROR_CONST
MD number Circle end point monitoring constant
Default: 0.01 Min. input limit: 0.0 Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: mm
Data type: DOUBLE Valid from SW release:
Meaning: This machine data describes the admissible absolute circle difference.
With circle programming, the radius from the programmed center point to the start point or to
the end point are usually not equal (the circle is ”overdetermined”). The max. permissible
difference of these two radii accepted without an alarm is determined by the greater value in
the following data:
- MD: CIRCLE_ERROR_CONST
- Start radius multiplied with 0.001
This means that the tolerance for small circles is a fixed value (MD: CIRCLE_ER-
ROR_CONST) and for large circles, it is proportional to the start radius.
Application example MD 21000: CIRCLE_ERROR_CONST = 0.01 mm
With this MD value and a radius of 10 mm, the constant will apply, and with > 10 mm, the
proportional factor will apply.
27860 PROCESSTIMER_MODE
MD number Enable program runtime measurement
Default: 0x7 Min. input limit: 0 Max. input limit: 0x3F (HEX)
Change valid after RESET Protection level: 2/7 Unit: -
Data type: BYTE Valid from SW release:
Meaning: This machine data can be used to enable/disable the channel - specific timers.
Meaning:
Bit 0 = 0 No measurement of the overall runtime for all part programs
Bit 0 = 1 The measurement of the overall runtime for all part programs
is active ( $AC_OPERATING_TIME )
Bit 1 = 0 No measurement of the current program runtime
Bit 1 = 1 The measurement of the current program runtime is active
( $AC_CYCLE_TIME )
Bit 2 = 0 No measurement of the tool cutting time
Bit 2 = 1 The measurement of the tool cutting time is active
( $AC_CUTTING_TIME )
Bit 3 Reserved
27880 PART_COUNTER
MD number Enable workpiece counters
Default: 0x0 Min. input limit: 0x0 Max. input limit: 0x0FFFF
Change valid after RESET Protection level: 2/7 Unit: -
Data type: DWORD Valid from SW release:
Meaning: This machine date can be used to set the workpiece counters.
Meaning of the individual bits:
Bit 0 - 3: Enable $AC_REQUIRED_PARTS
----------------------------------------------
Bit 0 = 1: Counter $AC_REQUIRED_PARTS is active
Further meaning: Bits 1 - 3 only if bit 0 =1:
Bit 0=1: Alarm/IS output if $AC_ACTUAL_PARTS corresponds
to $AC_REQUIRED_PARTS
Bit 1 = 1: Alarm/IS output if $AC_SPECIAL_PARTS corresponds
to $AC_REQUIRED_PARTS
Bits 2, 3 Reserved
42000 THREAD_START_ANGLE
SD number Start angle for thread G33
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: degrees
Data type: DOUBLE Valid from SW release:
Meaning: This setting data can be used to set the offset of the individual turns for multiple threads.
This SD can be modified from the part program using the command SF=... . If SF=... is pro-
grammed in the G33 block of the part program, the setting data will be active.
Further references ”Operation and Programming”
42100 DRY_RUN_FEED
SD number Dry run feed
Default: 5000 Min. input limit: 0 Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit: mm/min
Data type: DOUBLE Valid from SW release:
Meaning: To test a part program with reference to the distance to be traversed (without a workpiece to
be machined), the operator can enable the function ”Dry run feed” from the operator interface
(softkey ”Program control”). The value of this setting data will then be accepeted instead of the
programmed feed value. Feed override values will not be modified.
The dry run feed value can be entered in the Setting Data menu.
The function is only active in the modes AUTOMATIC and MDA.
SD inapplicable to ...... dry run feed function not enabled
Application example(s) Check of distances to be traversed with new part programs
Special cases, errors, ... The function may not be enabled if a workpiece is to be machined. Due to the fact that dry run
feed is enabled, the max. cutting speed of the tool could be exceeded. This may destroy the
workpiece and the tool.
T M
Reading to clipboard
Block executed
Signal ”Read - in disable“
Data transfer
Contents of interpolator
Output of auxiliary function
Data transfer to interpolator
Read - in disable for tool change
Polling point of read - in disable
Cancel ”Read - in disable”
Related to .... IS ”Program status: Running”
MDA mode: The entered part program block are enabled for execution or continued.
Signal state 0 or edge No effect
change 1 - - > 0
Related to .... IS ”NC Start inhibited”
IS ”NC-Stop”
IS ”NC-Start”
Program run-
ning
Axis run-
ning
Block executed
Special cases, errors, .... The signal ”NC Stop” must be provided at least one PLC cycle time.
Press “NC Start” to continue the program from the interruption position.
The signal ”NC Stop Axes plus spindles” must be provided at least one PLC cycle time.
Program running
Axis running
Spindle running
Block executed
Related to .... IS ”NC STOP at block border”
IS ”NC STOP”
IS ”Program status: Stopped”
IS ”Channel status: Interrupted”
Block executed
NC block with M0 M0
M change signal
(1 PLC cycle time)
IS ”M0/M1 active”
IS ”NC Start”
Related to .... IS ”Enable M01” )
IS ”M01 selected”
Data transfer to
the user memory
Block executed
NC block with M2
M2
M change signal
(1 PLC cycle time)
IS ”M2/M30 active“
Application example(s) The PLC can use this signal to detect the end of program execution and react accordingly.
Special cases, errors, .... - The functions M2 and M30 have the same effect. It is recommended to use only M2.
- The IS ”M2/M30 active” is present at the end of the program statically.
- Not intended for automatic follow - up functions, such as workpiece counting, bar feed, etc.
For these functions, M2 must be programmed in a separate block, and either the word M2
or the decoded M signal must be used.
- The last block of a program may not contain any auxiliary functions that will result in Read -
In disable.
Channel signals
notice
Functionality
The feedrate F is the tool path velocity of the tool along the programmed workpiece con-
tour. The individual axis velocities result from the portion of the axis path in the total distance
to be traversed along the contour.
The feed F is active for the interpolation types G1, G2, G3, CIP,CT and remains stored in a
program until a new F word is programmed.
References: “Operation and Programming”
Interface signals
With revolutional feed active, the IS “Revolutional feed active” (V33000001.2) is set.
If the G96 function is enabled, the IS “Constant cutting rate active” (V390x 2002.0) is set for
the spindle.
Alarms
If no F word is programmed with G1, G2, G3, ... , alarm 10860 is output. No axis move-
ment can be carried out. However, note SD 42110: DEFAULT_FEED.
If F0 is programmed, alarm 14800 is output.
If the spindle has stopped with G95 active, no axis movement can be carried out. No
alarm is output.
Notes
With the “Dry run feed” function enabled and the program started, the feedrates program-
med in conjunction with G1, G2, G3, CIP and CT are replaced by the feedrate value defi-
ned in
SD 42100: DRY_RUN_FEED.
References: Section 10.4.4 “Program execution with dry run feed”
The velocity of the traversing movement of an axis in JOG mode is defined by machine
data/setting data. For a detailed description of the velocities including possible rapid tra-
verse override, please refer to:
References: Chapter 9 “Manual Traversing and Handwheel Traversing”
Information
The spindle override switch should remain unchanged when machining a thread.
The feed override switch has no meaning in a block that contains G33.
Feed F
With G63, a feedrate F must be programmed. It must match with the selected spindle speed
S (programmed or set) and with the thread lead of the tap:
Feed F[mm/min] = speed S [rpm] x thread lead [mm/rev.]
The compensating chuck compensates any path differences of the tap axis to a certain de-
gree.
References: “Operation and Programming”
11.1.3 Feed with G331, G332 (rigid tapping = tapping without compensating
chuck)
Axis velocity
For G331/G332 - tapping - , the axis velocity for the thread length results from the active
spindle speed S and the programmed thread lead. The limit frequency defined in
MD 32000: MAX_AX_VELO, however, cannot be exceeded.
The feed F will not apply here. It remains, however, stored.
References: “Operation and Programming”
Interface signal
With the G331/G332 function active, the IS “Rigid tapping active” (V390x 2002.3) is set for
the spindle.
Note
It is only possible to work without a compensating chuck if spindle and axis involved have
been matched another to one exactly. With G331/G332, parameter record n (0...5) of the axis
will automatically come into effect which is also active for the current gear stage of the
spindle (M40, M41 to M45 - see also Chapter 5 “Spindle”). As a rule, the axis of the more
inert spindle will also be matched accordingly.
Application
The rapid traverse movement G0 is used for quick positioning of the tool, not for direct work-
piece machining.
All axes can be traversed simultaneously. This results in a straight contour.
The maximum velocity (rapid traverse) is defined in the machine data
(MD 32000:MAX_AX_VELO ). If only one axis traverses, it will traverse at its rapid traverse.
If, for example, two path axes are traversed at the same time, the tool path velocity (resulting
velocity) is selected such that the largest tool path velocity results taking into account both
axes.
For example, if two axes have maximum velocity and have also to be traversed the same
distance, the tool path velocity will be 1.41 * max. axis velocity (geometrical total of the two
axis components).
The feedrate F will not apply with G0. It remains, however, stored.
11.3.1 Overview
G94
Maximum
*
Spindle override
* from machine PLC
control panel
G94 G95
*
100%
Feed override
from machine control
* PLC
panel 0 - xxx %
IS: Feed override active
IS: Feed override active
IS: Override active
Tool path velocity
General
”Feed disable“ and “Feed/spindle stop” will stop the axes. The path contour will be observed
(exception: G33 block).
Feed disable
The channel - specific interface signal ”Feed disable” (V3200 0006.0) will stop all axes (geo-
metry and additional axes) in all operating modes.
This feed disable is not active with active G33, but it will be active for G63, G331, G332.
Spindle Stop
The interface signal ”Spindle Stop” (V380x0004.3) is used to stop the spindle.
“Spindle Stop“ is active with G33, G63 (but: In this case, contour deviations result = thread
errors!).
General
The operator can use the feed override switch to reduce or increase the traversed feedrate
relatively to the programmed feedrate as a percentage directly on site. The feedrates will be
multiplied with the override values.
The override possible for the feedrate is between 0 and 120%.
The rapid traverse override switch is used to run traversing programs more slowly when te-
sting part programs.
The rapid traverse possible for the feedrate is between 0 and 100%.
The spindle override can be used to modify the spindle speed and the cutting rate (with G96).
The override possible is between 50 and 120%.
A modification is carried out with compliance of the machine - specific acceleration and velo-
city limits and without contour error.
The overrides will apply to the programmed values before the limitations (e. g. G26) come
into effect.
Spindle override
For each spindle, one enable signal and one byte each are provided for the PLC interface
spindle override factor in per cent.
IS ”Spindle override” (VB380x 0000)
IS ”Feed override active” (V380x 0000.7)
Another IS “Feed override valid for spindle” (V380x 2001.0) is provided for the PLC user pro-
gram to specify that the value of the IS “Feed override” (VB380x 0000) will apply.
The spindle override is active with G33, but should not be actuated for reasons of accuracy;
is also active with G331, G332. With G63, the spindle override is fixed to 100 %.
Override enabled
The set override values are active in all modes and for all machine functions, provided that
the IS ”Rapid traverse override active”, ”Feed override active” or ”Override active” are set.
An override value of 0% will have the same effect as feed disable.
Override disabled
If the override is disabled (above interface signals are set to ”0”), override factor ”1” will be
used internally in the NC, i.e. the override will be 100%.
Note:
A special characteristic for this value is the 1st switch position of the Gray - coded interfaces.
Even if the IS “Rapid traverse override active”, “Feed override active” and “Override active”,
the override factor of the 1st switch position will be used and 0 % will thus be output as the
override value for the axes (has the same effect as “Feed disable”). Override value 50 % will
apply to the spindle if the IS “Override active” is not set.
42110 DEFAULT_FEED
SD number Default value for feedrate
Default: 0.0 Min. input limit: 0.= Max. input limit: ***
Change valid: immediately Protection level: 7/7 Unit:
mm/min, mm/rev.
Data type: DOUBLE Valid from SW release:
Meaning: The setting data is evaluated at part program start, taking into account the feedrate type of the
default setting after turning on.
Default settings when turning on:
Turning: G95 - feedrate in mm/rev. of spindle
Milling: G94 - feedrate in mm/min
If no F word is programmed for the appropriate feedrate type with G1, G2, G2, ... and the SD
value is not zero, the feedrate from this SD will be used. Otherwise, an alarm is output with a
notice that the feedrate is missing.
SD inapplicable to ...... Turning: G94 programmed
Milling: G95 programmed
Related to ....
1 00001 0.0
2 00011 0.01
3 00010 0.02
4 00110 0.04
5 00111 0.06
6 00101 0.08
7 00100 0.10
8 01100 0.20
9 01101 0.30
10 01111 0.40
11 01110 0.50
12 01010 0.60
13 01011 0.70
14 01001 0.75
15 01000 0.80
16 11000 0.85
17 11001 0.90
18 11011 0.95
19 11010 1.00
20 11110 1.00
21 11111 1.00
22 11101 1.00
23 11100 1.00
24 10100 1.00
25 10101 1.00
26 10111 1.00
27 10110 1.00
28 10010 1.00
29 10011 1.00
30 10001 1.00
31 10000 1.00
Related to .... IS ”Rapid traverse override active”
V3200 1000.3
and Feed Stop Geo axes (axes in WCS)
V3200 1008.3
Interface signal Signal(s) to channel (PLC → NCK)
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge The signal is only active in JOG mode (traversing the axes in the WCS).
change 0 --->1 Signal results in Feed Stop of the corresponding axis. For a traversing axis, this signal
results in a controlled deceleration up to standstill (ramp stop). No alarm message is
provided in this case.
The position control remains stored, i.e. the following error will be reduced.
If for an axis for which ”Feed Stop” is provided, a traversing request is provided, this will
remain. This traversing request will be carried out directly at the moment when ”Feed
Stop” is canceled.
Signal state 0 or edge The feed for the axis is enabled.
change 1 --->0 If a traversing request (”traversing command”) is provided for the axis when ”Feed Stop”
is canceled, this will be carried out directly.
Signals to axis/spindle
1 00001 0.0
2 00011 0.01
3 00010 0.02
4 00110 0.04
5 00111 0.06
6 00101 0.08
7 00100 0.10
8 01100 0.20
9 01101 0.30
10 01111 0.40
11 01110 0.50
12 01010 0.60
13 01011 0.70
14 01001 0.75
15 01000 0.80
16 11000 0.85
17 11001 0.90
18 11011 0.95
19 11010 1.00
20 11110 1.05
21 11111 1.10
22 11101 1.15
23 11100 1.20
24 10100 1.20
25 10101 1.20
26 10111 1.20
27 10110 1.20
28 10010 1.20
29 10011 1.20
30 10001 1.20
31 10000 1.20
Table 11-3 Gray coding for the axis - specific feed override
1 00001 0.5
2 00011 0.55
3 00010 0.60
4 00110 0.65
5 00111 0.70
6 00101 0.75
7 00100 0.80
8 01100 0.85
9 01101 0.90
10 01111 0.95
11 01110 1.00
12 01010 1.05
13 01011 1.10
14 01001 1.15
15 01000 1.20
16 11000 1.20
17 11001 1.20
18 11011 1.20
19 11010 1.20
20 11110 1.20
21 11111 1.20
22 11101 1.20
23 11100 1.20
24 10100 1.20
25 10101 1.20
26 10111 1.20
27 10110 1.20
28 10010 1.20
29 10011 1.20
30 10001 1.20
31 10000 1.20
V380x 2001.0 Feed override active for spindle (instead of spindle override)
Interface signal Signal(s) from axis/spindle ( PLC ->NCK )
Edge evaluation: yes Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 or edge Instead of the spindle override value, the feed override value (VB38030000) will be used for
change 0 ---> 1 the spindle.
Signal state 0 or edge The spindle override value will be used.
change 1 ---> 0
Related to .... IS ”Spindle override” (VB380x 2003)
IS ”Feed override” (VB380x 0000)
IS ”Override active” (V380x 0001.7)
12.2 General
Interpolating machine axes must have the same dynamic behavior, i.e. the same following
error must occur at a the same velocity.
Path axes are all machining axes that are controlled by an interpolator that determines the
path points so that
all involved axes will start at the same time;
each involved axis will traverse at the correct velocity ratio;
all axes will reach the programmed target position at the same time.
The accelerations of the individual axes may be different depending on the path to be traversed,
such as a circle.
Path axes may be geometry axes or supplementary axes (e.g. workpiece rotary axes involved in the
workpiece machining).
This means:
that the path axes at the block end point come nearly to a standstill without overshooting.
the machining time is exceeded due to the waiting time to achieve the exact stop criterion.
relief cutting may occur due to the waiting time to achieve the exact stop criterion.
The exact stop function is suited for exact traversing along contours.
the exact curve within the framework of a criterion (e.g. exact stop fine) may deviate from the
programmed criterion to make the machining faster.
absolute velocity tolerance is required.
Set value
Exact stop coarse > Exact stop fine
t1 t
Interpolator end
The interpolator end is reached when the interpolator has calculated the setpoint velocity of
the axes to the amount of zero for one interpolation clock pulse. However, the actual positions
of the path axes have not reached the target (following error).
The auxiliary functions contained in the block are transferred to the PLC with interpolator end,
irrespective of the continuous path mode and/or the active exact stop criterion of the exact
stop function, provided that these auxiliary functions are output after end of motion.
12.4.1 General
In the continuous path mode, the path velocity is not decelerated for block change at the end
of block to a velocity which allows to reach the exact stop criterion. The objective is to avoid a
major braking of the path axes at the block change point in order to switch over to the next
block at the same tool path velocity if possible. In order to achieve this objective, the LookA-
head function is activated in addition to the selection of the continuous path mode (G64) (refer
to Section 12.5).
The continuous path mode causes :
a rounding of the contour.
shorter processing times due to missing braking and acceleration procedures, which are
required for reaching the exact stop criterion.
better cutting conditions due to the more uniform velocity characteristic.
Continuous path mode is useful if a contour is to be traversed rapidly.
Continuous path mode is not useful if:
a contour is to be traversed exactly.
an absolute constant velocity is required.
Function
This function reduces the traversing rate in continuous path mode such that the non-tangen-
tial block transition can be overrun in one interpolator clock pulse, keeping the acceleration
limit and taking into account the overload factor. The velocity reduction causes sudden axis-
specific velocity changes if the contour characteristic at the block end is not tangential. The
synchronous axes involved in traversing will also be involved in these sudden velocity chan-
ges. The sudden velocity change avoids a reduction of the traversing rate to zero. The sudden
velocity change is carried out if the axial velocity with the axis acceleration has been reduced
to a velocity from which the new setpoint value can be reached by the sudden velocity
change. The amount of the sudden change of the setpoint can be limited using the overload
factor criterion. Since the amount of the sudden change is axis-related, the smallest amount
of the sudden change is taken into account at the block transition of the path axes active du-
ring block change. In case of an almost tangential block transition, the path velocity is not re-
duced, if the admissible axes accelerations are not exceeded. This allows to overrun very
small bends in the contour.
Overload factor
The overload factor limits the sudden velocity change (further referred to as ’velocity jump’) of
the machine axis at the block transition. To make sure that the velocity jump does not exceed
the axis load, the jump is deduced from the acceleration of the axis. The overload factor speci-
fies by what amount the acceleration of the machine axis can be exceeded for an IPO clock
pulse, which is stored in MD 32300: MAX_AX_ACCEL (axis acceleration). The velocity stroke
is the product of the axis acceleration * (overload factor -1) * interpolator clock pulse. The
overload factor is 1.2.
Factor 1.0 means that only tangential transitions can be overrun at an endless velocity. In the
case of any other transitions, the velocity will be reduced to zero due to the setpoint settings.
Note
This function is not available with the 802D base line.
Introduction
The jerk limitation on the path is another method for controling the continuous path mode.
Whereas ”Velocity reduction according to overload factor” (see Section 12.4.2) limits the
change in the velocity, the ”Jerk limitation on the path” as described here limits acceleration
jumps (jerks).
In contour elements consisting of partial pieces (e.g. circle - straight line transitions), accele-
ration jumps occur at the block transition in continuous path mode.
References: Section ”Acceleration”.
Jerk reduction
Jerks can be reduced by reducing the tool path velocity at block transitions with path elements
having various bends of different kind. A smoother transition is achieved between the contour
elements.
Jerk limit
The user defines the maximum jerk using MD 32432: PATH_TRANS_JERK_LIM (maximum
axis-specific jerk of a path axis at the block transition), which is allowed to occur in a path
axis at block transition.
Enabling
The jerk limitation at block transitions becomes active if continuous path mode with G64 and
acceleration behavior SOFT are programmed. MD 32432: PATH_TRANS_JERK_LIM must
have a positive value.
Note
This function is not available with the 802D base line.
Function
The axis-specific machine data MD 32431: MAX_AX_JERK[..] can be used to set the accele-
ration change for each machine axis separately, as it is already done for the acceleration limi-
tation using machine data MD 32300: MAX_AX_ACCEL[..]. MD 32431: MAX_AX_JERK[..] is
active for the axes interpolated by the path and for which SOFT (jerk-free acceleration curve)
is active within the block.
Generally, a distinction is made between the axis acceleration curve within a block and at the
transition between two blocks.
Advantages
To use axis-specific machine data for the path has the following advantages:
The dynamic properties of the axes are directly taken into account by interpolation and can
be utilized completely for each indiividual axis.
The limitation of the jerk per axis is kept not only in linear blocks, but also in curved con-
tours.
References: Section ”Acceleration”.
12.5 LookAhead
Function
LookAhead is a procedure in continuous path mode (G64), which can pre-emptively deter-
mine the velocity control beyond the current block for several NC part program blocks.
Without LookAhead: If the programmed blocks contained only very small distances to be tra-
versed, a velocity was reached per block which allowed braking of the axes at the block end
point, observing the acceleration limits. This meant that the programmed velocity was not re-
ached at all, although a sufficient number of prepared blocks with almost tangential path
transitions was present.
With LookAhead function: It is possible to carry out the acceleration and deceleration phases
over several blocks with almost tangential block transitions and thus to obtain a higher fee-
drate for small distances. In this way, there is a pre-emptive braking with regard to the velocity
limitations, so that a violation of the acceleration and velocity limits is avoided.
Feed
G64 continuous path mode with Look Ahead
Programmed feed F
F1
Fig. 12-2 Comparison of the velocity behavior G60 and G64 with short paths in the blocks
Method of operation
The LookAhead functionality is only available for the path axes and not for the spindle.
For safety reasons, the velocity at the block end of each block prepared is first deemed to be
zero, since the following block or an exact stop block could be very small and the axes are to
have reached standstill at the block end point. In a sequence of blocks with a high setpoint
velocity and very short path distances, the velocity in the individual blocks can be increased
depending on the current predicted velocity value, in order to reach the required setpoint velo-
city, and can then be reduced again, to allow the velocity at the block end point of the last pre-
dicted following block to become zero. In this way, you will get a saw-tooth velocity profile,
which can be avoided by reducing the setpoint velocity in the predicted block number (firmly
preset).
Velocity profiles
Apart from the firmly foreseeable velocity limitations, LookAhead can also include the pro-
grammed velocity. This allows to pre-emptively attain the smaller velocity beyond the current
block.
29000 LOOKAH_NUM_CHECKED_BLOCKS
MD number Number of LookAhead blocks
Default: 35 Min. input limit: *** Max. input limit: ***
Change valid after NEW_CONF Protection level: 1/7 Unit: -
Data type: DWORD Valid from SW release:
Meaning: Max. number of blocks used with LookAhead for pre-emptive velocity control
Related to ....
32432** PATH_TRANS_JERK_LIM
MD number Max. axis-specific jerk with path movement at the block transition
Default: 1000.00 m/s3 Min. input limit: 0.0 Max. input limit: ***
2777.77 rev./s3
Change valid after NEW_CONF Protection level: 3/3 Unit: m/s3, rev./s 3
Data type: DOUBLE Valid from SW release:
Meaning: The control system will limit the jerk (acceleration jump) at the block transition from discontinuously
curved contour elements to the preset value.
MD inapplicable ...... Exact stop
Application example(s)
Related to .... Continuous path mode, acceleration type SOFT
MD 32431: MAX_AX_JERK (max. axis-specific jerk with path movement)
It is recommended to set both MDs to the same value.
** This machine data is not available with the 802D base line.
** This machine data is not available with the 802D base line.
Auxiliary functions
In addition to axis positions and interpolation types, technological functions (feed, spindle
speed, gear step) and functions to control any additional facilities on the machine tool (sleeve
forward, open gripper, clamp chuck) can be specified for the machining of workpieces in the
part program. To this aim, auxiliary functions are provided.
Auxiliary functions are divided into:
Miscellaneous function M
Spindle function S
Auxiliary function H
Tool number T
Tool offset D
Feed F (With SINUMERIK 802D, F is not output to the PLC.)
Max. 10 auxiliary functions may be programmed in a block. If the specified ranges or values
for address extension are exceeded or a wrong data type is taken into account, alarm 14770
”Auxiliary functions incorrectly programmed” is output. The following Table shows some pro-
gramming examples for H functions.
If the permissible number of auxiliary functions per block is exceeded, alarm 12010 is output.
Block change
The NCK can carry out a new auxiliary function output to the PLC only after the PLC has ack-
nowledged all auxiliary functions transferred.
A block is only considered completed if the programmed movement has been completed and
the auxiliary function has been acknowledged. To this aim, the NCK stops the execution of the
part program (if necessary) to ensure that no auxiliary functions get lost from the view of the
PLC user program.
Transfer time
Auxiliary functions output at the end of the block (e.g. M2) are only output if all axes and
SPÜS movements of the spindle are completed.
If several auxiliary functions with different output types (prior to, during, at the end of the mo-
vement) are programmed in a block that contains movements, the individual auxiliary func-
tions are output depending on their particular output type.
In a block without traversing movements, the auxiliary functions are output immediately as a
block.
Interface signals
Provision of the signals from the NCK to the PLC: see Section 13.8 “Signal descriptions”
Functionality
The auxiliary functions of the M, H, D, T and S types, which are to be output, can be divided
into auxiliary function groups using machine data.
One auxiliary function may be assigned only one group.
Only one auxiliary function may be programmed per group. Otherwise, alarm 14760 is output.
Configuration
A max. of 64 auxiliary function groups can be defined.
These 64 auxiliary functions groups can be assigned max. 64 auxiliary functions. The auxiliary
functions that are assigned default values (groups 1 to 3) will not be taken into account.
The actual number of auxiliary functions, which have been distributed over the groups, are
entered in the NCK-specific MD 11100: AUXFU_MAXNUM_GROUP_ASSIGN (number of
auxiliary functions distributed over the AUXFUNC groups). To this aim, level 2 password must
be set. Then the control system must be turned off and turned on again (POWER ON). Only
now the following machine data with index n greater than zero are available, and further va-
lues can be entered.
An auxiliary function assigned is defined in the following machine data:
MD 22000: AUXFU_ASSIGN_GROUP[n] Auxiliary function group
MD 22010: AUXFU_ASSIGN_TYPE[n] Auxiliary function type
MD 22020: AUXFU_ASSIGN_EXTENSION[n] Auxiliary function extension
MD 22030: AUXFU_ASSIGN_VALUE[n] Auxiliary function value
User-defined groups
All further groups (user-defined) are output with the movement.
The output settings can only be modified with Expert mode access (protection level 1).
Configuration sample
Distribute 8 auxiliary functions over 7 groups:
Group 1: M0, M1, M2 (M17, M30) - by default, should be kept
Group 2: M3, M4, M5 (M70) - by default, should be kept
Group 3: S functions - by default, should be kept
Group 4: M78, M79
Group 5: M80, M81
Group 6: H1=10, H1=11 H1=12
Group 7: all T functions
The password for protection level 2 is set. Make the appropriate entry in MD 11100:
AUXFU_MAXNUM_GROUP_ASSIGN = 8. Then turn off the control system and turn it on
again or use the appropriate softkey to power up the control and program the remaining ma-
chine data; then reboot the control system.
Table 13-3 Entries in the machine data for the sample above
13.6.1 M function
Application
The M functions can be used to enable most varied switching operations on the machine via
part program.
Scope of functions
A number of 5 M functions is possible per part program block.
Range of values of M functions: 0 to 99; integer
A minor part of M functions is assigned a fixed functionality defined by the control manu-
facturer (see User’s Guide “Operation and Programming”). The remaining functions are
free for use by the machine manufacturer.
13.6.2 T function
Application
The T function can be used by the PLC to load the tool required for a certain section of the
machining program. Whether a tool change is to be carried out directly using the T command
or using a following M6 command can be set using MD 22550: TOOL_CHANGE_MODE..
The programmed T function can be interpreted either as a tool number or as a location num-
ber.
References: Section ”Tool compensation“
Scope of functions
A maximum of 1 T function is possible per part program block.
Special feature
T0 is reserved for the following function: Remove current tool from the tool holder and do not
change a new tool.
13.6.3 D function
The D function can be used to select the tool compensation for the active tool. The tool com-
pensations are described in detail:
References: ”Operation and Programming“
13.6.4 H function
Application
The H functions can be used to transfer various values from the part program to the PLC. The
assignment of the functions is left up to the user.
Scope of functions
3 H functions are possible per part program block.
Range of values of the H functions: Floating point data (such as arithmetic parameters R)
Adreßerweiterung 0 bis 99 (H0=... bis H99=...) möglich
13.6.5 S function
The S function is used to set the speed for the spindle with M3 or M4. For lathes with G96
(constant cutting rate), the cutting value is set.
References: ”Operation and Programming“
11100 AUXFU_MAXNUM_GROUP_ASSIGN
MD number Number of auxiliary functions distributed over the AUXFUNC groups
Default: 1 Min. input limit: 1 Max. input limit: 64
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: The number of auxiliary functions, which have been distributed over the groups, are to be
entered in the MD. Only the customer-specific auxiliary functions are taken into account,
not the predefined auxiliary functions.
Application example(s)
Related to .... MD 22010: AUXFU_ASSIGN_TYPE[n]
22000 AUXFU_ASSIGN_GROUP[n]
MD number Auxiliary function group [ aux. fu. no. in channel ]: 0...63
Default: 1 Min. input limit: 1 Max. input limit: 64
Change valid after Power On Protection level: 2/7 Unit: -
Data type: BYTE Valid from SW release:
Meaning: see MD: AUXFU_ASSIGN_TYPE [n] (auxiliary function type)
Application example(s)
22010 AUXFU_ASSIGN_TYPE[n]
MD number Auxiliary function type [aux. fu. no. in channel]: 0...63
Default: - Min. input limit: - Max. input limit: 1 character
Change valid after Power On Protection level: 2/7 Unit: -
Data type: STRING Valid from SW release:
Meaning: This MD (auxiliary function type), MD 22020: AUXFU_ASSIGN_EXTENSION[n] (auxiliary
function extension), MD 22030: AUXFU_ASSIGN_VALUE[n] (auxiliary function value) and
MD 22000: AUXFU_ASSIGN_GROUP[n] (auxiliary function group) are used to assign an
auxiliary function type (M, H, T, D, S) the appropriate extension and to assign the auxiliary
function value an auxiliary function group.
Example: M 0 = 99 => group 5 (corr. to M100)
M00, M01, M02, (M17 and M30) are assigned to group 1 by default. M3, M4, M5 and are
assigned to group 2 by default.
Index [n] of the machine data always designates the auxiliary function number in the chan-
nel: 0-63.
All auxiliary functions assigned to auxiliary function groups must be numbered in the ascen-
ding order.
[0]⇒1st auxiliary function
[1]⇒ 2nd ,,
...
All machine data required for assigning an auxiliary function to an auxiliary function group
must have the same index [ n].
Application example(s) see Section 13.4
Special cases, errors, ...... If the auxiliary function value of an auxiliary function is less than 0, all auxiliary functions of this
type and extension are assigned to a group.
Related to .... MD 11100: AUXFU_MAXNUM_GROUP_ASSIGN
22020 AUXFU_ASSIGN_EXTENSION[n]
MD number Auxiliary function extension [Aux. fu. in channel]: 0...63
Default: 0 Min. input limit: 0 Max. input limit: 99
Change valid after Power On Protection level: 2/7 Unit: -
Data type: BYTE Valid from SW release:
Meaning: See MD 22010: AUXFU_ASSIGN_TYPE [n] (auxiliary function type)
Application example(s)
22030 AUXFU_ASSIGN_VALUE[n]
MD number Auxiliary function value [Aux. fu. in channel]: 0...63
Default: 0 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/7 Unit: -
Data type: DWORD Valid from SW release:
Meaning: If the value in this MD is less than 0, all auxiliary functions of this type and of this address exten-
sion are assigned to this group.
further see MD 22010: AUXFU_ASSIGN_TYPE[n] (auxiliary function type)
Application example(s) see Section 13.4
VB2500 1000 to
VB2500 1012 Decoded M signals: M0 - M99
Interface signal Signal(s) from channel (NCK - -> PLC) Synchronous actions (S5)|Signals
Edge evaluation: no Signal(s) updated: cyclically Signal(s) valid from SW release:
Signal state 1 The dynamic M signal bits are set using decoded M functions.
Signal state 0 In case of a general auxiliary function output, the dynamic M signal bits are acknowledged by
the PLC system program after the user program has been passed completely.
Application example(s) Spindle CW/CCW rotation, coolant ON/OFF.
Related to ... IS “M function for spindle (DINT), axis-specific” (VD370x 0000)
notice
Characteristics
With the SINUMERIK 802D control system, tool compensation data can be taken into account
for various tool types (drill, milling tool, turning tool, ...).
Length compensation
Radius compensation
Storage of the tool compensation data in the tool offset memory
- Tool identification by T numbers from 0 to 32000
- Definition of a tool with a maximum of 9 cutting edges (compensation data blocks)
using a T number
- Cutting edge is described by tool parameters:
- Tool type
- Geometry: Length Wear: Length
- Geometry: Radius Wear: Radius
- Cutting edge position (with turning tools)
Tool change can be selected: either immediately using a T command or using M6
Tool radius compensation
- The compensation is active for all interpolation types: Linear and circular
- The compensation can be selected on external corners: Transition circle (G450) or
intersection point of the equidistants (G451)
- Automatic detection of outer/inner corners
Detailed description:
References: ”Operation and Programming“
14.2 Tool
Selecting a tool
The T function is used to select a tool in the program. Whether the new tool is loaded imme-
diately using the T function or using M6, depends on the setting in MD 22550:
TOOL_CHANGE_MODE (new tool compensation with M function).
Note
This function is not available with the 802D base line.
General
The tool monitoring is activated via the following machine data - provided that the required
option exists:
MD 18080: MM_TOOL_MANAGEMENT_MASK - bit 1 =1
MD 20310: TOOL_MANAGEMENT_MASK - bit 1 =1
The “Tool monitoring” function does not require an active tool management; with SINUMERIK
802D, it offers the following monitoring methods of the active cutting edge of the active tool:
Monitoring of the tool life
Monitoring of the workpiece count
All of the above mentioned monitoring functions can be activated for a tool simultaneously.
Monitoring counter
Monitoring counters have been implemented for each monitoring method. The monitoring co-
unters run from a set value > 0 towards zero. If a monitoring counter reaches the value <= 0,
the limit value is deemed to be reached; an appropriate alarm message is issued and an inter-
face signal is output.
First, another interface signal is output when a cutting edge of a tool has reached the prewar-
ning limit specified for this tool.
These system variables can be read / written in the NC program and be addressed via the
operation (HMI). Since the “Tool management” function package is not available with the
SINUMERIK 802D, it is the operator’s/programmer’s own responsibility to manage these sy-
stem parameters.
For the operation (HMI), see the following references: “Operation and Programming”
Interface signals
Some monitoring states are provided to the PLC/user:
“Tool prewarning limit reached“ (V5300 0000.0)
“Tool limit value reached“ (V5300 0000.1)
“T number for tool prewarning limit“ (VD5300 1000)
“T number for tool limit value“ (VD5300 1004)
The workpiece counter can be turned off from the PLC:
“Turn off workpiece counter“ (V3200 0013.5)
The tool life is monitored for the tool cutting edge currently in use (active cutting edge D of the
tool T currently active).
Once the path axes traverse (G1, G2. G3, ... but not with G0), the remaining tool life
($TC_MOP2[t,d] ) of this too cutting edge is updated. If during machining the remaining tool
life of a cutting tool is managed under the value of “Tool life prewarning limit"
($TC_MOP1[t,d] ), the IS “Tool prewarning limit reached” (V5300 0000.0) and the IS “T num-
ber for tool prewarning limit” are set (VD5300 1000).
If the remaining tool life <= 0 , an alarm is output, as well as the IS “Tool limit value reached“
(V5300 000.1) and “T number for tool limit value“ (VD5300 1004) are set. Following, the tool
will change to the “Disabled” status and can now no longer be reprogrammed until the “Disa-
bled” status is not canceled. Now, the operator must intervene and either replace the tool or
make sure that a tool is available for machining again.
INT mon optional: bit-coded parameter for monitoring type (values analogous to
$TC_TP9):
= 1: Life time
= 2: Count
without mon or = 0: All actual values of the monitoring functions enabled for tool t are
set to the setpoints.
Notes:
- RESETMON( ) is ineffective with the interface signal “Program test active” set.
- The variable for the status checkback message state must be defined at the beginning
of the program using a DEF statement:
DEF INT state
It is also possible to define a different name for the variable (instead of “state”, but at
least 15 characters, starting with 2 letters). The variable is only available in the program
where it was defined.
This also applies to mon. If a specification is required here at all, this can also be trans-
ferred directly as a number (1 or 2).
The active cutting edge of the tool currently active is monitored for the workpiece count.
The monitoring of the workpiece count includes all tool cutting edges used to manufacture a
workpiece. If the count changes as a result of a specification by the operator, the monitoring
data of all tool cutting edges which have become active since the last workpiece counting will
be adapted accordingly.
Example:
N10 G0 X100
N20 ...
N30 T1
N40 M6 D2
N50 SETPIECE(2) ;$TC_MOP4[1,2 ] (T1,D2) is decremented by 2
N60 X... Y...
N100 T2
N110 M6 D1
N120 SETPIECE(4) ;$TC_MOP4[2,1 ] (T2,D1) and $TC_MOP4[1,2 ] are
decremented by 4
N130 X... Y...
N200 T3
N210 M6 D2
N220 SETPIECE(6) ;$TC_MOP4[3,2 ] (T3,D2) and $TC_MOP4[2,1 ] (T2,D1) and
$TC_MOP4[1,2 ] are decremented by 6
N230 X... Y...
N300 SETPIECE(0) ;deletion of all $TC_MOP4[t,d ] above
N400 M2
Notes:
- The command SETPIECE( ) does not act in block search.
- Programming $TC_MOP4[t,d] directly is only recommended in a simple case. This
would require to program a subsequent block containing the STOPRE command.
1. Activate the tool monitoring function (provided that the tool monitoring function
(option) is installed:
MD 18080: MM_TOOL_MANAGEMENT_MASK = 0x02
MD 20310: TOOL_MANAGEMENT_MASK= 0x02
2. Tool life monitoring for tool 2, cutting edge 1 in the NC program:
$TC_TP9[2,1]=1 ; activation of tool life monitoring
$TC_MOP1[2,1]=100 ; prewarning limit in minutes
$TC_MOP2[2,1]=245 ; remaining tool life in minutes
$TC_MOP11[2,1]=800 ; tool life setpoint in minutes
Another example for the tool life monitoring for the active tool with active D number in the
NC program:
$TC_TP9[$P_TOOLNO,$P_TOOL]=1 ; activation of tool life monitoring
$TC_MOP1[ $P_TOOLNO,$P_TOOL]=200 ; prewarning limit in minutes
$TC_MOP2[ $P_TOOLNO,$P_TOOL]=602 ; remaining tool life in minutes
$TC_MOP11[$P_TOOLNO,$P_TOOL]=700 ; tool life setpoint in minutes
The table below shows the assignment of the tool lengths 1 to 3 to the geometry axes for a
drill / milling tool (tool types 100 to 299):
Plane/Value Length 1 Length 2 Length 3
17*) Z Y X
18 Y X Z
19 X Z Y
-17 Z X Y
-18 Y Z X
-19 X Y Z
*) Each value unequal to 0, which is not equal to one of the six values mentioned above, is
evaluated as the value with 17.
In the case of values with a negative sign, the assignment with regard to length 1 is always
the same; the lengths 2 and 3 are changed, compared with the assignment with the relevant
positive values.
Note:
The representation in the tables is based on the assumption that the geometry axes 1 to 3 are
designated X, Y, Z. The assignment of a compensation to an axis depends not on the axis
identifier, but on the axis sequence order (1st, 2nd, 3rd geometry axis).
Notes
The influence of these two setting data only refers to tool lengths; the tool radius is not
concerned.
If SD 42940: TOOL_LENGTH_CONST is set to a value not euqal to 0 and the value in
SD 42950: TOOL_LENGTH_TYPE is equal to 1 or 2, the value specified in the table for
SD 42940 will apply to the tool type now assigned (milling or turning tool).
Example
SD 42940: TOOL_LENGTH_CONST =18
SD 42950: TOOL_LENGTH_TYPE =2
Explanation:
The behavior of the active tool with regard to the length compensation is as a turning tool
(-> SD 42950 =2).
In all planes G17 to G19, the length assignment is carried out as with G18 (-> SD 42940=18):
Length 1 -> X axis
Length 2 -> Z axis
if a Y axis exists: Length 3 -> Y axis
The tool radius acts according to the real tool type and according to the plane currently active.
18080** MM_TOOL_MANAGEMENT_MASK
MD number Memory reservation for the tool monitoring
Default: 0x0 Min. input limit: 0x0 Max. input limit: 0xFFFF
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release: 2.0
Meaning: Value = 0: No memory will be reserved; no tool monitoring possible
Value = 0x2: monitoring data/memory will be provided
(only possible with the “Tool monitoring” option)
Related to .... MD 20310: TOOL_MANAGEMENT_MASK
** This machine data is not available with the 802D base line.
20310** TOOL_MANAGEMENT_MASK
MD number Activation of tool monitoring
Default: 0x0 Min. input limit: 0x0 Max. input limit: 0xFFFF
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW relase: 2.0
Meaning: Wert = 0: No tool monitoring
Wert = 0x2: Tool monitoring activated
(only possible with the “Tool monitoring” option)
Related to .... MD 18080: MM_TOOL_MANAGEMENT_MASK
** This machine data is not available with the 802D base line.
20360 TOOL_PARAMETER_DEF_MASK
MD number Definition of tool parameters
Default: 0 Min. input limit: 0 Max. input limit: 0x01
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release: 1.1
Meaning: Bit 0=0: With turning tools, the wear parameter of the transverse axis X is taken into account as
a radius value.
Bit 0=1: With turning tools, the wear parameter of the transverse axis X is taken into account as
a diameter value.
Special cases, errors, ......
22550 TOOL_CHANGE_MODE
MD number New tool compensation with M function
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release:
Meaning: A tool is selected in the program using the T function. Whether the new tool is changed
immediately using the T function, depends on the setting in this MD:
0:
The new tool is loaded immediately using the T function. For turning machines with tool
revolver, in most cases, this setting is used.
1:
The new tool is prepared for loading using the T function. In case of machines equipped with
a tool magazine, this setting is used mainly to bring the new change to the tool change
position in parallel to the machining time (without interrupting the machining time). The M
function is used to remove the old tool from the spindle and to load the new tool into the
spindle. According to DIN 66025, this tool change is programmed using the M function M6.
Related to ....
Setting data
42940 TOOL_LENGTH_CONST
SD number When changing the machining plane (G17 to G19), keep the assignment of the tool lengths 1 to 3
to the geometry axes as it is
Default: 0 Min. input limit: 0 max. Eingabegrenze: 19
Change valid: immediately Protection level: 3/3 Unit: -
Data type: DWORD Valid from SW release: 2.0
Meaning: If this setting data is unequal to zero, the assignment of the tool lengths 1 to 3 (length, wear) to the
geometry axes will not be changed when changing the machining plane (G17 to G19). The assign-
ment of the tool length components to the geometry axes results from the value of the setting data,
as specified in the tables below. The assignment makes a distinction between turning tools (tool
types 500 to 599) and other tools (drilling/milling tools). The representation in the tables is based
on the assumption that the geometry axes 1 to 3 are designated X, Y and Z. The assignment of a
compensation to an axis, however, depends not on the axis identifier, but on the sequence order of
the geometry axes.
The assignment of the tool lengths to the geometry axes for turning tools (tool types
500 to 599) results from the value of the setting data SD 42940 according to the table
below:
Plane/Value Length 1 Length 2 Length 3
17 Y X Z
18*) X Z Y
19 Z Y X
-17 X Y Z
-18 Z X Y
-19 Y Z X
The table below shows the assignment of the tool lengths 1 to 3 to the geometry axes
for drill / milling tool (tool types 100 to 299):
Plane/Value Length 1 Length 2 Length 3
17*) Z Y X
18 Y X Z
19 X Z Y
-17 Z X Y
-18 Y Z X
-19 X Y Z
Related to .... SD 42950: TOOL_LENGTH_TYPE
42950 TOOL_LENGTH_TYPE
SD number Assignment of the tool length compensation irrespective of the tool type
Default: 0 Min. input limit: 0 Max. input limit: 2
Change valid: immediately Protection level: 3/3 Unit: -
Data type: DWORD Valid from SW release: 2.0
Meaning: 0: The assignment is carried out according to the default settings. A distinction is made bet-
ween turning tools (tool types 500 to 599) and drilling/milling tools (tool types 100 to 299).
1: The assignment of the tool length components is carried out irrespective of the real tool type,
always as with milling tools.
2: The assignment of the tool length components is carried out irrespective of the real tool type,
always as with turning tools.
Related to .... SD 42940: TOOL_LENGTH_CONST
** This machine data is not available with the 802D base line.
General
To acquire tool and workpiece dimensions, a switching sensing probe is required, which provi-
des a constant signal (no pulse) in case of a deflection.
The probe must switch nearly free from bouncing. This is generally possible by a mechanical
adjustment of the probe.
Various manufacturers offer different designs of probes on the market. The probes are there-
fore divided into three groups, depending on the number of directions in which a probe can be
deflected (see Fig. 15-1).
Whereas for turning machines a bi-directional probe can be used, for milling and machining
centers a mono-probe can also be used for workpiece measurement.
Bi -directional probes
For the workpiece measurement in milling and machining centers, this type is treated as a
mono-probe. For turning machines, this type can be used for workpiece measurement.
Switching behavior
The MD 13200:MEAS_PROBE_LOW_ACTIVE[0] is used to announce the signal level of the
connected sensor (extended / withdrawn ) to the control system.
The connection including the reference potential, is explained and described in detail in:
References: “Start-Up Guide”
References: “SIMODRIVE 611 UE, Description of Functions”
Option module
Signaling terminals X423
PROFIBUS-DP3
AS1 X421
AS2
75.A
X441 Encoder interface TTL enco-
16.A
der 1 P_Encoder
75.B X472
16.B 2 M_Encoder
15 3 A
(refe- 4 *A
rence) 5 reserved
6 B
X34 7 *B
8 reserved
M DAU1 DAU2 9 P_Encoder
10 R
Terminals of drive A 11 M_Encoder
56.A 12 *R
14.A 13 reserved
24.A 14 reserved
20.A 15 reserved
X453
65.A
9
I0.A Display
I1.A and
O0.A Serial operating unit
O1.A interface
(RS232)
X471 Unit bus
X351
Fig. 15-2 Elements on the front panel “SIMODRIVE 611 UE”; the sensing probe is connected to X453/X454
Note
If a geometry axis (axis in WCS) is programmed in a measuring block, the measured values for all
geometry axes will be stored.
Accuracy:
The runtime of the measuring signal is determined by the hardware used. The delay times are
in the µs range, plus reaction time of the probe when using the SIMODRIVE 611UE.
The measuring uncertainty results from:
Measuring uncertainty = runtime of measuring signal x traversing velocity
Correct results can only be guaranteed for traversing velocities, at which not more than 1 trig-
ger signal per position controller cycle arrives.
Note
This function is not available with the 802D base line.
Gauging principle
The operator will traverse the tool to the sensing probe in JOG mode using the traversing keys
or the handwheel. When the sensing probe switches, the movement is automatically stopped,
the control system will internally switch to AUTOMATIC mode, and a measuring program is
started. The measuring program controls the actual measuring process using a second sen-
sing probe approach and another positioning process. At the end, the tool compensation va-
lues are entered and JOG mode is active again.
Advantage: The compensation values entered before measuring the tool can deviate from the
real values completely. The tools need not be “premeasured”.
Note: No wear measurement is carried out, but always a “re-measurement” of the tool.
In JOG mode, the operator can use softkeys and screen forms to make inputs. These assist
him in the tool measurement.
References: “Operation and Programming”
Important
The PLC user program must be created with the appropriate sequences. Only then the requi-
red functionality will be available.
When approaching the sensing probe, be especially careful. The sensing probes have only a
limited extension travel. If this travel is exceeded, the probes can be damaged or even be
destroyed! Observe the instructions of the manufacturers!
In particular, reduce the approach velocity such that it is always possible to stop in time. “Ra-
pid traverse override” must not be active.
The screen forms displayed and the sequence are dependent on the technology. Correspon-
dingly, the following tool types can be measured:
Turning technology
Turning tool (geometry length 1 and geometry length 2)
Drill (geometry length 1)
Milling technology
Milling tool (geometry length 1 and geometry radius)
Drill (geometry length 1)
Tool offsets
The screen forms contain first the active tool T and the active offset number D for the target of
the measured result entry. Either a different tool can be specified from the PLC via the inter-
face or the operator enters a different tool T and/or the offset number D.
Important
If a tool or an offset number other than the active values has been entered, this has to be an-
nounced to the NC when using this tool/tool offset after measuring; this can be done, e.g. by
programming and start in MDA mode. Only then the control system can take into account the
correct tool offsets.
Sensing probes
The sensing probe for tool measurement is either a stationary sensing probe or it is swiveled
to the work area using a mechanical facility. In the case of a rectangular design of the sensing
probe plate, the edges must be aligned paraxially. The tool/calibration tool is traversed against
the sensing probe. Before a measurement is carried out, the sensing probe must be calibra-
ted, i.e. the exact sensing probe switching points with reference to the machine zero must be
known to the control system.
Measuring sequence
JOG mode is selected. The measuring feedrate is entered. The sensor is calibrated and/or
the exact sensor switching points are entered.
The measuring sequence is performed using the softkeys “Measure tool” and further soft-
keys, depending on the tool type.
When the softkey “Measure tool” is pressed, the IS “Measurement in JOG active”
(V1700 0003.7) is transferred from HMI to the PLC. The PLC can preset another T number
than the active one via the IS “T number for tool measurement in JOG” (VD1900 5004)
and provide this to the HMI. If the sensor switches to the sensor when traversing the selec-
ted axis, the NCK will output the IS “Sensor 1 active” (V27000001.0). As a response, the
PLC will set the IS ”Feed disable” (V3200 0006.0) and the NCK will stop the movement.
The feed disable is kept as long as a traversing key is pressed in JOG mode and the IS
“Measurement active in JOG“
(V1700 0003.7) is set. The PLC will the provide the IS “Reset” (V3000 000.7). The traver-
sing movement in JOG is thus canceled.
HMI will detect that the sensor has switched and will provide the order to the PLC for swit-
ching over to AUTOMATIC mode (IS “AUTOMATIC mode”;V1800 0000.0) after the traver-
sing key has been pressed (with handwheel travel - immediately). The PLC will transfer
this to the NCK (V3000 0000.0).
The NCK will enable the AUTOMATIC mode (IS “Active mode: AUTOMATIC” (V3100
0000.0)) what is displayed on the HMI screen. The PLC will cancel the IS “Feed disable”
(V3200 0006.0). In the following, the HMI provides the IS “Mode change disable” (V1800
0000.4) to the PLC. If the PLC has detected this signal (is present only over one PLC cy-
cle), the PLC will provide the IS “Mode change disable“ (V3000 0000.4) to the NCK.
HMI has loaded an NC measuring program into the NCK. This will be enabled now. This
measuring program will automatically calculate the direction of approaching the sensor and
the traversing distance including safety clearance.
HMI will give the PLC the order to start the measuring program via the IS “Start measuring
in JOG” (V1800 0000.6). The signals in the range V1800 are present only over one PLC
cycle. Ths IS “Start measuring in JOG” is therefore buffered in the PLC. The NC measu-
ring program is started from the PLC via the output of the IS “NC START” (V3200 0007.1)
to the NCK.
The NC program will reposition the axis, reapproach the sensor, measure and then retract.
The HMI will then output the request for switching back to JOG mode (V1800 0000.2) to
the PLC. As a response, the PLC will reset the IS “Mode change disable” (V3000 0000.4).
The PLC will output the JOG mode (V3000 0000.2) to the NCK and the NCK will return the
IS “Active mode JOG” (V3100 0000.2).
Use the softkey “Next step” to select the next approach direction/axis for retraction to the
sensor. The further procedure is analogously - until all directions/axes are traversed.
At completion of measuring or calibration of the sensor, deselect the function using the
“Back” softkey. This will reset the IS “Measuring in JOG active” (V1700 0003.0). Analo-
gously, it is reset when quitting the operating area.
The IS “Reset” (V3000 0000.7) can be used to cancel the Automatic program, and the
“Back” softkey can be used to quit measuring in JOG mode. This will also clear the IS
“Feed disable” (V3200 0006.0) and the IS “Mode change disable” (V3000 0000.4), which
are possibly still set and/or also clear any signals written to a buffer.
The required functionality according to the sequence in the PLC user program, as it has been
described above, must be provided by the user.
The toolbox for SINUMERIK 802D, which is supplied by SIEMENS, contains an appropriate
user example in PLC 802D Library, V01.05 and higher. This can be used. When doing so, it is
essential to call PLC_INI (SBR32) and MCP_NCK (SBR38) in OB1, since these transfer si-
gnals of the subroutine MEAS_JOG (SBR43) to NCK/HMI.
361 MEAS_TOOL_CHANGE
MD number Input enable for T/D no. with tool gauging
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid: immediately Protection level: 3/3 Unit: -
Data type: BOOLEAN
Meaning: 0: T/D number input disabled
1: T/D number input enabled
373 SMM_MEAS_SAVE_POS_LENGTH2
MD number Enable Tool gauging Save Pos softkey for all values
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid: immediately Protection level: 2/2 Unit: -
Data type: BOOLEAN
Meaning: Controls the “Dave Pos.” softkey with the “Tool gauging manually” function
0: The “Save Pos.” softkey is only active when measuring length 1
1: The “Save Pos.” softkey is generally active
13200 MEAS_PROBE_LOW_ACTIVE[0]
MD number Switching behavior of sensing probe
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 3/3 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 0: when not extended 0V
when extended 24 V
1: when not extended 24 V
when extended 0V
*** This interface data is not available with the 802D base line.
*** This interface data is not available with the 802D base line.
*** This interface data is not available with the 802D base line.
notice
Compensations
With the SINUMERIK 802D, the following compensations can be enabled axis-specifically:
Backlash compensation
Interpolatory compensation LEC
(compensation of leadscrew error and measuring system error)
Following error compensation (dynamic feedforward control)
The compensation functions can be set for each machine separately using axis-specific ma-
chine data.
Position display
The standard actual and set value display does not take into account the compensation va-
lues and displays the position values of an ”ideal machine”. The compensation values are dis-
played in the operating area ”System” in the screen form ”Service Axes” under “Abs. comp.
value meas. system 1”.
Effect
With axes/spindles provided with indirect measuring systems, the mechanical backlash re-
sults in a falsification of the distance to be traversed. For example, with direction reversal, an
axis travels will traverse too few or too much by the amount of the backlash (see Fig. 16-1).
Compensation
To compensate the backlash, the axis-specific actual value is corrected by the backlash
amount with each direction reversal of the axis/spindle.
During the start-up, this amount can be entered in
MD 32450: BACKLASH (backlash) for each axis/spindle.
Activation
After reference point approach, the backlash compensation is always active in all operating
modes.
Positive backlash
The encoder advances the machine part (e.g. table). To make sure that the actual position
acquired by the encoder advances the real position of the table, the table traverses too shortly
(see Fig. 16-1). In this case, a positive backlash compensation value must be entered (= nor-
mal case).
Table
Back-
ÉÉÉ ÉÉÉÉÉ
lash
Encode
r
M
ÉÉÉ ÉÉÉÉÉ
Encoder actual value advances the real actual value (ta-
ble): Table traverses too short
Negative backlash
The encoder lags behind the machine part (e.g. table); the table travels too far. A negative
compensation value must be entered.
16.3.1 General
Compensation table
Since measurement deviations of ball screw spindle and measuring system have a direct in-
fluence on the accuracy of the workpiece machining, they must be compensated by appro-
priate position-dependent compensation values. The compensation values are determined
according to the measured error curve and entered in the control system in the form of com-
pensation tables during the start-up. For each compensation relation, a separate table must
be created.
The input of compensation values and additional table parameters are carried out using spe-
cial system variables.
Note
The compensation tables can be output via the serial interface of the HMI from the operating area
”System” -> “Data I/O” -> “Data selection” / Data ... / Compensation: Leadscrew error” and down-
loaded after editing.
Linear interpolation
Function
The leadscrew error compensation / measuring system error compensation (LEC) is an axis-
specific compensation.
With the LEC, the axis-specific actual position value is modified by the corresponding com-
pensation value at the interpolation cycle and directly traversed by the machine axis. A posi-
tive compensation value results in a movement of the corresponding machine axis in the ne-
gative direction.
The size of the compensation value is not limited and is not monitored. To avoid inadmissible
high velocities and accelerations of the machine axis due to the compensation, the compen-
sation value should be selected correspondingly small. Otherwise, in case of large compensa-
tion values, other axis monitoring functions may result in alarm messages (e.g. contour moni-
toring, speed setpoint limitation).
Activation
The compensation values are stored in the NC user memory and are active after Power
ON.
The function has been activated for the machine axis desired
(MD 32700: ENC_COMP_ENABLE [0] = 1).
The axis has been referenced (IS ”Referenced/synchronized 1“ V390x0000.4 set).
If these conditions are fulfilled, the axis-specific actual position value will be modified by the
corresponding compensation value and traversed by the machine axis immediately.
If the reference is then lost, e.g. since the encoder frequency has been exceeded (IS ”Refe-
renced/synchronized 1 “ = ‘0’), the compensation processing will be switched off.
Compensation table
The position-related compensations for the corresponding axis are stored in the compensa-
tion table in the form of system variables. A maximum of 125 intermediate points (N = 0...124)
is possible.
To this aim, the following measuring-system specific parameters must be defined for the table
(see Fig.16-3):
Compensation value for intermediate point N of the compensation table:
$AA_ENC_COMP [0,N,AXi]= ...
with: AXi = machine axis name, e.g. X1, Y1, Z1 ; N = intermediate point index
The compensation value for each individual intermediate point (axis position) must be ent-
ered in the table. The size of the compensation value is not limited.
Note
The first and the last compensation values remain active over the entire traversing range, i.e.
these compensation values should be ”0” if the compensation table does not extend over the
entire traversing range.
Caution
! When entering the compensation values, it should be made sure that all intermediate points is
assigned a compensation value within the defined range (i.e. that no gaps occur). Otherwise,
for these intermediate points the compensation value will be used, which has remained from
previous entries in these places.
Note
In MD 10240: SCALING_SYSTEM_IS_METRIC=0, table parameters that contain positional
information are interpreted in inches.
An automtic conversion of the position data can be achieved by manual switch -over (see Sec-
tion 3.2.2 “Switching over the scaling system manually“).
The compensation table can only be loaded if MD 32700: ENC_COMP_ENABLE=0 is set. If this
value is set =1, the compensation will be enabled, thus enabling write protection (output of alarm
17070).
Example
The following example shows the specification of compensation values for machine axis X1
as a program.
%_N_AX_EEC_INI
CHANDATA (1)
$AA_ENC_COMP[0,0,X1]= 0.0 ;1st compensation value (intermediate point 0) +0mm
$AA_ENC_COMP[0,1,X1]= 0.01 ;2nd compensation value (intermediate point 1) +10mm
$AA_ENC_COMP[0,2,X1]= 0.012 ;3rd compensation value (intermediate point 2)
+12mm
...
$AA_ENC_COMP[0,120,X1]= 0.0 ;last compensation value (intermediate point 120)
Error curve
Compensation curve
Compensation value (linear interpolation between the intermediate points)
Compensation values of compensation table
Start position End position
($AA_ENC_COMP_MIN) ($AA_ENC_COMP_MAX)
Compensation value of
Intermediate point spacing intermediate point 5
($AA_ENC_COMP)
Reference point
-200-207
-198 -196 -194 38 40 Axis position
0 1 2 3 4 5 119 120
Intermediate points
Linear interpolation
Fig. 16-3 Parameters of the compensation table (system variables for LEC)
Measuring
The function ”Measuring” provides the compensated actual positions (ideal machine) required
by the user or programmer.
16.4.1 General
Prerequisites
When using the feedforward control, make sure that the following is observed:
rigid machine behavior
exact knowledge of the machine dynamic properties required
no sudden position and speed setpoint changes
With the speed feedforward control, a speed setpoint is provided to the input of the speed
controller as an additional setpoint (see Fig. 16-4).
To achieve a speed feedforward control set correctly, the equivalent time constant of the
speed control loop must be determined exactly and entered as a machine data.
NCK Drive
+
Set value Feedforward Position Speed
control
(Reference input controller controller
variable) -
MD 32810: EQUIV_SPEEDCTRL_TIME
Parameters
On start-up, the following axis-specific MD must be defined for the speed feedforward con-
trol: MD 32810: EQUIV_SPEEDCTRL_TIME “Equivalent time constant of the
connected speed control loop”).
32630 FFW_ACTIVATION_MODE
MD number Feedforward control can be enabled from the program
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: Byte Valid from SW release:
Meaning: This MD can be used to define whether the feedforward control for this axis/spindle can be ena-
bled/disabled from the part program.
0: The feedforward control cannot be enabled/disabled by FFWON and/or FFWOF.
1: The feedforward control can be enabled/disabled by FFWON and/or FFWOF from the part
program.
The status last valid remains also active after RESET (and thus also in JOG mode).
Since FFWON and/or FFWOF is used to enable/disable the feedforward control of all axes of the
channel, this MD should be set to the same value for axes that interpolate with each other.
Related to ....
Further references ”Operation and Programming”
32700 ENC_COMP_ENABLE[n]
MD number Encoder/leadscrew error compensation (LEC)
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release:
Meaning: 1: The LEC is enabled for the axis/measuring system.
The LEC can be used to compensate leadscrew errors and measuring system errors.
The function will internally only be enabled if the corresponding measuring system is referen-
ced (IS: “Referenced/synchronized 1” = 1).
Write-protection function (compensation values) active.
0: The LEC is not active for the axis/measuring system in question.
36500 ENC_CHANGE_TOL
MD number Backlash compensation segment / tolerance of position actual-value switchover
Default: 0.1 Min. input limit: 0.0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm or degrees
Data type: DOUBLE Valid from SW release:
Meaning: Segment for backlash compensation input
This MD is used to manage large backlash compensation values. In this case, the backlash will
not be provided to the actual value at a time, but in ”n” steps having a step size of
MD: ENC_CHANGE_TOL. The calculation of the backlash thus lasts ”n” servo cycles. If the time
required to calculate the backlash completely is too large, standstill monitoring alarms can be out-
put.
This MD is only active if MD: ENC_CHANGE_TOL is greater than MD: BACK_LASH.
Related to .... MD 32450: BACKLASH[0] (backlash compensation)
With SINUMERIK 802D, this function is an option and available with software release 2.0 and
higher.
Range of application
Using the function ”Traversing to fixed stop” (FXS = Fixed Stop), it is possible to build up defi-
ned forces required for the clamping of workpieces, such as they are required for quills and
grippers. Furthermore, this function can also be used to approach mechanical reference
points. With a sufficiently reduced torque, simple measuring processes are also possible wi-
thout a probe connected.
Traversing to fixed stop can be carried out for several axes at the same time and parallel to
the motion of other axes.
The fixed stop can be approached on a path (straight line, circle).
Availability
The function ”Traversing to fixed stop” is available if the appropriate option is installed, i.e. if
the MD 37000: FIXED_STOP_MODE (mode ”Traversing to fixed stop”) is set to 1. Then, the
function can be started from the NC program using the command ”FXS[x]=1”.
17.2 Functionality
Programming
Traversing to fixed stop is selected using the command
FXS[machine axis identifier] = 1, and deselected via
FXS[machine axis identifier] = 0.
The clamping torque is set using the command
FXST[machine axis identifier] = <torque>.
The clamping torque is specified as a percentage of the static torque of the drive or as
a percentage of the motor torque if main spindle drives are used.
To set the width of the fixed stop monitoring window, the command
FXSW[machine axis identifier] = <window width>is used.
Unit: mm, inches or degrees - depending on the basic unit system, linear or rotary axis.
The commands are modal. The distance to be traversed and the activation of the func-
tion must be programmed in a separate block.
Note
With FXS..., it is permitted to program the machine axis identifier after MD 10000: AX-
CONF_NAME_TAB and should be used preferably.
The channel axis identifiers after MD 20070: AXCONF_CHANAX_NAME_TAB are permissible with
FXS... if them is assigned exactly one machine axis and, e.g. no rotation is active in the coordinate
system.
Programming examples
X250 Y100 F100 FXS[X1]=1 ; FXS selected for machine axis X1
Clamping torque and window width as speci-
fied
in the SDs
X250 Y100 F100 FXS[X1]=1 FXST[X1]=12.3 ; FXS selected for machine axis X1
Clamping torque 12.3 %, window width as
specified in the SDs
X250 Y100 F100 FXS[X1]=1 FXST[X1]=2 ; FXS selected for machine axis X1
Clamping torque 12.3 %,window width 2 2
X250 Y100 F100 FXS[X1]=1 FXSW[X1]=2 ; FXS selected for machine axis X1,
clamping torque as specified in the SD,
window width 2 mm
Note
Once the function ”Traversing to fixed stop” has been activated for one axis/spindle (no ana-
log spindle), no new position may be programmed for this axis.
Before selecting this function, the spindle must be switched to the position-controlled mode.
Function example
Start position
Progr. Fixed -stop
end monitoring window
position
Fig. 17-1 Example for traversing to fixed stop: The quill is pressed onto the workpiece
Selection
When preparing the blocks, the NC detects that the function ”Traversing to fixed stop” has
been selected via the command FXS[x]=1 and signals the PLC using the IS ”Activate traver-
sing to fixed stop” that the function has been selected.
If the MD 37060: FIXED_STOP_ACKN_MASK (observe that traversing to fixed stop must be
acknowledged accordingly by the PLC) is set accordingly, it is waited until the acknowledg-
ment is provided from the PLC via the IS ”Traversing to fixed stop”.
Then, the programmed target position is approached from the start position at the program-
med velocity. The fixed stop must be between the start and the target positions of the axis/
spindle. A programmed torque reduction is active from the beginning of the block, i.e. the ap-
proach of the stop is also carried out with a reduced torque. This is taken into account in the
NC by automatic acceleration reduction.
If no torque has been programmed in the block or no block has been programmed since the
program has been started, the value entered in the axis-specific MD 37010: FI-
XED_STOP_TORQUE_DEF (torque default setting) will apply.
FIXED_STOP_BY_SENSOR = 1
External sensor transmits the status ”Fixed stop reached” to the NC via the PLC using the
IS ”Fixed stop sensor”.
FIXED_STOP_BY_SENSOR = 2
The status ”Fixed stop reached” is provided if either the contour monitoring function has
determined this status or when the external sensor this status via signal transition 0 → 1.
Internal sequences
After the status ”Fixed stop reached” has been detected by the NC, the distance to go is dele-
ted and the position setpoint value will follow; servo enable remains active.
Then the PLC is informed via the IS ”Fixed stop reached”.
If the MD 37060: FIXED_STOP_ACKN_MASK is set accordingly, it is waited until the PLC
has provided the acknowledgment via the IS ”Acknowledge fixed stop reached”.
The NC will then carry out a block change and/or will consider the positioning motion comple-
ted, but will leave, however, a setpoint at the drive actuator so that the clamping torque may
act.
After the fixed stop has been reached, the fixed-stop monitoring function is activated.
Monitoring window
If no fixed-stop monitoring window has been programmed in this block or has not been pro-
grammed since the program has been started, the value entered in the MD 37020: FI-
XED_STOP_WINDOW_DEF (default setting for the fixed-stop monitoring window) will apply.
If the axis leaves the position it has had when detecting the stop by more than the window
selected, alarm 20093 ”Fixed-stop monitoring has tripped” is triggered, and the function ”Tra-
versing to fixed stop” is deselected.
It is the user’s responsibility to make sure that the alarm is only triggered if the stop is broken.
Function is canceled
If the function ”Traversing to fixed stop” is canceled due to the occurrence of a pulse inhibition,
cancellation of the PLC acknowledgments or RESET in the approach block, the display or
suppression of the alarm 20094 can be controlled via MD 37050: FI-
XED_STOP_ALARM_MASK.
Alarms
If - when traversing to fixed stop - the target position is reached, the alarm 20091 ”Fixed
stop not reached” is output, and a block change is carried out.
If a traversing request (e.g. from the part program or from the operator panel) is provided
for an axis after the fixed stop has been reached, alarm 20092 ”Traversing to fixed stop still
active” is output and the axis is not moved.
If after reaching the fixed stop an axis is pushed out of its position by a value more than
specified in
SD 43520: FIXED_STOP_WINDOW (fixed-stop monitoring window), alarm 20093 ”Stand-
still monitoring has tripped at the stop” is output, the function ”Traversing to fixed stop” is
deselected for this axis, and the system variable $AA_FXS[x]=2 is set.
Selection
The NC detects that the function has been deselected by programming the command
FXS[x]=0. Then, a preprocessing stop (STOPRE) is initiated internally, since it cannot be de-
termined exactly in advance where the axis will stand after the deselection.
Both the torque limitation and the monitoring of the fixed-stop monitoring window will be can-
celed; the IS ”Activate traversing to fixed stop” and ”Fixed stop reached” will be reset.
Depending on MD 37060: FIXED_STOP_ACKN_MASK, it is waited until the acknowledgment
is provided from the PLC by resetting the IS ”Enable traversing to fixed stop” and/or ”Acknow-
ledge fixed stop reached”.
The axis will then change to position control. The tracking of the position setpoint will be com-
pleted and be synchronized to the new actual position.
Then, a new programmed traversing motion must be carried out. This must carry away from
the stop; otherwise, either the stop or even the machine could be damaged.
The block change is carried out after the target position has been reached.
Multiple selection
A selection may be carried out only once. If due to faulty programming the function is called
once more after (FXS[axis] = 1) has been activated, the alarm 20092 ”Traversing to fixed stop
still active” is triggered.
Without ramp
A change in the torque limit will take place without taking into account the ramp in the follo-
wing cases:
If FXS is activated via (FXS[]=1) to make sure that the reduction comes into effect imme-
diately;
if the drive must be switched dead as fast as possible in case of error.
Caution
! Make absolutely sure that after cancellation of the function ”Traversing to fixed stop” through
EMERGENCY STOP no hazardous machine situation (MD 37002: FIXED_STOP_CONTROL
17.5 Miscellaneous
Contour monitoring
No axis-specific contour monitoring is carried out during ”Traversing to fixed stop”.
Diagram
The diagram below shows the characteristics of motor current, following error and interface
signals for ”Traversing to fixed stop” with a digital drive.
Motor current
0
MD 37030:
Following error
FIXED_STOP_THRESHOL
D 0
Block change
37000 FIXED_STOP_MODE
MD number Mode ”Traversing to fixed stop”
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: This machine data is used to define how the function ”Traversing to fixed stop” can be started.
Value
=0: Traversing to fixed stop not available.
=1: Traversing to fixed stop can be started from the NC program using the command
FXS[x]=1.
37002 FIXED_STOP_CONTROL
MD number Special functions when traversing to fixed stop
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: Bit 0: Behavior in case of pulse inhibition at the stop
=0: Traversing to fixed stop will be aborted.
=1: Traversing to fixed stop will be aborted, i.e. the drive will coats.
Once the pulse inhibition has been canceled, the drive will act again
using the limited torque.
The torque is connected suddenly.
37010 FIXED_STOP_TORQUE_DEF
MD number Clamping torque default setting
Default: 5.0 Min. input limit: 0 Max. input limit: 100.0
Change valid after Power On Protection level: 2/2 Unit: %
Data type: DOUBLE Valid from SW release: 2.0
Meaning: This machine data is used to enter the clamping torque as a percentage of the maximum motor
torque (with feed drives, corresponds to the percentage of the max. current setpoint).
The clamping torque is effective once the fixed stop has been reached or the IS ”Acknowledge
fixed stop reached” has been set.
The entered value is only a default value and is only effective until
no clamping torque has been programmed using the command FXST[x];
the clamping torque has not been changed via the SD 43510: FIXED_STOP_TORQUE (after
reaching the fixed stop).
Related to .... SD 43510: FIXED_STOP_TORQUE (clamping torque when traversing to fixed stop)
37012 FIXED_STOP_TORQUE_RAMP_TIME
MD number Time required to reach the new clamping torque when traversing to fixed stop
Default: 0.0 Min. input limit: 0.0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: s
Data type: DOUBLE Valid from SW release: 2.0
Meaning: Time required to reach the changed torque limit
The division takes place in the position controller cycle and is provided from there suddenly.
The value 0.0 will deactivate the ramp function.
37020 FIXED_STOP_WINDOW_DEF
MD number Default setting for the fixed-stop monitoring window
Default: 1.0 Min. input limit: 0 Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release: 2.0
Meaning: The default setting for the fixed-stop monitoring window is entered in this machine data.
The fixed-stop monitoring is effective once the fixed stop has been reached,
i.e. once the IS ”Fixed stop reached” has been set.
If the position at which the fixed stop has been detected is left by a value more than the tolerance
specified in the MD: FIXED_STOP_WINDOW_DEF, the alarm 20093 ”Fixed-stop monitoring has
tripped” is output, and the function ”FXS” is deselected.
The entered value is only a default value and is only effective until
no fixed-stop monitoring window has been programmed using the command FXSW[x];
the fixed-stop window has not been changed via the SD 43520: FIXED_STOP_WINDOW
(after reaching the fixed stop).
Related to .... SD 43520: FIXED_STOP_WINDOW (fixed-stop monitoring window)
37030 FIXED_STOP_THRESHOLD
MD number Threshold for fixed-stop detection
Default: 2.0 Min. input limit: 0 Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: mm, degrees
Data type: DOUBLE Valid from SW release: 2.0
Meaning: The contour monitoring threshold for the fixed-stop detection is entered in this machine data.
This machine data is only effective if MD: FIXED_STOP_BY_SENSOR = 0.
The interface signal ”Fixed stop reached” is set if the axis-specific contour deviation has exceeded
the value entered in the MD: FIXED_STOP_THRESHOLD.
MD not relevant with ...... MD 37040: FIXED_STOP_BY_SENSOR = 1
Related to .... IS ”Fixed stop reached”
37040 FIXED_STOP_BY_SENSOR
MD number Fixed-stop detection via sensor
Default: 0 Min. input limit: 0 Max. input limit: 2
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.2
Meaning: This machine data is used to define how the criterion ”Fixed stop reached”
is determined.
Value =0: The criterion ”Fixed stop reached” is determined internally on the basis of the axis-
specific
contour deviation (threshold specified by the MD: FIXED_STOP_THRESHOLD).
=1: The criterion ”Fixed stop reached” is determined via an external sensor and
transmitted to the NC via the IS ”Fixed stop sensor”.
=2: The criterion ”Fixed stop reached” is assumed if either the
contour deviation (acc. to value = 0) or
the signal of the external sensor (acc. to value = 1) has tripped.
Related to .... MD 37030: FIXED_STOP_THRESHOLD (threshold for fixed-stop detection)
IS ”Fixed stop sensor”
37050 FIXED_STOP_ALARM_MASK
MD number Enabling of the fixed-stop alarms
Default: 1 Min. input limit: 0 Max. input limit: 7
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: This machine data is used to define whether the alarms
20091 ”Fixed stop not reached” and
20094 ”Fixed stop broken” are signaled.
Value =0: Suppress alarm 20091 ”Fixed stop not reached”
= 2: Suppress alarms 20091 ”Fixed stop not reached” and
20094 ”Fixed stop broken”
= 3: Suppress alarm 20094 ”Fixed stop broken”
Any other permissible values 7 will not suppress the alarms.
37060 FIXED_STOP_ACKN_MASK
MD number Observing PLC acknowledgments for traversing to fixed stop
Default: 0 Min. input limit: 0 Max. input limit: 3
Change valid after Power On Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: This machine data defines whether or not it is waited for PLC acknowledgments during the func-
tion ”Traversing to fixed stop”.
Bit 0 = 0: After the NC has transmitted the IS ”Activate traversing to fixed stop” to the PLC,
it will start the traversing motion programmed.
Bit 0 = 1: After the NC has transmitted the IS ”Activate traversing to fixed stop” to the PLC,
the NC will wait for an acknowledgment by the PLC via the
IS ”Enable traversing to fixed stop” and will then start the traversing motion program-
med.
Bit 1 = 0: After the NC has transmitted the IS ”Fixed stop reached” to the PLC, the
block change will take place.
Bit 1 = 1: After the NC has transmitted the IS ”Activate traversing to fixed stop” to the PLC,
the NC will wait for an acknowledgment by the PLC via the
IS ”Acknowledge fixed stop reached”, will then output the torque programmed and will
then carry out the block change.
Related to .... IS ”Activate traversing to fixed stop”
IS ”Enable traversing to fixed stop”
IS ”Fixed stop reached”
IS ”Acknowledge fixed stop reached”
43500 FIXED_STOP_SWITCH
SD number Selection ”Traversing to fixed stop”
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid immediately Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: This setting data can be used to check the function ”Traversing to fixed stop”.
Value =0: Deselect ”Traversing to fixed stop”
=1: Select ”Traversing to fixed stop”
The setting data is overwritten by the part program via the command FXS[x]=1/0.
43510 FIXED_STOP_TORQUE
SD number Clamping torque when traversing to fixed stop
Default: 5.0 Min. input limit: 0.0 Max. input limit: 100.0
Change valid immediately Protection level: 2/2 Unit: %
Data type: DOUBLE Valid from SW release: 2.0
Meaning: This setting data is used to enter the clamping torque as a percentage of the maximum motor tor-
que
(with feed drives, corresponds to the percentage of the max. current setpoint).
Make sure that a clamping torque greater than 100% may exist only for a short time; otherwise, the
43520 FIXED_STOP_WINDOW
SD number Fixed-stopmonitoring window
Default: 1.0 Min. input limit: 0.0 Max. input limit: ***
Change valid immediately Protection level: 7/7 Unit: mm, degrees
Data type: DOUBLE Valid from SW release: 2.0
Meaning: The fixed-stop monitoring window is entered in this machine data.
This setting data is only effective if the fixed stop has been reached.
The fixed stop is deemed to be reached if
the IS ”Fixed stop reached” is set by the NC in the MD 37060: FIXED_STOP_ACKN_MASK,
Bit 1 = 0: (no acknowledgment required);
Bit 1 = 1: (acknowledgment required) the IS ”Fixed stop reached” is set by the NC
and an acknowledgment is provided via the IS ”Acknowledge fixed stop re-
ached”.
If the position at which the fixed stop has been detected is left by a value more than the tolerance
specified in the SD43520: FIXED_STOP_WINDOWDEF, the alarm
20093 ”Fixed-stop monitoring has tripped” is output, and the function ”FXS” is deselected.
The command FXSW[x] results in a block-synchronous change of this setting data.
Furthermore, this setting data can be changed by the operator.
Otherwise, if ”Traversing to fixed stop” is active, the value specified in the MD: FI-
XED_STOP_WINDOW_DEF is accepted into the setting data.
Related to .... MD 37020: FIXED_STOP_WINDOW_DEF (default setting for the fixed-stop monitoring window)
Signals to axis/spindle
Signal status 0 or signal The function ”Traversing to fixed stop” is not active.
transition 1 - - -> 0
Signal status 0 or signal The fixed stop was even not yet reached after the function ”FXS” has been selected.
transition 1 - - -> 0
Machine data
Number Identifier Name Ref.
axis-specific
37000 FIXED_STOP_MODE Mode ”Traversing to fixed stop”
37002 FIXED_STOP_CONTROL Special functions when traversing to fixed stop
37010 FIXED_STOP_TORQUE_DEF Clamping torque default setting
37012 FIXED_STOP_TORQUE_RAMP_TIME Time required to reach the new clamping torque
when traversing to fixed stop
37020 FIXED_STOP_WINDOW_DEF Default setting for the fixed-stop monitoring win-
dow
37030 FIXED_STOP_THRESHOLD Threshold for fixed-stop detection
37040 FIXED_STOP_BY_SENSOR Fixed-stop detection via sensor
37050 FIXED_STOP_ALARM_MASK Enabling of the fixed-stop alarms
37060 FIXED_STOP_ACKN_MASK Observing PLC acknowledgments for traversing to
fixed stop
Setting data
With SINUMERIK 802D, these functions are options and are available with software release
2.0 and higher.
Range of application
The control system transforms programmed traversing instructions from a Cartesian coordi-
nate system into a real coordinate system.
The TRANSMIT transformation is used for the end-face milling machining of turned parts on
turning machines (without Y machine axis).
The TRACYL transformation is used for the machining of peripheral surfaces of cylindrical
bodies. The main application is the milling of grooves. One TRACYL variant is intended for
turning machines. A second variant is intended for turning machines with an additional Y ma-
chine axis or for milling machines with a suitable rotary table.
Machine requirements
The turning machine must possess a main spindle which is able to be operated as a C axis. A
2nd spindle must be able to drive the milling tool.
When working with TRACYL, the milling machine must possess a rotary table which is able to
interpolate with the other axes.
Availability
The functions TRANSMIT and TRACYL are available if the relevant option is installed. They
are configured via separated machine data blocks and activated/deactivated via special state-
ments in the program.
With SINUMERIK 802D, a maximum of two kinematic transformations (TRANSMIT, TRACYL)
can be configured; one of them can be activated via the program.
18.2 TRANSMIT
18.2.1 Overview
CM Y X XM
ÏÏÏ
ASM
Z ZM
Programming principle
N10 G0 X... Z... SPOS=... ; Park positions; spindle in position control
N20 G17 G94 T... ; Plane, feedrate type, select milling tool
N30 SETMS(2) ; Switching over: master spindle is now milling spindle
N40 TRANSMIT ; Activate TRANSMIT
N50 G1 G41 F200 X... Y... Z... M3 S... ; Milling of the end face with cutter radius compensation
...
N90 G40 ...
N100 TRAFOOF ; Deactivate TRANSMIT
N110 G18 G95 T... ; Switching back to turning
N120 SETMS ; Master spindle is main spindle
Explanation:
Depending on the programmed X-Y path (straight line or path), the machine axes XM and CM
move such that the contour at the end face of the turned part is created by the milling tool.
The programmed Z axis (infeed) is continued to be traversed as a Z axis.
General
The transformation function TRANSMIT is configured via appropriate settings in the machine
data.
Note:
The Toolbox for SINUMERIK 802D offers a file with default machine data. By specifying ap-
propriate values and loading this file into the control system, a quick start-up of TRANSMIT is
possible.
Note
The machine axis names, channel axis names and geometry axis names specified for transforma-
tions must be different:
MD 10000: AXCONF_MACHAX_NAME_TAB,
MD 20080: AXCONF_CHANAX_NAME_TAB,
MD 20060: AXCONF_GEOAX_NAME_TAB.
Exception with TRANSMIT:
The axis names of MD 20060 and MD 20080 (geometry and channel axes) can be the same for the
transformation TRANSMIT, e.g.: X, Y, Z. There is no Y axis if the transformation is not enabled.
Y
Tx X
Tz
Tool zero
Ty Z
Fig. 18-3 Position of the tool zero with reference to the origin of the Cartesian coordinate
system (turning center)
18.3 TRACYL
18.3.1 Overview
CM
ÈÈ
ÈÈ
ASM XM
ZM
Legend:
Fig. 18-4 Machining a groove on a cylinder peripheral surface using X-C-Z kinematics
CM
YM
È
XM
ASM
ZM
Legend:
Fig. 18-5 Machining a groove on a cylinder peripheral surface using X-Y-Z-C kinema-
tics
ÏÏÏ
ÏÏÏÏÏ
ÏÏ ËËË ËË ÏÏ
ÏÏ
ÏÏ
ÏÏ
ÏÏÏÏÏ ËËË ËË
ËËË ËË ÏÏ
ÏÏ
Programming principle
; without YM axis The geometry axes X, Y, Z are programmed
N10 G0 X... Z... SPOS=... ; Park positions; spindle in position control
N20 G19 G94 T... ; Plane, feedrate type, select milling tool
N30 SETMS(2) ; Switching over: Master spindle is now milling spindle
N40 TRACYL(24.876) ; Activation of TRACYL; diameter: 24.876 mm
N50 G1 F200 X... M3 S... ; Infeed, turning on the milling spindle
N600 G41 F200 Y... Z... ; Milling of the cylinder peripheral surface with
cutter radius compensation
...
N90 G40 ...
N100 TRAFOOF ; Deactivate TRACYL
N110 G18 G95 T... ; Switching back to turning
N120 SETMS ; Master spindle is main spindle
Explanation:
Depending on the programmed Y-Z path (straight line or path), the machine axes ZM and CM
move such that this contour is created by the milling tool on the peripheral surface of the cylin-
drical workpiece. The programmed X axis (infeed) is continued to be traversed as an X axis.
0
Z
d*π
Groove
Address OFFN
Distance of the groove side wall to the reference contour (see also ”Programming example
TRACYL”)
Programming: OFFN=... ; Distance in mm
Usually, the groove center line is programmed. OFFN defines the groove width when working
with cutter radius compensation (G41, G42). Set OFFN=0 after manufacturing the groove.
General
The transformation function TRACYL is configured via appropriate settings in the machine
data.
Note:
The Toolbox for SINUMERIK 802D offers a file with default machine data. By specifying ap-
propriate values and loading this file into the control system, a quick start-up of TRACYL is
possible.
Note
The machine axis names, channel axis names and geometry axis names specified for trans-
formations must be different:
MD 10000: AXCONF_MACHAX_NAME_TAB,
MD 20080: AXCONF_CHANAX_NAME_TAB,
MD 20060: AXCONF_GEOAX_NAME_TAB.
Exception with TRACYL:
The axis names of MD 20060 and MD 20080 (geometry and channel axes) can be the same
for the transformation TRACYL (e.g.: X, Y, Z) if there is no Y axis if the transformation is not
enabled. This is generally the case with turning machines.
Y
b
a
Angle a-b in degrees
Fig. 18-8 Position of the rotation of the axis in the cylinder peripheral surface
Ty
Tx
0 Z
Y
X Tz
YC
Tool zero
Fig. 18-10 Position of the tool zero with regard to the machine zero
Example: Machine data settings required for TRACYL on a standard turning machine
; general settings (here axis names: XM->X1, ZM->Z1, CM->SP1):
N10000 $MN_AXCONF_MACHAX_NAME_TAB[0]=”X1”
N10000 $MN_AXCONF_MACHAX_NAME_TAB[1]=”Z1”
N10000 $MN_AXCONF_MACHAX_NAME_TAB[2]=”SP1”
N10000 $MN_AXCONF_MACHAX_NAME_TAB[3]=”SP2”
N10000 $MN_AXCONF_MACHAX_NAME_TAB[4]=””
N20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[0]=1
N20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[1]=0
N20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[2]=2
N20060 $MC_AXCONF_GEOAX_NAME_TAB[0]=”X”
N20060 $MC_AXCONF_GEOAX_NAME_TAB[1]=”Y”
N20060 $MC_AXCONF_GEOAX_NAME_TAB[2]=”Z”
N20070 $MC_AXCONF_MACHAX_USED[0]=1
N20070 $MC_AXCONF_MACHAX_USED[1]=2
N20070 $MC_AXCONF_MACHAX_USED[2]=3
N20070 $MC_AXCONF_MACHAX_USED[3]=4
N20070 $MC_AXCONF_MACHAX_USED[4]=0
N20080 $MC_AXCONF_CHANAX_NAME_TAB[0]=”X”
N20080 $MC_AXCONF_CHANAX_NAME_TAB[1]=”Z”
N20080 $MC_AXCONF_CHANAX_NAME_TAB[2]=”C”
N20080 $MC_AXCONF_CHANAX_NAME_TAB[3]=”SP2”
N20080 $MC_AXCONF_CHANAX_NAME_TAB[4]=””
N20090 $MC_SPIND_DEF_MASTER_SPIND=1
; Transformation type TRACYL for the 2nd transformation:
N24200 $MC_TRAFO_TYPE_2=512 ; = without groove wall compensation (no YM axis)
N24210 $MC_TRAFO_AXES_IN_2[0]=1
N24210 $MC_TRAFO_AXES_IN_2[1]=3
N24210 $MC_TRAFO_AXES_IN_2[2]=2
N24210 $MC_TRAFO_AXES_IN_2[3]=0
N24210 $MC_TRAFO_AXES_IN_2[4]=0
N24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0]=1
N24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1]=3
N24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2]=2
; Special TRACYL settings:
N24900 $MC_TRACYL_ROT_AX_OFFSET_1=0
N24910 $MC_TRACYL_ROT_SIGN_IS_PLUS_1=1
N24920 $MC_TRACYL_BASE_TOOL_1[0]=0
N24920 $MC_TRACYL_BASE_TOOL_1[1]=0
N24920 $MC_TRACYL_BASE_TOOL_1[2]=0
; Setting data for the special cases of tool compensation:
; (only if necessary)
N42940 $SC_TOOL_LENGTH_CONST=18
N42950 $SC_TOOL_LENGTH_TYPE=2
; Settings for the 2nd spindle (milling spindle of the turning machine):
N30300 $MA_IS_ROT_AX[AX4]=1
N30310 $MA_ROT_IS_MODULO[AX4]=1
N30320 $MA_DISPLAY_IS_MODULO[AX4]=1
N35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX4]=2
N43300 $SA_ASSIGN_FEED_PER_REV_SOURCE[AX4]=0
Note: Special handling of milling tools on turning machines is only possible with regard to the
length compensation. Reference: Chapter ”Tool: Compensation and Monitoring”
Contour
A groove which is wider than the tool is created by programming the direction of the compen-
sation (G41, G42) and the distance of the groove side wall to the reference contour relatively
to the programmed reference contour via the address OFFN=... .
Tool radius
The tool radius is taken into account automatically with reference to the groove side wall using
G41, G42. The full functionality of the tool radius compensation in the plane is provided (conti-
nuous transition at external and internal corners, as well as detection of bottle neck problems).
50 100 115
0 Z
N100
10
N80
OFFN N70
N60
N105
OFFN
70
N110 Path II
N120
D x Pi =
40 x 3.1415
= 125.664
Y Programmed path
Peripheral surface
Fig. 18-11 Groove with groove wall compensation - diagram above as an example
20140 TRAFO_RESET_VALUE
MD number Transformation active after RESET
Default: 0 Min. input limit: 0 Max. input limit: 2
Change valid after RESET Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: Definition of the transformation data record selected during power-up and at
Reset or at the end of the part program
(depending on the machine data $MC_RESET_MODE_MASK and when starting the part program
depending on the machine data $MC_START_MODE_MASK).
22534 TRAFO_CHANGE_M_CODE
MD number M code when switching the transformation for the geometry axes
Default: 0 Min. input limit: 0 Max. input limit: 99999999
Change valid after Power On Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release: 2.0
Meaning: Number of the M code output at the VDI interface when switching the transformation for the geo-
metry axes.
If this MD has one of the values 0 to 6, 17, 30, no M code is output.
No monitoring is carried out whether an M code created in this way results in conflicts with other
functions.
24100 TRAFO_TYPE_1
MD number Type of the 1st transformation
Default: 0 Min. input limit: 0 Max. input limit: 2048
Change valid after NEW_CONF Protection level: 2/2 Unit:
Data type: DWORD Valid from SW release: 2.0
Meaning: Transformation type of the 1st transformation:
0 No transformation
256 TRANSMIT transformation
512 TRACYL transformation
513 TRACYL transformation with X -Y -Z -C kinematics
24110 TRAFO_AXES_IN_1[i]
MD number Axis assignment for transformation 1 [axis index]: 0 ... 4
Default: 1,2,3,4,5 Min. input limit: 1 Max. input limit: 5
Change valid after NEW_CONF Protection level: 2/2 Unit:
Data type: BYTE Valid from SW release: 2.0
24110 TRAFO_AXES_IN_1[i]
MD number Axis assignment for transformation 1 [axis index]: 0 ... 4
Meaning: Axis assignment at the input of the 1st transformation
Example - Transmit:
With TRANSMIT, the index ”i” will receive the values 0,1, 2.
$MC_TRAFO_AXES_IN_1[0]= Channel axis number of the axis vertically to the rotary axis
$MC_TRAFO_AXES_IN_1[1]= Channel axis of the rotary axis
$MC_TRAFO_AXES_IN_1[2]= Channel axis of the axis parallel to the rotary axis
Example for TRACYL: see Chapter ”TRACYL”
MD not relevant with ...... No transformation
Related to .... TRAFO_AXES_IN_2
24120 TRAFO_GEOAX_ASSIGN_TAB_1[i]
MD number Assignment of the geometry axes to the channel axes with transformation 1
[geometry axis number]: 0 ... 2
Default: 0,0,0 Min. input limit: 0 Max. input limit: 5
Change valid after NEW_CONF Protection level: 2/4 Unit:
Data type: BYTE Valid from SW release: 2.0
Meaning: If a transformation 1 is active, this MD specifies to which channel axes the axes of the Cartesian
coordinate system are imaged.
With TRANSMIT, the index ”i” will receive the values 0, 1, 2. It refers to the first, second and third
geometry axes.
MD not relevant with ...... No transformation
Application example(s) $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]= 2 ; 2nd channel axis
Related to .... $MC_AXCONF_GEOAX_ASSIGN_TAB if no transformation is active
24200 TRAFO_TYPE_2
MD number Type of transformation
Default: 0 Min. input limit: 0 Max. input limit: 2048
Change valid after NEW_CONF Protection level: 2/2 Unit:
Data type: DWORD Valid from SW release: 2.0
Meaning: as with TRAFO_TYPE_1, but for transformation 2
24210 TRAFO_AXES_IN_2[i]
MD number Axis assignment for transformations 2/3/4/5/6/7/8 [axis index]: 0 ... 4
Default: 1,2,3,4,5 Min. input limit: 1 Max. input limit: 5
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: Axis assignment at the input of the 2ndtransformation
Meaning as TRAFO_AXES_IN_1
24220 TRAFO_GEOAX_ASSIGN_TAB_2[i]
MD number Assignment of the geometry axes to the channel axes with transformation 2
[geometry axis number]: 0 ... 2
Default: 0,0,0 Min. input limit: 0 Max. input limit: 5
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: BYTE Valid from SW release: 2.0
Meaning: If a transformation 2 is active, this MD specifies to which channel axes the axes of the Cartesian
coordinate system are imaged.
In all the other respects, the meaning of this machine data is as with TRAFO_GEOAX_AS-
SIGN_TAB_1.
24900 TRANSMIT_ROT_AX_OFFSET_1
MD number Position offset of the rotary axis
Default: 0 Min. input limit: 0 Max. input limit: 360
Change valid after NEW_CONF Protection level: 2/2 Unit: degrees
Data type: DOUBLE Valid from SW release: 2.0
Meaning: specifies the offset of the rotary axis in degrees with reference to the zero position for the TRANS-
MIT transformation when TRANSMIT is active
MD not relevant with ...... No TRANSMIT active
Application example(s) $MC_TRANSMIT_ROT_AX_OFFSET_1=15.0
24910 TRANSMIT_ROT_SIGN_IS_PLUS_1
MD number Sign of the rotary axis
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release: 2.0
Meaning: specifies for the TRANSMIT transformation with which sign the rotary axis is taken into account
with the TRANSMIT transformation
MD not relevant with ...... No TRANSMIT transformation
Application example(s) $MC_TRANSMIT_ROT_SIGN_IS_PLUS_1= 1
24911 TRANSMIT_POLE_SIDE_FIX_1
MD number Limitation of the working area before/after the pole
Default: 0 Min. input limit: 0 Max. input limit: 2
Change valid after NEW_CONF Protection level: 2/2 Unit:
Data type: BYTE Valid from SW release: 2.0
Meaning: Limitation of the working area before/after the pole or no limitation, i.e. passing the pole
The values assigned have the following meaning:
0: No limitation of the working area; passing the pole
24920 TRANSMIT_BASE_TOOL_1[i]
MD number Vector of the basic tool when activating the transformation [geo axis index]]: 0 ... 2
Default: 0 Min. input limit: 0 Max. input limit:
Change valid after NEW_CONF Protection level: 2/2 Unit: mm
Data type: DOUBLE Valid from SW release: 2.0
Meaning: specifies the distance of the tool zero with reference to the geometry axes active in TRANSMIT if
TRANSMIT is active, without a length compensation selected
Programmed tool length compensations act additively to the basic tool.
The index ”i” receives the values 0, 1, 2 for the 1st to 3rd geometry axes.
MD not relevant with ...... No TRANSMIT transformation
Application example(s) $MC_TRANSMIT_BASE_TOOL_1[0]=20.0
24800 TRACYL_ROT_AX_OFFSET_1
MD number Offset of the rotary axis for the TRACYL transformation
Default: 0 Min. input limit: *** Max. input limit: ***
Change valid after NEW_CONF Protection level: 2/2 Unit: degrees
Data type: DOUBLE Valid from SW release: 2.0
Meaning: specifies the offset of the rotary axis in degrees with reference to the zero position the first agreed
TRACYL transformation for each channel if TRACYL is active
MD not relevant with ...... No TRACYL active
Application example(s) $MC_TRACYL_ROT_AX_OFFSET_1=15.0
24810 TRACYL_ROT_SIGN_IS_PLUS_1
MD number Sign of the rotary axis for the TRACYL transformation
Default: 1 Min. input limit: 0 Max. input limit: 1
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Data type: BOOLEAN Valid from SW release: 2.0
Meaning: specifies for the TRACYL transformation with which sign the rotary axis is taken into account with
the TRACYL transformation
MD not relevant with ...... No TRACYL transformation
Application example(s) $MC_TRACYL_ROT_SIGN_IS_PLUS_1 = 1
24820 TRACYL_BASE_TOOL_1[i]
MD number Vector of the basic tool when activating the TRACYL transformation [geo axis index]: 0 ... 2
Default: 0 Min. input limit: 0 Max. input limit:
Change valid after NEW_CONF Protection level: 2/2 Unit: mm
Data type: DOUBLE Valid from SW release: 2.0
Meaning: specifies the distance of the tool zero with reference to the geometry axes active in TRACYL if
TRACYL is active, without a length compensation selected
Programmed tool length compensations act additively to the basic tool.
The index ”i” receives the values 0, 1, 2 for the 1st to 3rd geometry axes.
MD not relevant with ...... No TRACYL transformation
Application example(s) $MC_TRACYL_BASE_TOOL_1[0]=tx
Machine data
Number Identifier Name Ref.
channel-specific
20110 RESET_MODE_MASK Definition of the control initial position after power -
up and RESET/end of part program (access only in
protection level 1/1)
20140 TRAFO_RESET_VALUE Initial position : Transformation active after RESET
22534 TRAFO_CHANGE_M_CODE M code when switching the transformation for the
geometry axes
24100 TRAFO_TYPE_1 Type of the 1st transformation, possibly with axis
sequence
24110 TRAFO_AXES_IN_1 Axis assignment at the input of the 1st transforma-
tion
24120 TRAFO_GOEAX_ASSIGN_TAB_1 Assignment of the geometry axes with the 1st
transformation
24200 TRAFO_TYPE_2 Type of the 2ndtransformation, possibly with axis
sequence
24210 TRAFO_AXES_IN_2 Axis assignment at the input of the 2ndtransforma-
tion
24220 TRAFO_GOEAX_ASSIGN_TAB_2 Assignment of the geometry axes with the
2ndtransformation
24800 TRACYL_ROT_AX_OFFSET_1 Deviation of the rotary axis from the zero position in
degrees (1st TRACYL )
24810 TRACYL_ROT_SIGN_IS_PLUS_1 Sign of the rotary axis with TRACYL (1st TRACYL)
24820 TRACYL_BASE_TOOL_1 Distance of the tool zero from the origin of the geo-
metry axes (1st TRACYL)
24900 TRANSMIT_ROT_AX_OFFSET_1 Deviation of the rotary axis from the zero position in
degrees (1stTRANSMIT)
24910 TRANS- Sign of the rotary axis with TRANSMIT (1st
MIT_ROT_SIGN_IS_PLUS_1 TRANSMIT)
24911 TRANSMIT_POL_SIDE_FIX_1 Limitation of the working area before/after the pole,
1st transformation
24920 TRANSMIT_BASE_TOOL_1 Distance of the tool zero from the origin of the geo-
metry axes (1st TRANSMIT)
Brief description
This Description of Functions describes the functionalities of various interface signals that are
of general importance and are not described in other Descriptions of Functions.
Interfaces
The exchange of signals and data between the PLC user program and
NCK (Numerical Control Kernel)
HMI (display unit)
is carried out via various data areas. The PLC user program need not take care of the ex-
change. From the user’s view, this is carried out automatically.
Signals to NC
General
Signals from NC
User
program
Operating Modes
Signals to NCK
Operating
Modes
Signals from NCK
Channel
Signals to NCK
Signals to NCK
Chan- Signals from NCK
nel Signals from NCK
Spindle (n+1)
Axis n
Axis 2
Axis, Axis 1
spindle
Signals to NCK
Access rights
The access to programs, data and functions is protected user-oriented by 8 hierarchical
protection levels. These protection levels are divided into:
4 password protection levels for Siemens, machine manufacturer (2x) and end user
4 protection levels for end users (interface signals V26000000.4 to .7)
This provides a safety concept to manage the access rights, which contains several levels.
See also Start-Up Guide, Section “Access rights”
IS ”Follow-up mode” = 1:
If the IS ”Servo enable” is canceled, the position setpoint value of the relevant axis is followed
up the actual value continuously. This state is signaled to the PLC using the IS ”Follow-up
active” (V390x 0001.3). If the IS ”Servo enable” is then set again, a repositioning to the last
programmed position is carried out internally in the control system if a part program is active
(REPOSA: Approach on a straight path with all axes).
Otherwise:
the axis motion will start at the new actual position possibly changed.
IS ”Follow-up mode” = 0:
If the IS ”Servo enable” is canceled, the old position setpoint value is maintained. If the axis is
pushed off its position, a following error between the position setpoint value and the position
actual value occurs, which is compensated by the control system when the IS ”Servo enable”
is set. The axis motion starts at the setpoint position which existed before ”Servo enable” was
canceled.
In ”Stop” state, the IS ”Follow-up active” (V390x 0001.3) is at 0.
Clamping or zero speed monitoring are active.
Once the actual velocity reaches the standstill range, Servo Enable will be canceled.
Checkback message to PLC with IS ”Speed controller active” (V390x0001.6) = 0 signal.
The servo enable of the drive is canceled at the latest after expiration of the time defined in
MD 36620: SERVO_DISABLE_DELAY_TIME.
Caution: If you have set the servo enable shutdown delay too small, servo enable will be
disabled even if the axis/spindle is still traversing/rotating. It will then suddenly be stopped
with setpoint 0.
The actual position value of the axis/spindle will still be acquired by the control system.
This state of the axis/spindle can only be changed after RESET.
Interpolation axis group:
All axes involved in the interpolation will be stopped if Servo Enable is disabled for one of the
axes involved.
The axes are stopped as described above. All axes of the geometry group will be stopped
with rapid stop. In addition, alarm 21612 ”Servo enable reset during the movement” is output.
An execution of the NC program is then no longer possible.
Program number (VB1700 1000) (not available for 802D base line)
A defined program number is transferred from PLC to HMI if an NC program is to be selected from
the PLC. The currently selected NC program can be saved and also reselected via the command
interface (see VB 1700 1001).
With SINUMERIK 802D, programs are managed via their names (STRING). To assign a program
number to a program name, the file PLCPROG.LST has been implemented in the control. In this
assignment list, program numbers for a maximum of 255 programs can be defined and assigned.
The use of the numbers is divided according to the protective areas of the programs:
1 to 100: User area (protection level of the end user)
101 to 200: Machine manufacturer (protection level of the machine manufacturer)
201 to 255: SIEMENS (SIEMENS protection level).
The file PLCPROG.LST can be edited under the lower end user protection level using the following
operation: System -> PLC -> Program list, or using the normal program editor
(Program Manager -> User cycles). For the editor, however, it is recommended to set at least the
machine manufacturer protection level. This file can also be created externally and be loaded into
the control system via PCIN Tool / V.24 interface. This must be done observing the following
structure rule, with the header entry first:
%_N_PLCPROG_LST
;$PATH=/_N_CUS_DIR
Each line contains two colums. These are separated either via TAB, by spaces or via the
“ | “ character. The first column contains the program number, and the second column the
program name.
Example:
%_N_PLCPROG_LST
;$PATH=/_N_CUS_DIR
1|BOHR2.MPF
2|PUMPT14.MPF
54|BOHR3.MPF
“Program number” (VB 1700 1000) is related to the IS “Program has been selected“ (V1700 2000.0)
and to the IS “Error selecting the program” (V1700 2000.1).
The program selection is started from the PLC by writing a program number >0. As soon as the HMI
detects a program number >0, it starts the internal processing of this task and sets the program
number (VB 1700 1000) to 0. The PLC waits until the acknowledgement signal has arrived from
HMI: V1700 2000.0 or V1700 2000.1 and evaluates them immediately. The program number and
acknowledgement signals provide a PLC cycle after they have received an acknowledgement cycle
and are then deleted by the PLC system automatically.
Command (VB 1700 1001) (not available for 802D base line)
A command task is here passed from the PLC to the HMI.
Table 19-2
Command Action
0 none
1 Save name of the selected program
2 Select program with the saved program name
“Command” (VB 1700 1001) is related to the IS “Command performed” (V1700 2001.0) and to the
IS “Error performing command” (V1700 2001.1). The PLC task is started with the writing of
Command >0. As soon as the HMI detects a Command >0, it starts the internal processing of this
task and sets the command (VB 1700 101) to 0.
The PLC waits until it receives the acknowledge signal from the HMI: V1700 2001.0 or
V1700 2001.1 and evaluates this signal immediately. The acknowledge signals are available for one
PLC cycle after receiving of the acknowledge signal and are then deleted automatically by the PLC
operating system.
Program has been selected (V1700 2000.0) (not available for 802D base line)
HMI signals to the PLC that the requested NC program has been selected successfully. This signal
provides a PLC cycle. It is related to VB1700 1000.
Error selecting the program (V1700 2000.1) (not available for 802D base line)
HMI signals to the PLC that the selection of the requested NC program has failed. This signal
provides a PLC cycle. It is related to VB1700 1000.
Command performed (V1700 2001.0) (not available for 802D base line)
HMI signals to the PLC that the command has been performed successfully. This signal provides a
PLC cycle. It is related to the VB1700 1001.
Error performing command (V1700 2001.1) (not available for 802D base line)
HMI signals to the PLC that the performing of the requested command has failed. This signal
provides a PLC cycle. It is related to the VB1700 1001.
Note
All empty fields in the user interface are “Reserved for Siemens” and may not be filled out or
evaluated!
Fields marked with “0” must always be loaded with the value “logic 0”.
Anny references on the description of the interface signals always refer to the appropriate
Chapters/Sections of the Description of Functions and are specified with [F “Chapter/Section
No.”].
Note
Some interface signals are not available for 802D base line. These signals
are marked “***)” .
***) These signals are not available for 802D base line.
***) These signals are not available for 802D base line.
***) These signals are not available for 802D base line.
***) These signals are not available for 802D base line.
2600 0002
2600 0003
Notes: 1) see operating mode signals
Axis 2 in WCS
3200 1005 Machine functions 1) [9.6.3]
Continuous INCvar. INC10 000 INC1000 INC100 INC10 INC1
traversing
3200 1006
3200 1007
Geometry axis 3 (axis in WCS)
3200 1008 Traversing keys Rapid tra- Traversing Feed stop Activate handwheel
verse over- key lock
+ - ride 3 2 1
[F9.6.3] [F9.6.3] [F9.6.3] [F9.6.3] [F11.5.1] [F9.6.3] [F9.6.3] [F9.6.3]
***) These signals are not available for 802D base line.
3300 1006
3300 1007
Geomery axis 3 (axis 3 in WCS)
3300 1008 Travel command Handwheel active
plus minus 3 2 1
[F9.6.3] [F9.6.3] [F9.6.3] [F9.6.3] [F9.6.3]
3300 1009 Active machine function [9.6.3]
Continuous INCvar. INC10 000 INC1000 INC100 INC10 INC1
traversing
3300 1010
3300 1011
Note:
With SINUMERIK 802D, G group 2 is transferred in VB3500 0001 as an active G command with the
values
0: - no G command of group 2 active,
1: G4, 2: G63, 3: G74, 4: G75, 11: G147, 12: G247,
13: G347, 14: G148, 15: G248, 16: G348 (remaining values: not avai-
lable with SINUMERIK 802D; default setting).
Other settings are possible with MD 22510: see Section 21.3.
At the end of the NC program or when aborting the NC program, the last status of the groups is
kept. The meaning of the G commands is explained in
Reference: “Programming and Operation“, Chapter “Overview of Statements“
Please note: It is not guaranteed that an PLC user program provides a block -synchronous interre-
lation between active NC block and existing G code. The interrelation is not provided, e.g. when
working with short blocks (as the time regards) in the continuous -path mode (G64).
Signals to axis
Signals to spindle
Signals to drive
380x 4003
***) These signals are not available for 802D base line.
390x 2003
Note: For information on PLC alarms including the configuration of user alarms, please refer
to: References: “Start-up Guide”, Section “PLC alarms”
Note: the organization if this data area is the sole and only responsibility of the application
programmers of NCK and PLC. Data type, position offset and meaning of the variables must
be agreed. The memory area limits per variable must be observed according to the variable
type concerned (1, 2 or 4-byte types).
For further information, please refer to:
References: “Programming and Operation“, Section “Reading and writing of PLC varia-
bles“
***) These signals are not available for 802D base line.
***) These signals are not available for 802D base line.
Note: The axis actual values and dustances to go can be requested separately:
- V2600 0001.1 Request axis actual values
- V2600 0001.2 Request distances to go along the axes
If the appropriate request is set, the required values are delivered from NCK for all axes.
202 FIRST_LANGUAGE
MD number First language
Default: 1 Min. input limit: 1 Max. input limit: 2
Change valid: immediately Protection level: 2/3 Unit: -
Date type: BYTE Valid from SW release:
Meaning: This machine data can be used to set the language (1 or 2) automatically displayed after each
system power up.
With the SINUMERIK 802D, 2 languages can be used at a time. Other languages implemented
in the control system in the delivery status can be loaded during start-up.
It is also possible to switch over the language temporarily using the appropriate softkey in the
“System” operating area. After Power On, the language set using this MD will be active again.
Further references ”Operation and Programming“
203 DISPLAY_RESOLUTION
MD-Nummer Display resolution
Default: 3 Min. input limit: 0 Max. input limit: 5
Change valid: immediately Protection level: 2/3 Unit: -
Date type: BYTE Valid from SW release:
Meaning: This machine data is used to define the number of decimal places for the position display of
linear axes if a metric system is used and, generally, for rotary axes.
Spindle positions are treated as rotary axes positions.
The position is displayed with a maximum of 10 characters including sign and decimal point.
A positive sign is not displayed.
By default, 3 places after the decimal point are displayed
MD value=3: Display unit = 10 - 3 [mm] or [degrees]
Related to .... MD 10200: INT_INCR_PER_MM bzw. MD 10210: INT_INCR_PER_DEG
204 DISPLAY_RESOLUTION_INCH
MD number Display unit for inch scaling system
Default: 4 Min. input limit: 0 Max. input limit: 5
Change valid: immediately Protection level: 2/3 Unit: -
Date type: BYTE Valid from SW release:
Meaning: This machine data is used to define the number of decimal places for linear axes if an inch sca-
ling system is used.
The position is displayed with a maximum of 10 characters including sign and decimal point. A
positive sign is not displayed.
By default, 4 places after the decimal point are displayed
MD value=4: Display unit = 10 - 4 [inch]
For rotary axes and spindle positions, the display remains as defined acc. to MD 203.
Related to .... MD 10200: INT_INCR_PER_MM, MD 203: DISPLAY_RESOLUTION
205 DISPLAY_RESOLUTION_SPINDLE
MD number: Display unit for spindle values
Default: 1 Min. input limit: 0 Max. input limit: 5
Change valid: immediately Protection level: 2/3 Unit: -
Date type: BYTE Valid from SW release:
Meaning: This machine data defines the number of decimal places for the display of the spindle speed.
The display is carried out with a max. of 10 characters including sign and decimal point. A posi-
tive sign is not displayed.
By default 1 place after the decimal point is displayed
MD value=1: display resolution = 10 - 1
10000 AXCONF_MACHAX_NAME_TAB[0]...[4]
MD number Machine axis name
Default: Min. input limit: a letter Max. input limit: 15 characters
Turning: (”X1”, “Z1”, “SP”, “A1”, “B1”) starting with a letter,
Milling: (”X1”, “Y1”, “Z1”, “SP”, “A1”) 16th character reserved (end of string)
Change valid after Power On Protection level: 2/2 Unit: -
Date type: STRING Valid from SW release:
Meaning: The name of the machine axis is entered in this machine data.
A “free” machine axis identifier that has been entered (axis name) may not be a name,
address, vocabulary word or predefined identifier already used by the control system or
which is reserved for a different functionality (e.g.: SPOS, DIAMON, ...).
Note: Not the entire functionality of the SINUMERIK 802D control system is documented; a free
axis name may therefore only be used conditionally.
Special cases, errors, ...... For machine axes, the following is recommended:
X1, Y1, Z1, U1, V1, W1, Q1 for linear axes,
A1, B1, C1 for rotary axes
Related to .... MD 20060: AXCONF_GEOAX_NAME_TAB (geometry axis name)
MD 20080 :AXCONF_CHANAX_NAME_TAB (channel axis name)
10074 PLC_IPO_TIME_RATIO
MD number Factor of PLC task for power up (IPO)
Default: 2 Min. input limit: 1 Max. input limit: 50
Change valid after: Power On Protection level: 2/2 Unit: -
Date type: DWORD Valid from SW release:
Meaning: Division ratio between IPO and PLC task.
For example, a value of 2 means that the PLC task is only processed in every second IPO cy-
cle. The PLC cycle time thus amounts to 2 IPO times. Thus, more runtime is provided for the
other tasks.
The PLC runtime may not exceed this PLC cycle time; otherwise, an alarm is generated with
PLC STOP.
Application example(s)
10136 DISPLAY_MODE_POSITION
MD number Display mode for actual position in the WCS
Default: 0 Min. input limit: 0 Max. input limit: 1
Change valid after RESET Protection level: 2/2 Unit: -
Data type: DWORD Valid from SW release:
Meaning: specifies how to display both the position and the distance-to-go in the WCS.
1: At the end of the block, the actual value display is basically equal to the programmed end
point, irrespective of the real machine position (e.g. as a result of the tool radius compensation).
The distance-to-go is equal to the distance-to-go to be traversed in fact. Logically, the actual
position displayed must be equal to the end position displayed, minus the distance-to-go, irres-
pective of the real machine position.
If the end-of-block points are modified compared to the NC program by chamfers, radii, contour
definitions, splines or SAR, these modifications are reflected on the display such as if they
would be programmed.
This does not apply to modifications resulting from tool radius compensations or corner roun-
ding.
Application example(s)
11210 UPLOAD_MD_CHANGES_ONLY
MD-Nummer Saving of modified MDs only
Default: 0x0F Min. input limit: 0x00 Max. input limit: 0x0FF
Change valid: immediately Protection level: 2/2 Unit: -
Date type: BYTE Valid from SW release:
Meaning: Differential MD upload selection:
Bit0(LSB) Activation of differential upload with TEA files (machine data files)
0: All data are output
1: Only MDs that have been changed compared with the compiled value are ouput.
Bit1 Activation of differential upload with INI files
0: All data are output
1: Only MDs that have been changed compared with the compiled value are ouput.
Bit2 Change of a field element
0: The complete array is output.
1: Only the modified field elements of an array are output.
Bit3 R parameters (only for INI files)
0: All R parameters are output.
1: Only R parameters unequal to ’0’ are output.
Bit4 Frames (only for INI files)
0: All frames are output.
1: Only frames that are no zero frames are output.
Bit5 Tool data (cutting edge parameters) (only for INIfiles)
0: All tool data are output.
1: Only tool data unequal to ’0’ are output.
14510 USER_DATA_INT[0]...[31]
MD number User data (INT)
Default: 0 Min. input limit: -32768 Max. input limit: 32767
Change valid after Power On Protection level: 3/7 Unit: -
Date type: DWORD Valid from SW release:
Meaning: User machine data; evaluation in PLC (display as an integer number, decimal)
14512 USER_DATA_HEX[0]...[31]
MD number User data (HEX)
Default: 0 Min. input limit: 0 Max. input limit: 0x0FF
Change valid after Power On Protection level: 3/7 Unit: -
Date type: BYTE Valid from SW release:
Meaning: User machine data; evaluation in PLC (display in HEX format)
14514 USER_DATA_FLOAT[0]...[7]
MD number User data (FLOAT)
Default: 0.0 Min. input limit: -3.40e38 Max. input limit: 3.40e38
Change valid after Power On Protection level: 3/7 Unit: -
Date type: DOUBLE Valid from SW release:
Meaning: User machine data; evaluation in the PLC (floating point format, in the PLC limited to the 32-bit
IEEE format)
14516 USER_DATA_PLC_ALARM[0]...[31]
MD number User data (HEX)
Default: 0 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 3/7 Unit: -
Date type: BYTE Valid from SW release:
Meaning: User data; evaluation in PLC (display in HEX format)
20050 AXCONF_GEOAX_ASSIGN_TAB[0]...[2]
MD number Assignment ’Geometry axis / channel axis’
Default: Min. input limit: 0 Max. input limit: 5
Drehen: (1, 0, 2) (0 means that the geometry axis is assi-
Fräsen: (1, 2, 3) gned to none channel axis)
Change valid after Power On Protection level: 2/2 Unit: -
Date type: BYTE Valid from SW release:
Meaning: This MD is used to assigne a geometry axis a channel axis.
The assignment must be made for all 3 geometry axes (X, Y, Z). If no assignment is made for a
geometry axis, value “0” must be entered. Thus, the geometry axis does not exist and cannot be
programmed. For example, with the “Turning” technology, the 2nd geometry axis Y need not be
programmed -> entry: value 0 (see default for turning).
Special cases, errors, ...... It is recommended to assign the first channel axes to the geometry axes.
20070 AXCONF_MACHAX_USED[0]...[4]
MD number Machine axis number valid in the channel
Default: Min. input limit: 0 Max. input limit: 5
Turning: (1, 2, 3, 0, 0) (0 means that the machine axis is assi-
Milling: (1, 2, 3, 4, 5) gned to none channel axis)
Change valid after Power On Protection level: 2/2 Unit: -
Date type: BYTE Valid from SW release:
20070 AXCONF_MACHAX_USED[0]...[4]
MD number Machine axis number valid in the channel
Meaning: This MD is used to assign a channel axis a machine axis.
SINUMERIK 802D has 5 channel axes.
For the axes enabled in the channel, channel identifiers must be specified in
MD 20080: AXCONF_CHANAX_NAME_TAB. These axes can be programmed.
A machine axis that has been assigned to none channel axis is not active, i.e. no axis control, no
display on the screen.
Special cases, errors, ...... Each geometry axis that is to be programmed must be assigned a channel axis und thus indirectly
a machine axis. The remaining axes in the channel (apart from the geometry axes) are the addi-
tional axes; these can also be programmed.
Application example(s) Example of assignments of the machine axes (MA) to channel axes:
AXCONF_MACHAX_USED [0] = 3 ;3rd MA is the 1st axis in the channel
AXCONF_MACHAX_USED [1] = 1 ;1st MA is the 2nd axis in the channel
AXCONF_MACHAX_USED [2] = 5 ;5th MA is the 3rd axis in the channel
AXCONF_MACHAX_USED [3] = 0 ; no assignment
Note: Do not leave gaps!, error example:
AXCONF_MACHAX_USED [0] = 1 ;1st MA is the 1st axis in the channel
AXCONF_MACHAX_USED [1] = 2 ;2nd MA is the 2nd axis in the channel
AXCONF_MACHAX_USED [2] = 0 ;gap in the list ...
AXCONF_MACHAX_USED [3] = 3 ;... of channel axes
Related to .... MD 20080: AXCONF_CHANAX_NAME_TAB[0]...[4] (channel axis name)
20080 AXCONF_CHANAX_NAME_TAB[0]...[4]
MD number Channel axis name
Default: Min. input limit: Max. input limit: 15 characters,
Turning: (”X”, “Z”, “SP”, “ ”, “ ”) a letter or space starting with a letter,
Milling: (”X”, “Y”, “Z”, “SP”, “A”) 16th character reserved (end of string)
Change valid after Power On Protection level: 2/2 Unit: -
Date type: STRING Valid from SW release:
Meaning: The name of the channel axis is entered in this MD.
A channel axis is displayed in the WCS (workpiece coordinate system) using this name. This
name is also used in the program.
As a rule, the first two or three channel axes are used as geometry axes (see also MD 20050:
AXCONF_GEOAX_ASSIGN_TAB). The remaining channel axes are designated as additional
axes.
The SINUMERIK 802D has 5 channel axes.
Special cases, errors, ...... The following is recommended for channel axis names:
X, Y, Z, U, V, W, Q for linear axes,
A, B, C for rotary axes
In case of any deviations from the recommendations above, observe the rules for generating the
axis identifiers (see MD 10000: AXCONF_MACHAX_NAME_TAB).
22510 GCODE_GROUPS_TO_PLC
MD number G functions to PLC
Default: Min. input limit: 0 Max. input limit: 63
2, 0, 0, 0, 0, 0, 0, 0
Change valid after NEW_CONF Protection level: 1/1 Unit: -
Data type: BYTE Valid from SW release: 2.0
22510 GCODE_GROUPS_TO_PLC
MD number G functions to PLC
Meaning: specifies the G code group output to the interface NCK->PLC
The first interface is updated with each block change and after RESET. The initial settings of the G
groups will appear after the program start.
With SINUMERIK 802D, by default, only G group 2 is output withG4, G63, G74, G75, ... A maxi-
mum of 8 G groups can be output. The special protection level 1/1 to change the MD settings,
however, must always be observed.
CAUTION:It is not guaranteed that a PLC user program always provides a block-synchronous
interrelation between active NC block and existing G code. This is the case, e.g. in the
continous-path control mode (G64) when working with short blocks (in time regards)
References: “Programming and Operation“, Chapter “Overview of Statements“
27800 TECHNOLOGY_MODE
MD number Technology in the channel
Default: Min. input limit: 0 Max. input limit: 1
Turning: 1
Milling: 0
Change valid after NEW_CONF Protection level: 2/2 Unit: -
Date type: BYTE Valid from SW release:
Meaning: Selection of the technology for display and operating purposes (HMI)
0: Milling
1: Turning
It is used to provide technology-dependent screen forms and softkeys in HMI.
Special cases, errors, ......
30600 FIX_POINT_POS
MD number Fixed-value positions of the axes with G75
Default: 0.0 Min. input limit: *** Max. input limit: ***
Change valid after Power On Protection level: 2/2 Unit: mm, degrees
Date type: DOUBLE Valid from SW release:
Meaning: This machine data is used to specify the fixed-point position approached when programming
G75.
Application example(s) Travel to fixed point: G75 X1=0
In this case, the machine axis identifier is programmed! The axis must be specified a dummy
value, in this case 0.
Further reference ”Operation and Programming”
33050 LUBRICATION_DIST
MD number Distance to be traversed for the PLC signal lubrication pulse
Default: 100 000 000 Min. input limit: 0.0 Max. input limit: ***
Change valid after: Power On Protection level: 2/7 Unit: mm, degrees
Date type: DOUBLE Valid from SW release:
Meaning: Distance to be traversed to trigger the lubrication pulse
After the distance traversed for the appropriate axis, the status of the axis-specific IS: “Lubrica-
tion pulse“ (V390x 1002.0) is changed. It is thus possible to control a lubrication unit for an axis
from the PLC program depending on the traversed distance.
From Power On, the traversed distance is summed up.
Related to .... IS: “Lubrication pulse” (V390x 1002.0)
S
Scaling system, 3-53
V
Conversion, 3-53 Velocities, 3-49
Switching over manually, 3-55 Velocity reduction according to the overload factor,
Sensing probe function test, 15-296 12-253
Setpoint output, 3-57
Setpoint system, 3-57
Signal, Transformation active, 15-303
W
Signals from NCK to PLC, 19-364
Signals from PLC to HMI, 19-368 Work area limiting, 6-133
Signals from PLC to NCK, 19-360 Working area limitation, 2-35
notice
SIEMENS AG Corrections
A&D MC IS For Publication/Manual
Postfach 3180
SINUMERIK 802D
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Fax +49 9131 / 98 - 2176 [documentation]
Mailto: motioncontrol.docu@erlf.siemens.de) Manufacturer Documentation
Descriptions of Functions
From
Order No.:6FC5697-2AA10-0BP2
Name Edition 11.03
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SINUMERIK 802D
Turning,
Milling
Turning Milling
SINUMERIK 802D
Turning,
Milling
SINUMERIK 802D
Documentation
Turning, SIMODRIVE
Milling 611U
SINUMERIK 802D
Turning,
Milling
Siemens AG
Automatisierungs- und Antriebstechnik
Motion Control Systems
Postfach 3180, D – 91050 Erlangen © Siemens AG 2003
Subject to change without prior notice
Germany
Order No.: 6F5697-2AA10-0BP2