Professional Documents
Culture Documents
2003 Edition
sinumerik
SINUMERIK 802D
SINUMERIK 802D base line
SINUMERIK 802D
Description of Functions
Spindle (S1)
Rotary Axes (R2)
Transverse Axes (P1)
Reference Point Approach (R1)
Manual Traversing and Handwheel Traversing (H1)
Operating Modes, Program Mode
(K1)
Feed (V1)
2
3
4
5
6
7
8
9
10
11
12
13
Glossary, Index
14
15
16
17
18
19
20
21
3ls
SINUMERIK Documentation
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.
Status 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.
Edition
11.00
10.02
11.03
Order No.
6FC5 697-2AA10-0BP0
6FC5 697-2AA10-0BP1
6FC5 697-2AA10-0BP2
Remarks
A
C
C
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.
Siemens - Aktiengesellschaft
Preface
Notes for the reader
The descriptions of functions are only valid for or up to the specified software release. When
new software releases are issued, the relevant descriptions of functions must be requested.
Old descriptions of functions can only partially be used for new software releases.
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:
0 axis 1
1 aixs 2
n axis n+1.
The headlines of the individual chapters/sections are added by a code designation in brakkets (e.g. Chapter 1: EMERGENCY STOP (N2)). This code designation is used in references to individual Chapters/Sections.
Preface
Activation of changes:
Changes in machine data, setting data or the like come not immediately into effect in the control system. The conditions for activation are therefore always specified. The possibilities used
are listed below by their priority:
POWER ON (po)
NEW_CONF (cf)
RESET (re)
immediately (im)
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 Protection level (e.g.: keyswitch position). Protection level 0 cannot be accessed (see Chapter Various 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 documented. 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:
vi
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)
Preface
CTRLOUT_LIMIT[0]
MD number
Default: 110.0
Unit: %
Meaning:
Alarms
For detailed explanations on occurring alarms, please refer to:
References:
Diagnostics Guide.
vii
Contents
Contents
1
viii
1-17
1.1
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-17
1.2
1-18
1.3
1-19
1.4
1-20
1.5
Signal descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-21
1.6
1.6.1
1.6.2
1-22
1-22
1-22
2-23
2.1
2-23
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
2.2.6
2-24
2-24
2-25
2-27
2-27
2-28
2-30
2.3
2.3.1
2.3.2
2-31
2-31
2-32
2.4
2.4.1
2.4.2
2-33
2-33
2-35
2.5
Boundary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-37
2.6
2.6.1
2.6.2
2.6.3
2-38
2-38
2-38
2-44
2.7
2.7.1
Signal description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis/spindle -specific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-45
2-45
2.8
2.8.1
2.8.2
2.8.3
2.8.4
2-47
2-47
2-47
2-48
2-48
3-49
3.1
3.1.1
3.1.2
3.1.3
3.1.4
3-49
3-49
3-50
3-51
3-52
3.2
3.2.1
3.2.2
3-53
3-53
3-55
3.3
3.3.1
Setpoint/actual-value system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-57
3-57
Contents
3.3.2
3.3.3
3.3.4
3.3.5
3-58
3-59
3-62
3-63
3.4
3-65
3.5
3.5.1
3.5.2
3.5.3
3-68
3-68
3-70
3-71
3.6
Signal descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-76
3.7
3.7.1
3.7.2
3-77
3-77
3-77
Acceleration (B2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-79
4.1
Acceleration profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-79
4.2
4-80
4.3
4-81
4.4
4-82
4.5
4-83
4.6
4-84
Spindle (S1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-85
5.1
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-85
5.2
5.2.1
5.2.2
5.2.3
5.2.4
Spindle modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle mode: Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle mode: Oscillation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle mode: Positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle mode: Axis mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-86
5-87
5-88
5-90
5-94
5.3
Synchronizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-95
5.4
5-96
5.5
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-101
5.6
5.6.1
5.6.2
5.6.3
5.6.4
5.6.5
5.6.6
5.7
5.8
5.9
5.9.1
5.9.2
5.9.3
5.10
5.10.1
Signal descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis/spindle -specific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11
5.11.1
5.11.2
5-102
5-102
5-103
5-103
5-103
5-104
5-105
5-118
5-118
ix
Contents
5.11.3
6-131
6.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-131
6.2
6.3
6.3.1
6.3.2
6.4
6.4.1
6.5
6.5.1
6.5.2
7-139
7.1
7.2
7.3
8-141
8.1
Fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-141
8.2
8.3
8.3.1
8.3.2
8.4
8.4.1
8.5
8.5.1
8.5.2
8.6
8.6.1
8.6.2
8.7
8.7.1
8.7.2
9-161
9.1
9.2
9.3
9.4
9.5
9.5.1
9.5.2
9.5.3
9-170
9-170
9-171
9-172
9.6
9.6.1
9.6.2
9.6.3
Signal descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals from HMI to PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NCK signals and signals in the operating mode area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Channel -specific signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-174
9-174
9-175
9-176
Contents
10
11
9.6.4
9.7
9.7.1
9.7.2
9.7.3
9-183
9-183
9-184
9-184
10.2
10.2.1
10.2.2
10.2.3
10.2.4
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mode change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Possible functions in the individual operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring functions in the individual operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interlocks in the individual operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-186
10-187
10-188
10-189
10-190
10.3
10.3.1
10.3.2
10.3.3
10.3.4
10.3.5
10.3.6
10.3.7
10.3.8
10.3.9
10-191
10-191
10-191
10-192
10-193
10-194
10-194
10-195
10-196
10-197
10.4
10.4.1
10.4.2
10.4.3
10.4.4
10.4.5
10.4.6
10.4.7
Program test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General remarks on program test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program execution without axis movements (PRT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program execution in single block mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program execution with Dry Run Feed (DRY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block search: Execution of certain program sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Skipping part program blocks (SKP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Graphical simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-198
10-198
10-198
10-199
10-200
10-201
10-203
10-204
10.5
10.6
10.7
10.7.1
10.7.2
10.7.3
10.8
10.8.1
10.8.2
10.9
10.9.1
10.9.2
10.9.3
10-208
10-208
10-211
10-213
10-228
10-228
10-229
10-229
Feedrate F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Feed with G33 (thread cutting) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Feed with G63 (tapping with compensating chuck) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Feed with G331, G332 (rigid tapping = tapping without compensating chuck) . . . . . . . . . .
11.2
11.3
11.3.1
11.3.2
11-233
11-234
11-235
11-235
xi
Contents
12
13
xii
11.3.3
11.4
11.5
11.5.1
11.5.2
11.6
11.6.1
11.6.2
12.2
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-250
12.3
12.4
12.4.1
12.4.2
12.4.3
12.4.4
12.5
LookAhead . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-256
12.6
12.6.1
12.6.2
12.7
12.7.1
12.7.2
12.8
12.8.1
12.8.2
12-252
12-252
12-253
12-254
12-255
13.2
13.3
13.4
13.5
13.6
13.6.1
13.6.2
13.6.3
13.6.4
13.6.5
13.7
13.7.1
13.7.2
13.8
13.9
13.9.1
13.9.2
13-266
13-266
13-266
13-266
13-267
13-267
Contents
14
15
16
14.2
Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-276
14.3
14.4
14.4.1
14.4.2
14.4.3
14.4.4
Tool monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview: Tool monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tool life monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Workpiece count monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples for tool life monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5
14.6
14.7
14.8
14.8.1
14.8.2
14-278
14-278
14-280
14-281
14-282
15.2
15.2.1
15.2.2
15.3
15.3.1
15.3.2
15.4
15.4.1
15.4.2
15.5
15.6
15.7
15.8
15.9
15.9.1
15.9.2
16.2
16.3
16.3.1
16.3.2
16.3.3
Interpolatory compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Leadscrew error compensation (LEC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special features of interpolatory compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4
16.4.1
16.4.2
16.5
16.6
16.6.1
16.6.2
16-309
16-309
16-310
16-313
xiii
Contents
17
18
19
20
xiv
17.2
Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-320
17.3
17.4
17.5
Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-328
17.6
17.7
17.8
17.8.1
17.8.2
18.2
18.2.1
18.2.2
TRANSMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-338
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-338
Configuring TRANSMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-339
18.3
18.3.1
18.3.2
18.3.3
TRACYL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring TRACYL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming example for TRACYL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.4
18.5
18.6
18.7
18.7.1
18.7.2
18-343
18-343
18-346
18-349
19.2
19.3
19.4
19.5
20.2
20.2.1
20.2.2
20.2.3
User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User data 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User Data 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Retentive data area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20-373
20-373
20-373
20-373
20.3
20.3.1
20.3.2
20.3.3
User alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User alarm: Enabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Variable for alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active alarm reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20-374
20-374
20-374
20-375
20.4
20.4.1
20.4.2
Contents
21
20.4.3
20.5
20.5.1
20.5.2
20.5.3
20.5.4
20.5.5
20.5.6
20.6
20.7
20.7.1
20.7.2
20.8
20.8.1
20.8.2
20.8.3
Axis/spindle signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transferred M/S functions, axis -specific . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals to axis/spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals from axis/spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20-387
20-387
20-387
20-389
20.9
20.9.1
20.9.2
20.9.3
20.9.4
20-391
20-391
20-391
20-391
20-392
20.10
20.11
20.12
20-378
20-378
20-379
20-379
20-380
20-380
20-380
21.2
21.3
21.4
xv
Contents
notice
xvi
1.1
Brief description
Important
We would like to draw the machine manufacturers attention to his duty to observe the relevant international and national standards (see notes on standards further below in the text).
The SINUMERIK 802D supports the machine manufacturer in implementing the EMERGENCY 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.
Initiation of the EMERGENCY STOP sequence in the NC via the PLC input.
The EMERGENCY STOP sequence in the NC will decelerate all axes and spindles in the
NC as fast as possible.
After the EMERGENCY STOP status has been canceled, it is not necessary to reference
axes or synchronize spindles (the positions are corrected).
1-17
1.2
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 carried 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.
The sequence in the NC is started using the IS EMERGENCY STOP (V2600 0000.1).
After the axes and spindles have been stopped, the power supply must be interrupted acc.
to EN418.
The sequence in the NC has no influence on the PLC I/Os (digital outputs). If you wish
individual outputs to have a certain status in case of EMERGENCY STOP, the machine
manufacturer must implement the appropriate functions in the PLC program.
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.
1-18
1.3
IS EMERGENCY STOP
V2600 0000.1
IS Acknoweledge
EMERGENCY STOP
V2600 0000.2
IS EMERGENCY STOP
active
V2700 0000.1
IS RESET
V3000 0000.7
1
2
3
Fig. 1-1
PLC I/Os
The PLC I/Os must be brought again by the PLC user program to the appropriate status required 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).
1-19
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.
1.4
SERVO_DISABLE_DELAY_TIME
Servo enable cutout delay
Min. input limit: 0.02
Max. input limit: ***
NEW_CONF
Protection level: 2/2
Unit: s
Valid from SW release:
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:
Application example(s)
Related to ....
1-20
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.
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.
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).
IS Servo enable (V380x 0002.1)
MD 36610: AX_EMERGENCY_STOP_TIME (time of braking ramp in case of error statuses)
1.5
Signal descriptions
Signal descriptions
General signals
V2600 0000.1
Interface signal
EMERGENCY STOP
Signal(s) to NC (PLC - - -> NC)
Edge evaluation: no
The NC is set to the EMERGENCY STOP status and the EMERGENCY STOP sequence in the
NC is started.
Related to ....
V2600 0000.2
Interface signal
Edge evaluation: no
The EMERGENCY STOP status will only be reset if first the IS Acknowledge EMERGENCY
STOP and then the IS Reset (V3000 0000.7) are set. When doing so, make sure that the IS
Acknowledge EMERGENCY STOP and the IS Reset must be set together at least as long
as the IS EMERGENCY STOP active (V2600 0000.1) has been reset.
Resetting the EMERGENCY STOP status:
resets the IS EMERGENCY STOP active;
connects Servo enable;
sets the IS Position control;
sets the IS 802-Ready;
lcears alarm 3000;
aborts the part program execution.
Related to ....
V2700 0000.1
Interface signal
Edge evaluation: no
Related to ....
1-21
1.6
1.6.1
Interface signals
Number
.Bit
Name
Ref.
General
V2600 0000
.1
EMERGENCY STOP
V2600 0000
.2
V2700 0000
.1
.7
1.6.2
Reset
K1
Machine data
Number
Identifier
Name
Ref.
Axis-specific
36610
AX_EMERGENCY_STOP_TIME
36620
SERVO_DISABLE_DELAY_TIME
1-22
A3
2.1
Contour monitoring
Positioning monitoring
2-23
2.2
2.2.1
Contour monitoring
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 position 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 monitoring 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:
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_EMERGENCY_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).
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 machine data for traversing movements (feedoverride, acceleration, max. velocities, ... )
Remedy
2-24
2.2.2
Positioning monitoring
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_LIMIT_FINE (exact stop fine).
Exact stop coarse and fine see:
References:
Chapter Continuous - Path Mode, Exact Stop and LookAhead
active tolerance in case of zero
speed or clamping monitoring
V or s
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
Exact stop fine - interface signal
MD:
STANDSTILL_
DELAY_TIME
MD: POSITIONING_TIME
Fig. 2-1
Enabling
The positioning monitoring is always enabled after a setpoint - dependent completion of motion 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 reached or after output of a new setpoint position (e.g. when positioning to Exact stop coarse
followed by a block change).
2-25
Effect
If the limit value for Exact stop fine has not yet been reached after the positioning monitoring time has elapsed, the following action is carried out:
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_EMERGENCY_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).
Too small position controller gain - - > change machine data for position control gain
MD 32200: POSCTRL_GAIN(servo gain factor)
Positioning window (exact stop fine), positioning monitoring time and position control gain
are not matched another to one - - > change machine data:
MD 36010: STOP_LIMIT_FINE (exact stop fine),
MD 36020: POSITIONING_TIME (exact stop fine delay time),
MD 32200: POSCTRL_GAIN (servo gain factor)
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 selected
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 tolerances are chosen, the longer will last the positioning process and the longer it will last until the next
command can be executed.
2-26
2.2.3
Function
After a motion block has been completed (position setpoint has reached target), it is monitored 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:
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 interpolates with other axes/spindles, these will be stopped by rapid stop with
reduction of the following error (specification of partial position setpoint = 0).
2.2.4
Position control gain too large (vibrations of servo loop) - - >change machine data for controller gain MD 32200: POSCTRL_GAIN (servo gain factor)
Clamping monitoring
Function
If you wish the axis to be clamped at the end of the positioning process, the clamping monitoring can be activated using the IS Clamping monitoring running (V380x 0002.3).
2-27
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 running. 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:
2.2.5
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 rapid 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 (maximum 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 control margin.
With an analog spindle, the maximum output speed cannot be greater than the speed reached at a maximum setpoint output voltage of 10V (100%).
The speed setpoint consists of the speed setpoint of the position controller and the feedforward control value (if feedforward control is active).
2-28
KV
Following
error
Position controller
Fig. 2-2
to speed
controller
Speed setpoint
monitoring
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:
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 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
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.
2-29
2.2.6
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:
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).
2-30
2.3
2.3.1
Function
If the limit frequency of a measuring system, which is entered in MD 36300: ENC_FREQ_LIMIT(encoder limit frequency), is exceeded, the position synchronization (reference point) between 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:
If with an active measuring system of a position - controlled axis/spindle, the limit frequency 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 rapid 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.
2-31
2.3.2
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_MONITORING (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
Note
In case of an error, the IS Referenced/synchronized 2 (V390x 0000.4) is canceled, i.e. the axis
must be rereferenced.
2-32
2.4
2.4.1
HW limit switch
Fig. 2-3
Mechanical
traversing stop
EMERGENCY STOP
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.
If the axis/spindle interpolates with other axes/spindles, these will also be stopped, depending on MD 36600: BRAKE_MODE_CHOICE (braking behavior with hardware limit
switch).
2-33
Remedy
Initiate Reset.
Activation
The software limit switch monitoring is active in all operating modes after reference point
approach.
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.
JOG:
2-34
Special features:
-
Remedy
2.4.2
Initiate Reset.
Function
Working area limitations describe the range in which a machining can be carried out. In addition to the limit switches, the working area limitation is another means for the user to limit the
traversing range of the axes.
References:
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.
via the operator panel in the Parameters operating area using the following setting data:
SD 43430: WORKAREA_LIMIT_MINUS (working area limitation minus)
SD 43420: WORKAREA_LIMIT_PLUS (working area limitation plus)
Any changes in Automatic mode are only possible in the Reset status and will then come
into effect immediately.
In Jog mode, changes are always possible, but come only into effect when a new movement starts.
in the program with G25/G26. Any changes come into effect immediately.
A programmed limitation has first priority; it will overwrite the value entered in the setting
data and is kept after RESET and program end.
2-35
XMachine
G26
Xmax
Tool tip
Working area
M
ZMachine
G25
Xmin
Fig. 2-4
G25
Zmin
G26
Zmax
Activation
Using SD 43410: WORKAREA_MINUS_ENABLE, SD 43400: WORKAREA_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 modal 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 overtreavel the work area limitation:
AUTO, MDA:
-
The block that violates the working area limitation is not started. The previous block is
still completed correctly.
JOG:
2-36
Boundary conditions
Remedy
2.5
Initiate Reset.
Check the working area limitation in the part program (G25/G26) or in the setting data.
Boundary conditions
To make sure that the monitoring functions respond correctly, make especially sure that the
machine data are correct:
MD 32810: EQUIV_SPEEDCTRL_TIME
(speed control loop equivalent time constant for feedforward control)
Encoder resolution
2-37
2.6
2.6.1
21020
MD number
Default: 0
Change valid after RESET
Data type: BOOLEAN
Meaning:
2.6.2
WORKAREA_WITH_TOOL_RADIUS
Taking into account the tool radius with working area limitation
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit:
Valid from SW release:
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)
2-38
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 whether 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.
The standstill tolerance must be greater than the Exact stop limit coarse.
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
2-39
36060
MD number
Default: 5.0 mm/min,
0.0138 rpm
Change valid after
STANDSTILL_VELO_TOL
Max. velocity/speed Axis/spindle at a standstill
Unit:
Linear axis: mm/min
Rotary axis: rpm
Vact
MD:STANDSTILL_VELO_TOL
Vstill
t
1
IS
Spindle at a standstill
0
Application example(s)
Related to ....
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.
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 position 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
2-40
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
31.944 rpm
Change valid after NEW_CONF
Protection level: 2/7
Data type: DOUBLE
Meaning:
mm/min
rpm
2-41
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.
Related to ....
The active encoder is defined via the IS Position measuring system 1 (V380x0001.5).
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 number 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 respond.
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:
0:
Related to ....
2-42
36610
MD number
Default: 0.05
AX_EMERGENCY_STOP_TIME
Duration of brake ramp in case of errors
Min. input limit: 0.02
Speed setpoint
MD 36210:
CTRLOUT_LIMIT
e.g. current
speed setpoint
t [s]
Check MD 36610:
AX_EMERGENCY_STOP_TIME
Fig. 4 - 1 Braking ramp in case of errors
Meaning:
Related to ....
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 information); 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.
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 suddenly be stopped with speed setpoint 0. Thats 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).
MD 36620: SERVO_DISABLE_DELAY_TIME Servo disable delay time
MD 36210: CTRLOUT_LIMIT
Max. speed setpoint
2-43
2.6.3
43400
SD number
Default: 0
Change valid: immediately
Data type: BOOLEAN
Meaning:
SD inapplicable to ......
43410
SD number
Default: 0
Change valid: immediately
Data type: BOOLEAN
Meaning:
SD inapplicable to ......
43420
SD number
Default: 100 000 000
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable to ......
Related to ....
43430
SD number
Default: - 100 000 000
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable to ......
Related to ....
2-44
WORKAREA_PLUS_ENABLE
Working area limitation in the positive direction active
Min. input limit: 0
Max. input limit: 1
Protection level: 7/7
Unit: Valid from SW release:
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 Parameters operating area by enabling/disabling the working area limitation.
G code: WALIMOF
WORKAREA_MINUS_ENABLE
Working area limitation in the negative direction active
Min. input limit: 0
Max. input limit: 1
Protection level: 7/7
Unit: Valid from SW release:
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 Parameters operating area by enabling/disabling the working area limitation.
G code: WALIMOF
WORKAREA_LIMIT_PLUS
WORKAREA_LIMIT_MINUS
Working area limiting minus
Min. input limit: ***
Max. input limit: ***
Protection level: 7/7
Unit: mm, degrees
Valid from SW release:
The working area limitation can be used to limit the working area in the MCS (machine coordinate 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.
G code: WALIMOF
SD 43410: WORKAREA_MINUS_ENABLE
2.7
Signal description
Signal description
2.7.1
.
Axis 3
Axis 2
Axis 1
.
Signals from axis (V390x....)
Axis
monitoring
functions
Signals to axis/spindle
V380x0002.3
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1.
Signal state 0 or edge
change 1 - - - > 0
Related to ....
Further references
V380x0003.6
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
Related to ....
Signal(s)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The NCK limits the velocity/spindle speed to the limit value specified in MD 35160:
SPIND_EXTERN_VELO_LIMIT.
No limitation active.
MD 35100: SPIND_VELO_LIMIT (max. spindle speed)
SD 43220: SPIND_MAX_VELO_G26 (progr. spindle speed limiting G26)
SD 43230: SPIND_MAX_VELO_LIMIT (progr. spindle speed limiting G96)
2-45
Signal description
V380x1000.1 and .0
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
V380x1000.3 or .2
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
2-46
2.8
2.8.1
Number
.Bit
Name
Ref.
Axis/spindle- specific
V380x0001
.5
Position encoder 1
V380x0002
.3
V380x0003
.6
V380x1000
.0 / .1
V380x1000
.2 / .3
2nd software limit switch minus / 2nd software limit switch plus
V390x0000
.2
V390x0000
.4
Referenced/synchronized 1
2.8.2
A2
R1
Number
Identifier
Name
Ref.
ROT_IS_MODULO
R2
32000
MAX_AX_VELO
G2
32200
POSTCTRL_GAIN[n]
G2
32250
RATED_OUTVAL
G2
32260
RATED_VELO
G2
32300
MAX_AX_ACCEL
Axis acceleration
B2
32810
EQUIV_SPEEDCTRL_TIME[n]
K3
35160
SPIND_EXTERN_VELO_LIMIT
S1
36000
STOP_LIMIT_COARSE
36010
STOP_LIMIT_FINE
36020
POSITIONING_TIME
36030
STANDSTILL_POS_TOL
36040
STANDSTILL_DELAY_TIME
36050
CLAMP_POS_TOL
36060
STANDSTILL_VELO_TOL
36100
POS_LIMIT_MINUS
36110
POS_LIMIT_PLUS
36120
POS_LIMIT_MINUS
36130
POS_LIMIT_PLUS
2-47
Number
Identifier
Name
36200
AX_VELO_LIMIT[n]
36210
CTRLOUT_LIMIT[n]
36300
ENC_FREQ_LIMIT[n]
36302
ENC_FREQ_LIMIT_LOW
36310
ENC_ZERO_MONITORING[n]
36400
CONTOUR_TOL
36500
ENC_CHANGE_TOL
36600
BRAKE_MODE_CHOICE
36610
AX_EMERGENCY_STOP_TIME
36620
SERVO_DISABLE_DELAY_TIME
2.8.3
Ref.
G2
R1
K3
N2
Number
Identifier
Name
Ref.
2.8.4
Number
WORKAREA_WITH_TOOL_RADIUS
Name
Ref.
WORKAREA_PLUS_ENABLE
43410
WORKAREA_MINUS_ENABLE
43420
WORKAREA_LIMIT_PLUS
43430
WORKAREA_LIMIT_MINUS
2-48
Note
The following machine data are not available with the 802D base line:
MD 10200
MD 10210
MD 37600.
The machine data setting options described in the following do not apply to the 802D
base line.
3.1
3.1.1
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.
3-49
Example:
IPO cycle = 12 ms
N10 G0 X0 Y0; [mm]
N20 G0 X100 Y100; [mm]
programmed path length in the block = 141.42 mm
% Vmax = (141.42 mm / 12 ms) * 0.9 = 10606.6 mm/s = 636.39 m/min
10 3
Computational resolution[mm orIncr.
] * IPOcycle [s]
degrees
The range of feed values is dependent on the computational resolution selected. If the default
setting has been chosen for MD 10200: INT_INCR_PER_MM (computational resolution for
linear positions) (1,000 incr./mm) 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:
Range of values for feedrate F:
Metric system:
0.001 F 999,999.999 [mm/min, mm/rev., degrees/min, degrees/rev.]
Range of values for spindle speed S:
0.001 S 999,999.999 [rpm]
If the computational resolution is increased/reduced by factor 10, the ranges of values will
change accordingly.
3.1.2
Traversing ranges
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:
3-50
Table 3-1
Range
Range
999,999.999
399,999.999
999,999.999
999,999.999
Interpolation parameters I, J, K
999,999.999
399,999.999
3.1.3
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 Instructions 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 (computational 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 decimal 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 maximum accuracy that can be obtained).
3-51
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
3.1.4
3-52
Input/output
units for standard
scaling system:
Metric
Inch
Linear position
1 mm
1 inch
Angular position
1 degree
1 degree
Linear velocity
1 mm/min
1 inch/min
Angular velocity
1 rpm
1 rpm
Linear acceleration
1 m/s2
1 inch/s2
Angular acceleration
1 rev./s2
1 rev./s2
Linear jerk
m/s3
1 inch/s3
Angular jerk
1 rev./s3
1 rev./s3
Time
1s
1s
1/s
1/s
Revolutional feed
1 mm/rev.
1 inch/rev.
1 mm
1 inch
1 degree
1 degree
3.2
3.2.1
3-53
2. Reading and writing of length-related system variables and machine data in the part program 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:
Comparison of G70/G71-G700/G710
Meaning:
P:
G:
Table 3-2
3-54
G70/G71
G700/G710
Part program
Part program
P/P
P/P
G/G
G/G
Feedrates
G/G
P/P
Positional data X, Y, Z
P/P
P/P
Interpolation parameters I, J, K
P/P
P/P
P/P
P/P
P/P
P/P
Thread lead/pitch
P/P
P/P
P/P
P/P
G/G
P/P
G/G
P/P
Tool offsets
G/G
P/P
G/G
P/P
G/G
P/P
G/G
P/P
R parameters
G/G
G/G
Siemens cycles
P/P
P/P
G/G
G/G
3.2.2
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 accepted if:
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 between 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
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 users task to take into account
the scaling system currently active (MD 10240: SCALING_SYSTEM_IS_METRIC).
3-55
The scaling system setting currently active can be read from the PLC interface using the signal 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 system 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 provided (15030) and the writing process is aborted.
Since the language statement is also evaluated in part programs, these can also be protected 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.
3-56
3.3
3.3.1
Setpoint/actual-value system
General
Block diagram
A servo loop with the following structure can be configured for each controlled axis/spindle:
Closedloop
control
Speed setpoint
output
Motor
Speed setpoint
M
assignment
MD 30130:
CTRLOUT_TYPE=0 (SIMULATION)
MD 30240:
ENC_TYPE=0 (SIMULATION)
Actual- value
processing
Fig. 3-1
Actualvalue
assignment
Encoder
G
Setpoint output
One setpoint each per axis/spindle can be output. The setpoint output to the actuator is provided 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 output 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.
3-57
3.3.2
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 SINUMERIK 802D).
SINUMERIK 802D
DP master
Profibus-DP
DP slave:
Basic
device
unit
Drive
A
PB address12
Drive
B
DP slave:
PB address 3
72E 48A
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.
3-58
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:
-
3.3.3
Note
If you wish to use an analog spindle (instead of a digital one) in conjunction with the SIMODRIVE 611UE drive, some additional notes must be observed. Please refer to the Chapter
Spindle.
3-59
Example:
Profibus DP
CTRLOUT_MODULE_NR = 1
CTRLOUT_MODULE_NR = 2
CTRLOUT_MODULE_NR = 3
CTRLOUT_MODULE_NR = 5
CTRLOUT_MODULE_NR = 4
- >drive
- >drive
- >drive
- >drive
- >drive
number 1
number 2
number 3
number 5
number 4
Drive No. 4
Drive No. 3
Drive No.2
Drive No. 1
Drive No. 5
SINUMERIK
802D
Example:
Single- and 2x double-axis power section SIMODRIVE 611UE
(MD 11240:
PROFIBUS_SDB_NUMBER = 4)
Single-axis
power section
Fig. 3-3
Setpoint output
Double -axis
power section
Double -axis
power section
3-60
MD 30130: CTRLOUT_TYPE[0] (setpoint output type): Enter here the type of the speed
setpoint output.
Example:
Profibus DP
CTRLOUT_MODULE_NR = 1
CTRLOUT_MODULE_NR = 2
CTRLOUT_MODULE_NR = 3
CTRLOUT_MODULE_NR = 5
CTRLOUT_MODULE_NR = 4
- >drive
- >drive
- >drive
- >drive
- >drive
number 1
number 2
number 3
number 5
number 4
Drive No. 4
Drive No. 3
Drive No.2
Drive No. 1
Drive No. 5
SINUMERIK
802D
Example:
Single- and 2x double-axis power section SIMODRIVE 611UE
(MD 11240:
PROFIBUS_SDB_NUMBER = 4)
Single-axis
power section
Fig. 3-4
Setpoint output
Double -axis
power section
Double -axis
power section
MD 30220: ENC_MODULE_NR[0] :
MD 30240: ENC_TYPE[0] (actual-value acquisition mode): Enter here the encoder type
used
Special features
3-61
3.3.4
MD 32100: AX_MOTION_DIR
nMotor
Controller
M
Load
gear
nSpindle
MD 31030: LEADSCREW_PITCH
Ball screw
Fig. 3-5
Traversing direction
MD 32100: AX_MOTION_DIR (traversing direction) can be used to revert the traversing direction of the axis (without effect on the control direction of the position control).
t [sec]
Fig. 3-6
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 monitoring functions.
In the case of an analog spindle, the maximum output speed is limited by the maximum setpoint 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.
3-62
3.3.5
Linear Axis
Rotary Axis
Spindle
Encoder on
motor
Encoder on
motor
Encoder on
motor
Encoder on
machine
without
measuring
system
MD 30200: NUM_ENCS
(number of encoders)
MD 30300: IS_ROT_AX
(rotary axis)
MD 31040: ENC_IS_DIRECT[0]
(encoder is installed directly on the machine)
MD 31020: ENC_RESOL[0]
(encoder increments per revolution)
incr./rev.
incr./rev.
incr./rev.
incr./rev.
MD 31030: LEADSCREW_PITCH
(leadscrew pitch)
mm/rev.
MD 31080:
DRIVE_ENC_RATIO_NUMERA[n]
(measuring gear numerator)
load revs
MD 31070:
DRIVE_ENC_RATIO_DENOM[n]
(resolver gearbox denominator)
encoder
revs
MD 31060:
DRIVE_AX_RATIO_NUMERA[n]
(load gear numerator)
motor revs
motor revs
motor revs
see
note *)
MD 31050:
DRIVE_AX_RATIO_DENOM[n]
(load gear denominator)
ball screw
spindle
revs
load revs
load revs
see
note *)
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.
3-63
MD: ENC_IS_DIRECT=0
Table
MD:
ENC_RESOL
Fig. 3-7
nMotor
Load
gear
nSpindle
Ball screw
LEADSCREW_PITCH
MD:
MD:
ENC_IS_DIRECT=0 n
IS_ROT_AX=1
n
Encoder
Load
G
Rotary table
Load
gear
MD:
ENC_RESOL
Fig. 3-8
Motor
MD:
ENC_IS_DIRECT=1
n Encoder
L
MD:
IS_ROT_AX=1
Load
gear
Fig. 3-9
MD:
ENC_RESOL
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.
3-64
3.4
Closed-loop control
Closed-loop 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
Interpolator/
jerk limitation
MD 32200: POSCTRL_GAIN
Feedforward
control
Closed-loop
control
Speed
setpoint
processing
MD 32100: AX_MOTION_DIR
Fig. 3-10
Actual-value
value
processing
MD 32110: ENC_FEEDBACK_POL
MD 32700: ENC_COMP_ENABLE
MD 32450: BACKLASH
3-65
Closed-loop control
position-control clock
KV
[mmin]
Speed
;
Followingerror
[mm]
quick accomodation of the position controller to modified properties of the machine during
operation, e.g. when switching over the spindle gearbox.
The following machine data can jointly be changed by parameter set switchover during operation.
MD 31050: DRIVE_AX_RATIO_DENOM[n]
MD 32810: EQUIV_SPEEDCTRL_TIME[n]
MD 36200: AX_VELO_LIMIT[n]
3-66
000
(Index=1)
001
(Index=1)
010
(Index=2)
011
(Index=3)
100
(Index=4)
101
(Index=5)
Closed-loop control
For axes not involved in tapping or thread cutting, parameter set 1 (index=0) is activated in any case.
For axes involved in tapping or thread cutting, the same parameter set number is activated as for the current gear stage of a spindle.
Note
For example, if a load gear is active for an axis, then this transmission ratio (numerator, denominator) 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 Service of axis.
3-67
3.5
3.5.1
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./degrees.
** 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.
Application example(s)
3-68
If the machine data are modified, the alarm 4070 Scaled machine data changed is output.
Start-up in the metric system and then conversion to the inch system
11240
MD number
PROFIBUS_SDB_NUMBER
SDB1000 number
Default: 0
Change valid after Power On
Data type: BYTE
Meaning:
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.
3-69
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.
3.5.2
20150
MD number
Default: see below
Change valid after RESET
Data type: BYTE
Meaning:
Further references
3-70
GCODE_RESET_VALUES[n]
Erase position of the G groups [G group no.]: 0...59
Min. input limit: 0
Max. input limit: 14
Protection level: 1/1
Unit: Valid from SW release:
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)
...
For a list of the G groups and the functions assigned to them, please refere to:
References:
Operation and Programming
3.5.3
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.
For an analog spindle:
Enter the transferring drive number used to address the output for the analog spindle.
Index [n] of the machine data is coded as follows: [Setpoint branch]: 0
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.
Index [n] of the machine data is coded as follows: [setpoint branch]: 0
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.
For an analog spindle:
Enter the transferring drive number used to address the output for the analog spindle.
Index [n] of the machine data is coded as follows: [encoder no.]: 0
3-71
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.
Application example(s)
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
3-72
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
3-73
32000
MAX_AX_VELO
MD number
Maximum axis velocity
Default: 10 000 mm/min,
Min. input limit: 0.0
27.77 rpm
Change valid after NEW_CONF
Protection level: 2/7
Data type: DOUBLE
Meaning:
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 direction may have been set.
3-74
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.
If 0 is entered, the position controller is disconnected.
When entering the servo gain factor, take into account that the gain factor of the entire position
control loop is also dependent on other parameters of the controlled system. A distinction must
therefore be made between a desired servo gain factor (MD: POSCTRL_GAIN) and a real servo
gain factor (resulting on the machine). Only if all parameters of the control loop are matched another to one correctly, these servo gain factors are identical.
Note:
The axes which interpolate another to one and have to carry out a machining process, must have
the same gain (i.e. the same following error at the same velocity).
The real servo gain factor can be checked by means of the following error in the service displays.
Index [n] of the machine data is coded as follows: [control parameter set No.]: 0-5
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.
Further references
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 voltage (100 %).
Index[n] of the machine data is coded as follows: [setpoint branch]: 0
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 possible). In this case, the value of the machine data is set to the read value and only serves for displaying.
Further references
** This machine data is not available with the 802D base line.
3-75
3.6
Signal descriptions
Signal descriptions
V2700 0001.7
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
3-76
3.7
3.7.1
Interface signals
Number
.Bit
Name
Ref.
General
V27000001
.7
.0 to .2
Axis-specific
V380x 2000
3.7.2
S1
Machine data
Number
Identifier
Name
Ref.
Operator-panel specific
203
DISPLAY_RESOLUTION
Display resolution
Chapter 19
204
DISPLAY_RESOLUTION_INCH
Chapter 19
205
DISPLAY_RESOLUTION_SPINDLE
Chapter 19
10000
AXCONF_MACHAX_NAME_TAB[n]
Chapter 19
10200**
INT_INCR_PER_MM
10210**
INT_INCR_PER_DEG
10240
SCALING_SYSTEM_IS_METRIC
11240
PROFIBUS_SDB_NUMBER
SDB1000 number
13060
DRIVE_TELEGRAM_TYPE[n]
General
(Profibus DP)
Channel-specific
20150
GCODE_RESET_VALUES[n]
Axis-specific
30110
CTRLOUT_MODULE_NR[n]
30120
CTRLOUT_NR[0]
30130
CTRLOUT_TYPE[n]
30134
IS_UNIPOLAR_OUTPUT
30200
NUM_ENCS
30220
ENC_MODULE_NR[n]
30230
ENC_INPUT_NR[0]
30240
ENC_TYPE[n]
30300
IS_ROT_AX
Rotary axis
30350
SIMU_AX_VDI_OUTPUT
31000
ENC_IS_LINEAR
31010
ENC_GRID_POINT_DIST
31020
ENC_RESOL[n]
31030
LEADSCREW_PITCH
Leadscrew pitch
31040
ENC_IS_DIRECT[n]
S1
R2
3-77
Number
Identifier
Name
Ref.
31050
* DRIVE_AX_RATIO_DENOM[n]
31060
* DRIVE_AX_RATIO_NUMERA[n]
31070
DRIVE_ENC_RATIO_DENOM[n]
31080
DRIVE_ENC_RATIO_NUMERA[n]
32000
MAX_AX_VELO
32100
AX_MOTION_DIR
Traversing direction
ENC_FEEDBACK_POL[n]
32110
32200
* POSCTRL_GAIN[n]
32450
BACKLASH[n]
Backlash
K3
32700
ENC_COMP_ENABLE[n]
Interpolatory compensation
K3
K3
32810
* EQUIV_SPEEDCTRL_TIME[n]
33630
FFW_ACTIVATION_MODE
K3
35100
SPIND_VELO_LIMIT
S1
36200 *
AX_VELO_LIMIT[n]
A3
36210
CTRLOUT_LIMIT[n]
37600**
PROFIBUS_ACTVAL_LEAD_TIME
The machine date marked with an * (asterisk) are contained in a parameter set of the position controller.
** This machine data is not available with the 802D base line.
3-78
Acceleration (B2)
4.1
Acceleration profiles
Sudden acceleration
In case of the v/t linear velocity control of an axis, which is usually used, the motion is controlled such that the acceleration changes suddenly over the time. With this discontinuous, sudden acceleration, jerk-free starting and deceleration of the axes is not possible, but a timeoptimized 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 acceleration 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:
Reduction of the excitation of high-frequency vibrations of the machine, which can badly
be controlled.
4-79
Acceleration (B2)
4.2
4.2
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 modes 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:
4-80
Acceleration (B2)
4.3
4.3
Note
This function is not available with the 802D base line.
manual traversing
handwheel traversing
repositioning.
The jerk limitation can be specified axis-specifically. The acceleration behavior corresponds
to the acceleration profile SOFT of the path-related jerk limitation. This limitation cannot be
deselected for the axes in the individual operating modes.
Which of the desired axes will be provided with a jerk limitation, can be set in MD 32420:
JOG_AND_POS_JERK_ENABLE. The permissible axis-specific maximum jerk is stored in
MD 32430: JOG_AND_POS_MAX_JERK.
4-81
Acceleration (B2)
4.4
4.4
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 correction.
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 constitutes 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
Activation
The limitation is active in all interpolation modes of AUTOMATIC and MDA modes. The limitation 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.
4-82
Acceleration (B2)
4.5
4.5
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
MD number
Default: 0
Change valid after RESET
Data type: BOOLEAN
Meaning:
Related to ....
JOG_AND_POS_JERK_ENABLE
Enable axis-specific jerk limitation
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
Enables the function of axis-specific jerk limitation for the modes JOG, REF and the positioning
axis mode.
MD 32430: JOG_AND_POS_MAX_JERK
(axis-specific jerk)
32430
MD number
Default: 1000.00 m/s3,
2777.77 rev./s3
JOG_AND_POS_MAX_JERK
Axis-specific jerk
Min. input limit: 10 - 9
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: ***
3
2777.77 rev./s
Change valid after NEW_CONF
Protection level: 3/3
Unit: m/s3, rev./s3
Data type: DOUBLE
Meaning:
Related to ...
** This machine data is not available with the 802D base line.
4-83
Acceleration (B2)
4.6
4.6
Number
Identifier
Name
Ref.
MAX_AX_ACCEL
Axis acceleration
32420
JOG_AND_POS_JERK_ENABLE
32430
JOG_AND_POS_MAX_JERK
Axial jerk
32431
MAX_AX_JERK
32432
PATH_TRANS_JERK_LIM
4-84
B1
Spindle (S1)
5.1
Brief description
Spindle application
Depending on the machine type, the following functions are possible for an NC-controlled
spindle:
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 possible via the program:
Tapping (G63)
If the spindle is equipped with a position encoder, in addition to the above mentioned functions, the functions listed below are possible:
For a switched spindle, the setpoint output for the spindle via MD 30130: CTRLOUT_TYPE =0
must be suppressed.
5-85
Spindle (S1)
5.2
Spindle modes
5.2
Spindle modes
Spindle modes
The spindle can be operated in the following modes:
Control mode
Oscillation mode
Positioning mode
Oscillation m.
Change
gear stage
Gear stage
changed
SPOS
Control mode
M3, M4, M5,
M41-45
Positioning mode
SPOS
G331
G332
Rigid tapping
(without compensating chuck)
Fig. 5-1
5-86
Spindle (S1)
5.2
5.2.1
Spindle modes
Constant spindle speed S, M3/M4/M5 and G94, G95, G97, G33, G63
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).
In the case of MD value=0, the spindle is immediately braked down to a standstill at the
valid acceleration. The spindle speed last programmed and the direction of rotation of the
spindle will be deleted.
In the case of MD value=1 (separate spindle reset), the last programmed spindle speed (S
function) and the last programmed sense of rotation of the spindle (M3, M4, M5) will be
maintained.
If prior to reset or end of program the constant cutting rate (G96) is active, the current
spindle speed (referred to 100% spindle override) is internally accepted as the spindle
speed last programmed.
5-87
Spindle (S1)
5.2
Spindle modes
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.
5.2.2
Oscillation time
For each direction of rotation, the oscillation time can be defined in a machine data:
5-88
Spindle (S1)
5.2
Spindle modes
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)
Fig. 5-2
Special features
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.
If an indirect measuring system is used, the synchronization gets lost. Upon next zero
mark overtravel, a synchronization is carried out again.
5-89
Spindle (S1)
5.2
Spindle modes
Note
Possibility to abort: Set IS Delete distance-to-go/spindle reset (V380x0002.2)
5.2.3
Block change
Programming with SPOS:
The block change is carried out as soon as all functions programmed in the block have reached 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.
5-90
Spindle (S1)
5.2
Spindle modes
MD 36300: ENC_FREQ_LIMIT
( limit frequency of the encoder)
1a
4a
SPOS=...
Fig. 5-3
MD 36302: ENC_FREQ_LIMIT_LOW
(encoder limit frequency resynchronization)
MD 35300: SPIND_POSCTRL_VELO
(position controller threshold speed)
4
Time (s)
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 distance to go (to the target position) is calculated , (it is more likely to be possible from
phase 1a)
5-91
Spindle (S1)
5.2
Spindle modes
Phases 1 to 4:
MD 35300:
SPIND_POSCTRL_VELO
(Position controller threshold speed)
1
3
4
Fig. 5-4
Position reached
Time (s)
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 programmed 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).
5-92
Spindle (S1)
5.2
Spindle modes
Phases 1 to 4:
MD 35300:
SPIND_POSCTRL_VELO
(Position controller switch-on speed)
1
3a
4a
4
Position reached
Time (s)
Fig. 5-5
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) becomes 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 threshold 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
5-93
Spindle (S1)
5.2
5.2.4
Spindle modes
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.
5-94
Spindle (S1)
5.3
5.3
Synchronizing
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).
directly on the motor plus BERO switch on the spindle (zero marker encoder)
on the spindle above the resolver gearbox plus BERO switch on the spindle
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 system 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 monitoring using MD 34060: REFP_MAX_MARKER_DIST should be set to two spindle revolutions (720 degrees).
by programming SPOS=... from different states (see Section 5.2.3 Spindle mode: Positioning 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 offset 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 system and are described in the Section Reference point approach.
5-95
Spindle (S1)
5.4
Resynchronizing
In the following case, however, the position measuring system of the spindle must be resynchronized:
The position measuring system is mounted on the motor, a BERO (clearance sensor for synchronization signal) is mounted on the spindle, and the gear stage is changed. The synchronization is internally initiated when the spindle rotates at the new gear stage.
5.4
Motor
speed
(1/min)
Gear
stage 2
0
n
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
Fig. 5-6
If M40 is active and automatic gear stage selection is to be carried out using an S word, the
spindle must be in control mode. Otherwise, the gear stage change is denied, and alarm
22000 No gear stage change possible is set.
5-96
Spindle (S1)
5.4
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 determined 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.
MD35100:SPIND_VELO_LIMIT:
MD35130:GEAR_STEP_MAX_VELO_LIMIT[2]:
MD35110:GEAR_STEP_MAX_VELO[2]:
MD35130:GEAR_STEP_MAX_VELO_LIMIT[1]:
MD35110:GEAR_STEP_MAX_VELO[1]:
MD35120:GEAR_STEP_MIN_VELO[2]:
MD35120:GEAR_STEP_MIN_VELO_LIMIT[2]:
MD35120:GEAR_STEP_MIN_VELO[1]:
MD35120:GEAR_STEP_MIN_VELO_LIMIT[1]:
Gear
stage 2
Speed
(1/min)
Gear
stage 1
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).
Fig. 5-7
5-97
Spindle (S1)
5.4
5-98
Spindle (S1)
5.4
IS Control mode
IS Oscillation mode
Programmed S value
1000 1300
1 2
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.
t2
t3
The new gear stage is engaged. The PLC user transfers the new (actual)
gear stage to the NCK and sets the IS Gear is switched over.
t4
Fig. 5-8
5-99
Spindle (S1)
5.4
Set of parameters
One set of parameters each is provided for each of the 5 gear stages. The appropriate parameter set is enabled by the IS Actual gear stage A to ... C (V380x2000.0 to .2). The parameter set assignment is as follows:
Parameter set,
Index
n
Contents,
machine data
for
000
001
010
011
100
101
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 parameter 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]
5-100
Spindle (S1)
5.5
5.5
Programming
Programming
Functions
The spindle can be programmed for the following functions:
G95
Revolutional feed
G97
G4 S...
M3
M4
M5
S...
Spindle rotation CW
Spindle rotation CCW
Spindle stop, without orientation
Spindle speed in 1/min, e.g.: S300
SPOS=...
SPCON
SPCOF
M70
Position control on
Position control off
Position control on
G25 S...
G26 S...
LIMS=...
References:
5-101
Spindle (S1)
5.6
5.6
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
Fig. 5-9
5.6.1
IS Referenced/synchronized
IS Axis/spindle stopped
Spindle stopped
0
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.
5-102
Spindle (S1)
5.6
5.6.2
5.6.3
5.6.4
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.
5-103
Spindle (S1)
5.6
Min. speed
In MD 35140: GEAR_STEP_MIN_VELO_LIMIT, the minimum speed of the gear stage is entered. 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:
5.6.5
Spindle override 0%
M5
S0
IS Spindle stop
IS Reset
IS Spindle Reset
IS Oscillation speed
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 appropriate 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.
5-104
Spindle (S1)
5.6
5.6.6
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 monitored.
Set position
To this aim, two limit values can be set in MD 36000: STOP_LIMIT_COARSE (exact stop coarse) 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 positioning is always as good as specified by the connected spindle transducer, the backlash,
the gear transmission ratio, etc.
Speed
Position
Exact stop limit fine
Exact stop limit coarse
Fig. 5-10
5-105
Spindle (S1)
5.7
5.7
Function
With SW 2.0 and higher, the kinematic transformation functions TRANSMIT and TRACYL are possible 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
LIMS
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 master spindle:
SETMS(n)
SETMS
SETMS(1)
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.
5-106
S1=..., S2=...
M1=3, M1=4, M1=5 ; Specifications for the direction of rotation, stop for spindle 1
M2=3, M2=4, M2=5 ; Specifications for the direction of rotation, stop for spindle 2
SPOS[ n ]
; Position spindle n
SPI (n)
P_S[ n ]
$AA_S[ n ]
Spindle (S1)
5.8
Analog spindle
$P_SDIR[ n ]
$AC_SDIR[ n ]
2 spindles fitted
It is possible to interrogate the following in the program:
5.8
$P_NUM_SPINDLES
$P_MSNUM
$AC_MSNUM
Analog 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
5-107
Spindle (S1)
5.9
5.9
5.9.1
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
5.9.2
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:
1:
Further references
35000
MD number
Default: 0
Change valid after Power On
Data type: BYTE
Meaning:
Application example(s)
Related to ....
5-108
bipolar output (10V) with pos./neg. speed setpoint, servo enable (normal case)
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)
For the assignment of the signal terminals on the SIMODRIVE 611UE drive, please refer to:
Start-Up Guide 802D
SPIND_ASSIGN_TO_MACHAX
Assignment of spindle to machine axis
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
This MD is used to enter which machine axis is used as the spindle.
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
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)
Spindle (S1)
5.9
35010
MD number
Default: 0
Change valid after RESET
Data type: BOOLEAN
Meaning:
Related to ....
GEAR_STEP_CHANGE_ENABLE
Gear stage change is possible
Min. input limit: 0
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:
Positioning mode:
Axis mode:
5-109
Spindle (S1)
5.9
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 tolerance (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
MD number
GEAR_STEP_MAX_VELO[n]
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 result 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)
5-110
Spindle (S1)
5.9
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 programming an S value that is too small.
The minimum speed can only be undershot by the signals/commands/states that occur in conjunction 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)
5-111
Spindle (S1)
5.9
35150
MD number
Default: 0.1
0.1 = 10%
Change valid after RESET
Data type: DOUBLE
Meaning:
MD inapplicable ......
SPIND_DES_VELO_TOL
Spindle speed tolerance
Min. input limit: 0.0
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)
5-112
Spindle (S1)
5.9
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 connected 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 movement, 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
MD number
Default: 3
Change valid after RESET
Data type: BYTE
Meaning:
Related to ....
SPIND_POSITIONING_DIR
Direction of rotation when positioning with the spindle not synchronized
Min. input limit: 3
Max. input limit: 4
Protection level: 2/2
Unit: Valid from SW release:
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
MD 35300: SPIND_POSCTRL_VELO (position control threshold speed)
5-113
Spindle (S1)
5.9
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 displayed 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
MD number
Default: 0
Change valid after RESET
Data type: BYTE
Meaning:
MD inapplicable ......
Related to ....
5-114
SPIND_OSCILL_START_DIR
Start direction on oscillation
Min. input limit: 0
Max. input limit: 4
Protection level: 2/2
Unit: Valid from SW release:
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
spindle modes other than oscillation mode
MD 35400: SPIND_OSCILL_DES_VELO (oscillation speed)
IS Oscillation speed (V380x2002.5)
IS Oscillation by the PLC (V380x2002.4)
Spindle (S1)
5.9
35440
MD number
Default: 1.0
SPIND_OSCILL_TIME_CW
Oscillation time for M3 direction
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
MD number
Default: 0.5
SPIND_OSCILL_TIME_CCW
Oscillation time for M4 direction
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)
Related to ....
35500
MD number
Default: 1
Change valid after RESET
Data type: BYTE
Meaning:
SPIND_ON_SPEED_AT_IPO_START
Feed enable for spindle in set range
Min. input limit: 0
Max. input limit: 2
Protection level: 2/2
Unit: Valid from SW release:
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.
see MD 35510
MD 35150: SPIND_DES_VELO_TOL (spindle speed tolerance)
IS Spindle in set range (V390x2001.5)
Application example(s)
Related to ....
5-115
Spindle (S1)
5.9
35510
MD number
Default: 0
Change valid after RESET
Data type: BOOLEAN
Meaning:
Application example(s)
Related to ....
SPIND_STOPPED_AT_IPO_START
Feed enable with the spindle stopped
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
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 feedrate will be enabled.
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.
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 ......
5.9.3
43210
SD number
Default: 0.0
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable ......
Special cases, errors, ......
Related to ....
5-116
SPIND_MIN_VELO_G25
Programmable lower spindle speed limitation with G25
Min. input limit: 0.0
Max. input limit: ***
Protection level: 7/7
Unit: rpm
Valid from SW release:
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)
any other spindle modes than control mode
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.
SD 43220: SPIND_MAX_VELO_G26
SD 43230: SPIND_MAX_VELO_LIMS (progr. spindle speed limitation with G96)
Spindle (S1)
5.9
43220
SD number
Default: 1000.0
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable to ......
Special cases, errors, ......
Related to ....
43230
SD number
Default: 100.0
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable to ......
Application example(s)
Related to ....
SPIND_MAX_VELO_G26
Progr. spindle speed limitation with G26
Min. input limit: 0.0
Max. input limit: ***
Protection level: 7/7
Unit: rpm
Valid from SW release:
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.
spindle modes other than control mode
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.
SD 43210: SPIND_MIN_VELO_G25 (progr. spindle speed limiting G25)
SD 43230: SPIND_MAX_VELO_LIMS (progr. spindle speed limiting with G96)
SPIND_MAX_VELO_LIMS
Progr. spindle speed limitation G96
Min. input limit: 0.0
Max. input limit: ***
Protection level: 7/7
Unit: rpm
Valid from SW release:
With constant cutting rate (G96 and G97), in addition to the limitations permanently active, an additional 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=.... .
all spindle modes except for G96 and G97 (constant cutting rate)
On parting and in the case of very small machining diameters, the spindle with the workpiece (turning 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.
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.
SD 43220: SPIND_MAX_VELO_G26 (max. spindle speed)
SD 43210: SPIND_MIN_VELO_G25 (min. spindle speed)
5-117
Spindle (S1)
5.10
5.10
Signal descriptions
Signal descriptions
5.10.1
Related to ....
VD370x 0004
Interface signal
Edge evaluation:
Related to ....
Signals to axis/spindle
V380x 0002.2
Interface signal
Positioning mode:
5-118
Oscillation is aborted
Axes go on moving
Program is continued with current gear stage
If necessary the IS Set speed limited (V390x2001.1) is set with the
next following M value and a larger S value.
- is stopped
Spindle (S1)
5.10
Signal descriptions
V380x 0002.2
Interface signal
Signal state 0 or edge
change 1 - - -> 0
Related to ....
V380x 2000.3
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Related to ....
V380x 2000.0 to .2
Interface signal
Edge evaluation: yes
Signal state 1 (status-controlled)
CBA
-
Contents
000
001
2
3
4
5
010
011
100
101
110
111
5-119
Spindle (S1)
5.10
Signal descriptions
V380x 2000.0 to .2
Interface signal
Special cases, errors, ......
Related to ....
V380x 2001.4
Interface signal
Edge evaluation: yes
Signal state 1
Signal state 0 or edge
change 1 - - -> 0
Signal inapplicable ......
Application example(s)
Related to ....
V380x 2001.6
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Application example(s)
V380x 2002.7 / .6
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
5-120
Invert M3/M4
Signal(s) to axis/spindle (PLC -> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The direction of rotation of the spindle motor changes with the following functions:
M3
M4
M5
SPOS from the movement; not active for SPOS from the standstill.
The machine can be switched over between vertical and horizontal spindle. It is mechanically designed such that with the horizontal spindle one gear wheel more is meshed than with the vertical
spindle. As a result, the direction of rotation of the vertical spindle must be changed if the spindle is
always to rotate clockwise with M3.
Spindle (S1)
5.10
V380x 2002.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
V380x 2002.4
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Application example(s)
Related to ....
Signal descriptions
Oscillation speed
Signal(s) to axis/spindle (PLC -> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release: 1.1
To carry out a gear stage change (IS Switch over gear (V390x2000.3) is set), the spindle mode
changes to oscillation mode.
Depending on at which moment the IS Oscillation speed (V380x2002.5) is set, the spindle will
brake to a standstill at different accelerations:
1. The IS Oscillation speed is set before the IS Switch over gear is set by the NCK. The
spindle is decelerated to a standstill at the acceleration of oscillation
(MD: SPIND_OSCILL_ACCEL). If the spindle has stopped, the oscillation is started
immediately.
2. The IS Oscillation speed is set after the IS Switch over gear has been set by the NCK and
after the spindle has come to a standstill. The position control is switched off. The spindle will
be decelerated at the acceleration of the speed control mode. After the IS Oscillation speed
has been set, the spindle starts to oscillate at the oscillation acceleration
(MD: SPIND_OSCILL_ACCEL).
If the IS Oscillation from PLC (V380x2002.4) is not set, the IS Oscillation speed is used to
carry out automatic oscillation in the NCK. The two times for the directions of rotation are entered
in SPIND_OSCILL_TIME_CW (oscillation time for M3 direction) and SPIND_OSCILL_TIME_CCW
(oscillation time for M4 direction).
If the IS Oscillation by the PLC is set, a speed is output with the IS Oscillation speed only in
conjunction with the IS Set direction of rotation CW and CCW. The oscillation, i.e. the continuous
change of the direction of rotation, is carried out by the PLC user using the IS Set direction of
rotation CW and CCW (oscillation from PLC).
The spindle will not oscillate.
all spindle modes except for oscillation mode
The oscillation speed is used to facilitate meshing of a new gear stage.
IS Oscillation by the PLC (V380x2002.4)
IS Set direction of rotation CCW (V380x2002.7)
IS Set direction of rotation CW (V380x2002.6)
5-121
Spindle (S1)
5.10
Signal descriptions
Application examples
V390x 2000.3
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
5-122
Spindle/no axis
Signal(s) from axis/spindle (NCK -> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The machine axis is operated as a spindle in the following spindle operating modes:
Control mode
Oscillation mode
Positioning mode
Tapping without compensating chuck
The IS provided to the axis (V380x1000 to V380x1003) and from the axis (V390x1000 to
V390x1003) are invalid.
The IS provided to the spindle (V380x2000 tois V380x2003) and from the spindle (V380x2000 to
V380x2003) are invalid.
The machine axis is operated as an axis.
The IS provided to the axis (V380x1000 to V380x1003)) and from the axis (V390x1000 to
V390x1003) are valid.
The IS provided to the spindle (V380x2000 to V380x2003) and from the spindle (V380x2000 to
V380x2003) are invalid.
If a spindle on a machine tool is sometimes also operated as a rotary axis (turning machine with
spindle/C axis or milling machine with spindle/rotary axis for rigid tapping), it is possible to recognize from the IS Spindle/no axis whether the machine axis is in axis or in spindle mode.
Switch gear
Signal(s) from axis/spindle (NCK -> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
A gear stage can be defined:
fixed by the part program (M41 to M45)
automatically by the programmed spindle speed (M40)
M41 to M45:
The gear stage can be specified in the part program as a fixed gear stage using M41 to M45.
If a gear stage other than the current (actual) gear stage is specified using M41 to M45, the
IS Switch over gear and the IS Set gear stage A to C is set.
M40:
D With M40 in the part program, the gear stage is automatically set by the control system. In
this case a check is carried out to see in which gear stage the programmed spindle
speed (S function) is possible. If a gear stage is found which is different than the current
(actual) gear stage, the IS Switch gear and the IS Set gear stage A to C is set.
When the signal = 1, the text Waiting for gear stage change ... is displayed in the channel
process message.
The IS Switch over gear is only set if the new gear stage specified is other than the current actual gear stage.
IS Set gear stage A to C (V390x2000.0 to .2)
IS Actual gear stage A to C (V380x2000.0 to .2)
IS Gear is switched over (V380x2000.3)
Spindle (S1)
5.10
V390x 2000.0 to .2
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
V390x 2001.7
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0 or edge
change 1 - - -> 0
Signal inapplicable to ......
Related to ....
V390x2001.5
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal descriptions
5-123
Spindle (S1)
5.10
Signal descriptions
V390x2001.5
Interface signal
Application example(s)
Related to ....
V390x 2001.2
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
V390x 2001.1
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
5-124
Spindle (S1)
5.10
V390x2001.0
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Related to ....
Signal descriptions
V390x 2002.7
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Related to ....
V390x 2002.6
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Related to ....
V390x 2002.5
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Related to ....
V390x 2002.3
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
5-125
Spindle (S1)
5.10
Signal descriptions
V390x 2002.3
Interface signal
Application example(s)
Related to ....
V390x 2002.0
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Related to ....
5-126
Spindle (S1)
5.11
5.11
5.11.1
Interface signals
Number
.Bit
Name
Ref.
Axis-specific
VD30x 000
VD30x 004
VB380x 0000
Feed override
V380x 0001
.7
Override active
V380x 0001
.5
V380x 0001
.3
Axis/spindle lock
V380x 0002
.2
V380x 0002
.1
Servo enable
V380x 0003
.6
V380x 2000
.3
V380x 2000
.0 to .2
V380x 2001
.4
V380x 2001
.6
Invert M3/M4
V380x 2002
.7
V380x 2002
.6
V380x 2002
.5
Oscillation speed
V380x 2002
.4
VB380x 2003
Spindle override
V390x 0000
.7
V390x 0000
.6
V390x 0000
.4
Referenced/synchronized 1
V390x 0000
.2
V390x 0000
.0
Spindle/no axis
V390x 0001
.7
V390x 0001
.6
V390x 0001
.5
V390x 0001
.4
V390x 2000
.3
V390x 2000
.0 to .2
V390x 2001
.7
V390x 2001
.5
V390x 2001
.2
V390x 2001
.1
V390x 2001
.0
V390x 2002
.7
V390x 2002
.6
V390x 2002
.5
V390x 2002
.3
V390x 2002
.0
5-127
Spindle (S1)
5.11
5.11.2
Machine data
Number
Identifier
Name
Ref.
Channel-specific
20090
SPIND_DEF_MASTER_SPIND
Masterspindel
Axis-specific
30134
IS_UNIPOLAR_OUTPUT
30300
IS_ROT_AX
Rotary axis
R2
30310
ROT_IS_MODULO
Modulo conversion
R2
30320
DISPLAY_IS_MODULO
Position display
R2
31050
DRIVE_AX_RATIO_DENOM[n]
G2
31060
DRIVE_AX_RATIO_NUMERA[n]
G2
32200
POSCTRL_GAIN[n]
G2
32810
EQUIV_SPEEDCTRL_TIME[n]
K3
34040
REFP_VELO_SEARCH_MARKER
R1
34060
REFP_MAX_MARKER_DIST
R1
34080
REFP_MOVE_DIST
R1
34090
REFP_MOVE_DIST_CORR
R1
34100
REFP_SET_POS
Reference-point value
R1
34200
ENC_REFP_MODE
Referencing mode
R1
35000
SPIND_ASSIGN_TO_MACHAX
35010
GEAR_STEP_CHANGE_ENABLE
35040
SPIND_ACTIVE_AFTER_RESET
35100
SPIND_VELO_LIMIT
35110
GEAR_STEP_MAX_VELO[n]
35120
GEAR_STEP_MIN_VELO[n]
35130
GEAR_STEP_MAX_VELO_LIMIT[n]
35140
GEAR_STEP_MIN_VELO_LIMIT[n]
35150
SPIND_DES_VELO_TOL
35160
SPIND_EXTERN_VELO_LIMIT
35200
GEAR_STEP_SPEEDCTRL_ACCEL[n]
35210
GEAR_STEP_POSCTRL_ACCEL[n]
35300
SPIND_POSCTRL_VELO
35350
SPIND_POSITIONING_DIR
35400
SPIND_OSCILL_DES_VELO
Oscillation speed
35410
SPIND_OSCILL_ACCEL
Acceleration on oscillation
35430
SPIND_OSCILL_START_DIR
35440
SPIND_OSCILL_TIME_CW
35450
SPIND_OSCILL_TIME_CCW
35500
SPIND_ON_SPEED_AT_IPO_START
35510
SPIND_STOPPED_AT_IPO_START
5-128
Spindle (S1)
5.11
Number
Identifier
Name
Ref.
Axis-specific
36060
STANDSTILL_VELO_TOL
A3
AX_VELO_LIMIT[n]
A3
36300
ENC_FREQ_LIMIT
A3
36302
ENC_FREQ_LIMIT_LOW
R1
36720
DRIFT_VALUE
Drift value
36200
5.11.3
Setting data
Number
Identifier
Name
Ref.
General
41200
JOG_SPIND_SET_VELO
H1
Spindle-specific
43210
SPIND_MIN_VELO_G25
43220
SPIND_MAX_VELO_G26
43230
SPIND_MAX_VELO_LIMS
5-129
Spindle (S1)
5.11
notice
5-130
6.1
General
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
-Z
-X
+C
+A
+Z
+X
-Y
Fig. 6-1
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.
6-131
General
Units
By default, the following units are used for the input and output of rotary axes:
Table 6-1
Physical Quantity
Unit
Angular position
Degrees
Degrees/minute
Rev./minute
1)
Rev./second2
1)
Rev./second3
1)
1)
These units will be interpreted by the control system with axis-specific machine data if the axis concerned is
declared a rotary axis.
Feed
With rotary axes alone in a block, the programmed feedrate F corresponds to a certain angular 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 numerical 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
with DE = 360 / p
6-132
6.2
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).
6-133
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.
6.3
6.3.1
The value describes the target position of the rotary axis in a range from 0 ... 359.999. In
case of values with a negative sign or 360, alarm 16830 Wrong modulo position pro
grammed is output.
ACP (positive) and ACN (negative) define the traversing direction of the rotary axis (irrespective of the actual position) unambiguously.
Use of ACP and ACN: For unsymmetrical workpieces, it must be possible to define the
traversing direction to rule out collisions during the rotary movement.
The value defines the target position of the rotary axis in a range of 0 ... 359.999. In case
of values with a negative sign or 360, the alarm 16830 Wrong modulo position programmed is output.
With DC (Direct Control), the rotary axis approaches the programmed position on the
shortest path within one revolution (traversing movement max. +180).
Depending on the current actual position, the control system determines the direction of
rotation and the distance to be traversed. If the distance to be traversed is the same (180)
in both directions, the positive direction of rotation is given preference.
Application example of DC: The rotary table is to approach the change position within the
shortest possible time (and thus on the shortest path).
Note: If DC is programmed for a linear axis, the alarm message 16800 Unable to execute
traversing instruction DC is displayed.
6-134
The value defines the distance to be traversed by the rotary axis. The value can be either
negative or 360.
The sign of the value specifies the traversing direction of the rotary axis definitely.
Example:
C=IC(720) ;C axis incrementally traverses in the positive direction by 720 (2 revolutions)
C=IC(-180) ;C axis incrementally traverses in negative direction by 180
6.3.2
The value and its sign define the target position of the rotary axis unambiguously. The value can be greater than +/-360 degrees. The position value is limited by the software limit
switches.
The traversing direction is determined by the control system, depending on the signed actual position of the rotary axis.
If ACP or ACN are programmed, the alarms 16810 Unable to execute traversing instruction ACP or 16820 Unable to execute traversing instruction ACN are output.
6-135
6.4
6.4.1
30300
MD number
Default: 0
Change valid after
Data type: BOOLEAN
Meaning:
IS_ROT_AX
Rotary axis
Further references
30310
MD number
Default: 0
Change valid after
Data type: BOOLEAN
Meaning:
MD inapplicable ......
Tab. 2.2
Application example(s)
Related to ....
6-136
Power On
ROT_IS_MODULO
Modulo conversion for a rotary axis
Min. input limit: 0
Max. input limit: 1
Power On
Protection level: 2/2
Unit: Valid from SW release:
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 30300: IS_ROT_AX = 0 (Linear axis)
possible combinations of machine data
Endless rotating rotary axes (e. g. for out-of-center turning, grinding, winding)
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
MD number
Default: 1
Change valid after
Data type: BOOLEAN
Meaning:
DISPLAY_IS_MODULO
Position display is modulo 360
Min. input limit: 0
Max. input limit: 1
Power On
Protection level: 2/2
Unit: Valid from SW release:
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
MD number
Default: 4096
Change valid after
Data type: DWORD
Meaning:
ENC_ABS_TURNS_MODULO[n]
Range of rotatory absolute encoders
Min. input limit: 1
Max. input limit: 4096
Power On
Protection level: 2 / 2
Unit: Valid from SW release:
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 ....
6-137
6.5
6.5.1
Machine data
Number
Identifier
Name
Ref.
General
10000
AXCONF_MACHAX_NAME_TAB
Chpt. 19
10210
INT_INCR_PER_DEG
G2
Channel-specific
20050
AXCONF_GEOAX_ASSIGN_TAB
Chpt. 19
20080
AXCONF_CHANAX_NAME_TAB
Chpt. 19
Axis/spindle-specific
30300
IS_ROT_AX
30310
ROT_IS_MODULO
30320
DISPLAY_IS_MODULO
34220
ENC_ABS_TURNS_MODULO
36100
POS_LIMIT_MINUS
A3
36110
POS_LIMIT_PLUS
A3
6.5.2
Setting data
Number
Identifier
Name
Ref.
General
41130
JOG_ROT_AX_SET_VELO
H1
Axis-specific
43430
WORKAREA_LIMIT_MINUS
A3
43420
WORKAREA_LIMIT_PLUS
A3
6-138
7.1
7.2
Diameter programming
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, programmed and displayed as radius dimensions (even if they are active for the transverse axis
and if DIAMON is active).
7-139
7.3
Functionality
Prerequisite: A controlled spindle must be provided.
With the G96 function enabled, the spindle speed is matched with the diameter of the workpiece currently machined (position of the transverse axis=geometry axis X) such that a programmed cutting rate S at the tool edge remains constant (spindle speed by diameter = constant).
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)
D2
D1
SD=Spindle speed
D1, D2 =Diameter
Fig. 7-1
7-140
8.1
Fundamentals
Why referencing?
To ensure that the control system detects the machine zero point exactly after the control system 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.
The referencing can be set for the installed position measuring systems using
MD 34200: ENC_REFP_MODE (referencing mode).
Cams
A cam for the reference point approach may be required for linear axes and performs the following tasks using its signal :
Selection of the traversing direction when approaching the zero mark (synchronous pulse)
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 parameterized accordingly (using SimoComU).
References:
Start - Up Guide
8-141
Fundamentals
The PLC user program must either check the starting order or define it automatically.
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 (except 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.
8-142
8.2
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 Delayed reference point approach
(V380x1000.7)
IS Traversing command plus
(V390x0004.7)
IS Traversing command minus
(V390x0004.6)
NST Traversing key plus/minus
(V380x0004.7 und .6)
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
Phase 1
Fig. 8-1
Phase 2
Phase 3
The machine axis must come to a standstill on the cam. Otherwise, an alarm is output.
The feed override is not active. The feed override of 100 % is active. The operation is aborted at a feed override of 0 %.
Feed Stop is active, the axis stops and an appropriate alarm is displayed.
8-143
If the reference point offset is less than the braking distance of the machine axis from the
reference point approch velocity to the standstill, the reference point is approached from
the other direction.
Type of referencing
Synchronuous
pulse
Sequence of motions
RV
VC
reference coordinate
before synchronuous
pulse
= without reversal:
(MD 34050:
REFP_SEARCH_MARK
ER_REVERSE = 0)
VP
VM
RK
Start
Synchronuous pulse
on the cam,
RV
VC
VP
reference coordinate
after synchronuous pulse
on the cam
= with reversal:
(MD 34050:
REFP_SEARCH_MARK
ER_REVERSE = 1)
Cam
Synchronuous
pulse
VM
RK
Start
Cam
Synchronous pulse
RV
(MD 34000:
REFP_CAM_IS_ACTIVE = 0)
Reference
coordinate after
synchronouspulse
VP
VM
Start
RK
Synchronuous pulse
VC
VM
VP
RV
8-144
Example for the case: Synchronuous pulse before the cam, reference coordinate before synchronuous pulse = synchronuous pulse search with falling cam edge).
The reference cam must have such a length that the braking procedure is terminated on the
cam when approaching the cam at reference point approach velocity (standstill on the cam),
and that the cam is left again when starting in the opposite direction at reference point shutdown velocity (leaving at a constant velocity).
To calculate the minimum length of the cam, insert the larger of the following speeds in the
formula below:
Minimum length =
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.
Practice has shown that it is best to adjust the edge of the reference cam required for the
synchronization in the middle between two synchronuous pulses (zero marks). This can be
achieved as follows:
Reference axis.
In JOG mode, traverse the axis by half the length of the distance to be traversed between
two zero marks. This distance is dependent on the leadscrew pitch S and the gear ratio n
(e.g.: S=10 mm/rev. , n=1:1 results in a distance to be traversed of 5 mm).
Adjust the cam switches such that the switching action is carried out exactly at this position (IS Reference point approach delay (V380x 1000.7).
8-145
Warning
8.3
If the reference cam is not adjusted exactly, it may happen that a false sychronuous pulse (zero mark) is evaluated. 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:
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 value of the absolute encoder is set during the start - up once and accepted by the control system.
8.3.2
General procedure
Move the axis to be adjusted to a defined position and then set the appropriate actual value.
Chronological sequence
8-146
Note
This known position must be approached at a slow velocity and always from a defined direction 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.
8-147
8.4
8.4.1
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 calculate 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 encoder;
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 disconnected 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.
8-148
Warning
If the data record arises from another machine (e. g. in case of series machine start - up), an adjustment must be carried out after loading and enabling the data.
8.5
8.5.1
20700
MD number
Default: 1
Change valid after RESET
Data type: BOOLEAN
Meaning:
REFP_NC_START_LOCK
NC START inhibit without reference point
Min. input limit: 0
Max. input limit: 1
Protection level: 2/7
Unit: Valid from SW release:
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.
8.5.2
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
MD number
Default: 1
Change valid after RESET
Data type: BOOLEAN
Meaning:
REFP_CAM_IS_ACTIVE
Axis with reference point cam
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
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 ......
8-149
34010
MD number
Default: 0
Change valid after RESET
Data type: BOOLEAN
Meaning:
REFP_CAM_DIR_IS_MINUS
Reference- point approach in minus direction
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
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.
Note regarding absolute encoders:
The direction of the traversing key is also important for the adjustment of absolute encoders:
Approach in the direction of a fixed position; update of values in MD 34090 and MD 34210.
34020
MD number
Default: 5000.0 mm/min
13.88 rpm
Change valid after RESET
REFP_VELO_SEARCH_CAM
Reference point approach velocity
Min. input limit: 0.0
mm/min,
rpm
MD inapplicable ......
34030
MD number
Default: 10000.0
Change valid after RESET
Data type: DOUBLE
Meaning:
REFP_MAX_CAM_DIST
Max. distance to be traversed to the reference cam
Min. input limit: 0.0
Max. input limit: ***
Protection level: 2/2
Unit: mm, degrees
Valid from SW release:
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 output.
MD inapplicable ......
8-150
34040
MD number
Default: 300.0 mm/min
0.833 rpm
Change valid after RESET
REFP_VELO_SEARCH_MARKER[n]
Reference point shutdown velocity [encoder No.]: 0
Min. input limit: 0.0
mm/min,
rpm
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
MD number
Default: 0
Change valid after RESET
Data type: BOOLEAN
Meaning:
REFP_SEARCH_MARKER_REVERSE[n]
Direction reversal to the reference cam [encoder No.]: 0
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
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_MINUS, 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 opposite 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
MD number
Default: 20.0
Change valid after RESET
Data type: DOUBLE
Meaning:
Application example(s)
REFP_MAX_MARKER_DIST[n]
Max. distance to the reference mark [encoder No.]: 0
Min. input limit: 0.0
Max. input limit: ***
Protection level: 2/2
Unit: mm, degrees
Valid from SW release:
With incremental measuring systems:
If the machine axis traverses a distance defined in MD: REFP_MAX_MARKER_DIST (IS Delayed reference point approach is reset) without detecting the reference mark, the axis stops
and alarm 20002 Zero mark missing is output.
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.
8-151
34070
MD number
Default: 1000.0 mm/min
2.77 rpm
Change valid after RESET
REFP_VELO_POS
Reference point approach velocity
Min. input limit: 0.0
34080
MD number
Default: - 2.0
Change valid after RESET
Data type: DOUBLE
Meaning:
REFP_MOVE_DIST[n]
Reference point distance/target position with distance - coded system [encoder No.]: 0
Min. input limit: ***
Max. input limit: ***
Protection level: 2/2
Unit: mm, degrees
Valid from SW release:
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 traverses 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 determined by addition is exactly the distance between the zero mark (in phase 2) and the reference point.
Unit:
mm/min,
rpm
MD 34100: REFP_SET_POS[0]
Velocity
MD 34020:
REFP_VELO_SEARCH_CAM
(ref. point approach velocity)
MD 34040: REFP_VELO_SEARCH_
MARKER
(ref. point shutdown velocity)
Zero mark
8-152
Delayed
ref. pt. approach
34090
MD number
Default: 0.0
Change valid after RESET
Data type: DOUBLE
Meaning:
REFP_MOVE_DIST_CORR[n]
Reference point offset/absolute offset distance - coded, n: [encoder No.]: 0
Min. input limit: ***
Max. input limit: ***
Protection level: 2/2
Unit: mm, degrees
Valid from SW release:
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
MD number
Default: 0.0
Change valid after RESET
Data type: DOUBLE
Meaning:
REFP_CAM_SHIFT
Electronic reference cam offset for incremental measuring systems with equidistant zero marks
Min. input limit: 0.0
Max. input limit: ***
Protection level: 2/2
Unit: mm
Valid from SW release:
When the reference cam signal occurs, the search for the zero mark is started not immediately, but with a delay after the distance defined in REFP_CAM_SHIFT has been traversed. This ensures the repeatability of the zero mark search even in case of a temperature- 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.
Thermal extension
REMEDY
REFP_CAM_SHIFT
Cam signal
Zero marker
2
Cam signal with
offset
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 runtime 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
8-153
34100
MD number
Default: 0.0
Change valid after RESET
Data type: DOUBLE
Meaning:
REFP_SET_POS[0]
Reference point with incremental systems
Min. input limit: ***
Max. input limit: ***
Protection level: 2/2
Unit: mm, degrees
Valid from SW release:
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.
Note: MD: REFP_SET_POS[1]...[3] is reserved - do not use.
Related to ....
34110
MD number
Default: 0
Change valid after RESET
Data type: BYTE
Meaning:
MD inapplicable to ......
Related to ....
8-154
REFP_CYCLE_NR
Axis order on channel - specific referencing
Min. input limit: - 1
Max. input limit: 4
Protection level: 2/2
Unit: Valid from SW release:
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 referenced 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.).
> 0 : Channel- specific referencing
The channel - specific referencing is started using the IS Enable referencing (V3200 0001.0).
The control system acknowledges the successful start with the IS Referencing active. Channel- specific referencing can be used to reference any machine axis assigned to the channel (to
this aim, the plus/minus traversing keys are simulated).
The MD: REFP_CYCLE_NR can be used to define in which order the machine axes are referenced:
1:
The machine axis is started by channel - specific referencing.
2:
The machine axis is started by channel - specific referencing if all machine axes marked
in MD: REFP_CYCLE_NR with 1 have been referenced.
3:
The machine axis is started by channel - specific referencing if all machine axes marked
in MD: REFP_CYCLE_NR with 2 have been referenced.
4:
The machine axis is started by channel - specific referencing if all machine axes marked in
MD: REFP_CYCLE_NR with 3 have been referenced.
axis - specific referencing
IS Enable referencing
IS Referencing active
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
MD number
Default: 0
Change valid: immediately
Data type: BYTE
Meaning:
ENC_REFP_STATE[n]
Status of absolute encoder [encoder No.]: 0
Min. input limit: 0
Max. input limit: 2
Protection level: 2/2
Unit: Valid from SW release:
Absolute value encoder:
0: Default on comissioning: Encoder not adjusted
1: Encoder adjustment enabled, encoder not yet adjusted
2: Encoder adjusted
Application example(s)
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
MD ENC_REFP_STATE can be modified by the start - up engineer and from the operating system:
Incremental encoder:
-
MD inapplicable ......
8-155
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 switched 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 encoders 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 absolute 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 ....
8-156
8.6
Signal descriptions
Signal descriptions
8.6.1
Signals to channel
V32000001.0
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - - > 1
Application example(s)
Related to ....
Enable referencing
Signal(s) to channel (PLC - > NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
Channel- specific referencing is started using the IS Enable referencing. The control system
acknowledges the successful start with the IS Referencing active. Channel - specific referencing
can be used to reference each machine axis assigned to the corresponding channel (to this aim,
the traversing keys plus/minus are simulated internally in the control system). The axis - specific
MD 34110: REFP_CYCLE_NR (axis order on channel - specific referencing) can be used to define in which order the machine axes are referenced. If all axes entered in REFP_CYCLE_NR
have reached their reference points, the IS All axes referenced (V33000004.2) is set.
To reference the machine axes in a certain order, the following is necessary:
The operator must observe the starting order.
The PLC must either check the starting sequence or define it.
The function Channel - specific referencing is used.
IS Referencing active (V33000001.0)
IS All axes to be referenced are referenced (V33000004.2)
V33000001.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
Special cases, errors, ......
Related to ....
Referencing active
Signal(s) to channel (PLC - > NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The channel - specific referencing has been started by the IS Enable referencing and the successful start has been acknowledged by the IS Referencing active. The channel - specific referencing is on.
Channel- specific referencing is completed.
Axis - specific referencing is running.
No referencing active.
spindles
IS Activate referencing (V32000001.0)
8-157
Signal descriptions
8.6.2
Signals to axis/spindle
V380x1000.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
The machine axis is before the reference cam. An appropriately long reference cam (up to the
end of the traversing range) should be used to rule out that the machine axis is after the reference cam.
Related to ....
8-158
Referenced/synchronized 1
Signal(s) from axis/spindle (NCK - > PLC)
Signal(s) updated:
Signal(s) valid from SW release:
Axes:
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.
The machine axis/spindle is not referenced/synchronized with position measuring system 1.
IS Position measuring system 1 (V380x0000.5)
Chapter Spindles
8.7
8.7.1
Interface signals
Number
.Bit
Name
Ref.
Mode- specific
V30000001
.2
V31000001
.2
V32000001
.0
Enable referencing
V33000001
.0
Referencing active
V33000004
.2
V380x0000
.5
V380x1000
.7
V390x0000
.4
Referenced, synchronized 1
Channel- specific
Axis - specific
8.7.2
Machine data
Number
Identifier
Name
Ref.
Channel- specific
20700
REFP_NC_START_LOCK
Axis - specific
30200
NUM_ENCS
Number of encoders
G1
30240
ENC_TYP
G1
31122
BERO_DELAY_TIME_PLUS
31123
BERO_DELAY_TIME_MINUS
34000
REFP_CAM_IS_ACTIVE
34010
REFP_CAM_DIR_IS_MINUS
34020
REFP_VELO_SEARCH_CAM
34030
REFP_MAX_CAM_DIST
34040
REFP_VELO_SEARCH_MARKER[0]
34050
REFP_SEARCH_MARKER_REVERSE[0]
34060
REFP_MAX_MARKER_DIST[0]
34070
REFP_VELO_POS
34080
REFP_MOVE_DIST[0]
34090
REFP_MOVE_DIST_CORR[0]
34092
REFP_CAM_SHIFT
Electronic reference cam offset for incremental measuring systems with equidistant zero marks
8-159
Axis - specific
34093
REFP_CAM_MARKER_DIST
34100
REFP_SET_POS[0]
34110
REFP_CYCLE_NR
34200
ENC_REFP_MODE[0]
Referencing mode
34210
ENC_REFP_STATE[0]
34220
ENC_ABS_TURNS_MODULO
R2
36300
ENC_FREQ_LIMIT
A3
36302
ENC_FREQ_LIMIT_LOW
36310
ENC_ZERO_MONITORING
8-160
A3
9.1
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:
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 carried out between the axes.
Coordinate systems
The operator can traverse the axes in the following coordinate systems:
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
A machine function present at the machine control panel interface of the user must be converted 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).
9-161
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).
Continuous traversing:
There are no differences when a transverse axis is transversed continuously.
Incremental traversing:
Only the half of the distance of the selected increment size is traversed.
References:
9-162
Chapter Spindle
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 (conventional 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 rapid traverse override, the rapid traverse override switch will be active.
If a spindle is used, the enabled spindle override switch will be active.
References:
Section Feed
Acceleration
The maximum axis acceleration is defined using the axis - specific MD 32300: MAX_AX_ACCEL. 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.
9-163
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 coarse 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 traversing the spindle in JOG mode:
The following PLC interface signals provided to the spindle will not be active:
-
The following PLC interface signals provided from the spindle will not be set:
-
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:
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 responds.
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 manufacturer. 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
9-164
9.2
Continuous traversing
Continuous traversing
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 - >
V26000001.0 = 0 - >
Traversing keys +/ The traversing keys plus and minus will traverse the corresponding axis in the desired direction. 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 movement 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
9-165
9.3
Setting increments
The distance to be traversed by the axis is defined by so - called increments (also called incremental dimension). Before the machine operator traverses the axis, he must set the desired 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 - >
V26000001.0 = 0 - >
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 ).
9-166
9.4
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:
To activate the handwheel from the operator panel (HMI), a separate user interface is provided between HMI and PLC. This interface provided by the PLC basic program for handwheels 1 to 3 contains the following information:
The PLC user program must set the appropriate IS Enable handwheel either to 0 (Disable)
or to 1 (Enable) for the given axis.
9-167
Weighting
The resulting distance to be traversed (=path)/velocity when turning the handwheel depends
on the following factors:
Traversing commands +/ During the axis movement, the IS Traversing command + or Traversing command - is provided 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.
9-168
MD value =0:
If the handwheel is rotated in the opposite direction, the resulting distance to be traversed
is calculated and the end point calculated in this way is approached as fast as possible: If
this end point is before the point to which the traversing axis can brake with the traversing
direction currently selected, the axis will decelerate, and the end point will be approached
by traversing in the opposite direction. Otherwise, the newly calculated end point will be
approached immediately.
MD value >0:
If the handwheel is rotated by at least the number of pulses specified in the machine data,
the axis will be decelerated as fast as possible, and all pulses ariving until the end of the
interpolation will be ignored, ie. the axis will be traversed again only after the standstill (as
far as the setpoint is concerned).
MD value =0:
The distance to go resulting from the handwheel pulses constitutes a fictive end point
which will be used for the calculations to follow. If this fictive end point is, e.g. 10 mm behind the limitation, these 10 mm must only be traversed in the opposite direction before
the axis will be able to traverse. If you wish to traverse from the limitation immediately in
the opposite direction again, the fictive distance to go can be deleted either by deleting
the distance to go or deselecting the handwheel assignment.
MD value >0:
All handwheel pulses resulting in any end point behind the limitation will be ignored. Moving the handwheel in the opposite direction will immediately result in traversing in the
opposite direction, i.e. from the limitation away.
9-169
9.5
9.5.1
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 ....
9-170
9.5.2
32010
MD number
Default: 10000 mm/min,
27.77 rpm
Change valid after RESET
JOG_VELO_RAPID
Conventional rapid traverse
Min. input limit: 0.0
MD inapplicable to ......
Related to ....
32020
MD number
Default: 2000 mm/min
5.55 rpm
Change valid after RESET
JOG_VELO
Conventional axis velocity
Min. input limit: 0.0
MD inapplicable to ......
Application example(s)
Related to ....
9-171
9.5.3
41010
SD number
Default: 0.0
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable ......
Related to ....
41110
SD number
Default: 0.0
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable ......
Related to ....
JOG_VAR_INCR_SIZE
Size of the variable increment with INC/handwheel
Min. input limit: ***
Max. input limit: ***
Protection level: 7/7
Unit: mm or degrees
Valid from SW release: 1.1
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 traversing 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.
if INCvar is not active
IS Active machine function: INCvariabel(V32001001.5, V32001005.5, V32001009.5,
V380x0005.5)
JOG_SET_VELO
JOG velocity for linear axes (for G94)
Min. input limit: 0.0
Protection level: 7/7
Value > 0:
The entered velocity applies to all linear axes traversed in JOG mode if these are traversed manually 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).
- for rotary axes (SD 41130: JOG_ROT_AX_SET_VELO is active here)
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
SD number
Default: 0.0
Change valid: immediately
Data type: DOUBLE
Meaning:
JOG_ROT_AX_SET_VELO
JOG velocity for rotary axes
Min. input limit: 0.0
Max. input limit: ***
Protection level: 7/7
Unit: rpm
Valid from SW release: 1.1
as SD 41110: JOG_AX_SET_VELO - but for all rotary axes instead of linear axes
Application example(s)
Related to ....
9-172
41200
SD number
Default: 0.0
Change valid: immediately
Data type: DOUBLE
Meaning:
SD inapplicable ......
Related to ....
Further references
JOG_SPIND_SET_VELO
JOG speed for the spindle
Min. input limit: 0.0
Max. input limit: ***
Protection level: 7/7
Unit: rpm
Valid from SW release:
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).
axes
MD 32020: JOG_VELO (conventional axis velocity)
MD 35130: GEAR_STEP_MAX_VELO_LIMIT (maximum speed of gear stages)
Section Spindle
9-173
9.6
Signal descriptions
Signal descriptions
9.6.1
V1900 0003.7
V1900 0004.7
V1900 0005.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
Related to ....
V19001003.0 to .2
V19001004.0 to .2
V19001005.0 to .2
Interface signal
Edge evaluation: no
Signal meaning
Machine axis
for handwheel 1
for handwheel 2
for handwheel 3
Signal(s) from NC (HMI - > PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The operator has assigned the handwheel (1, 2, 3) an axis directly from the operator panel. This
axis is a machine axis - no geometry axis (axis in WCS).
For more information, see IS Axis number.
The operator has assigned the handwheel (1, 2, 3) an axis directly from the operator panel. This
axis is a geometry axis - no geometry axis (axis in WCS).
For more information, see IS Axis number.
IS Axis number (V19000003.0 to .4, ff)
Axis number
for handwheel 1
for handwheel 2
for handwheel 3
Signal(s) from NC (HMI - > PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The operator can assign each handwheel an axis directly from the operator panel. To this aim,
he specifies the desired axis (e.g. X).
The axis number assigned to the axis plus the information machine or geometry axis (IS Machine axis) is provided by the PLC user interface in the form of HMI interface signals.
The interface signal Enable handwheel must be set by the PLC user program for the specified
axis. Depending on the HMI interface signal Machine axis, the interface to the geometry axis or
the machine axis is used.
For the assignment of the axis name to the axis number, the following applies:
IS Machine axis = 1; i.e. machine axis - not geometry axis:
The assignment is carried out via MD 10000: AXCONF_MACHAX_NAME_TAB[n]
(machine axis name).
IS Machine axis = 0; i.e. geometry axis (axis in WCS):
The assignment is carried out via MD 20060: AXCONF_GEOAX_NAME_TAB[n]
(name of geometry axis in the channel). With the IS Channel number Geometry axis
Handwheel n, the channel number assigned to the handwheel is specified.
The following coding applies to the axis number:
Bit 2
Bit 1
Bit 0
Axis number
0
0
0
0
0
1
1
0
1
0
2
0
1
1
3
1
0
0
4
1
0
1
5
Note: Bit 3 and bit 4 must always remain 0.
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)
9-174
9.6.2
Signal descriptions
The IS INC1, INC10, ..., Continuous in the operating mode area are used as input signals
(V3000 0002.0 to .6).
The IS INC1, INC10, ..., Continuous in the axis and geometry axis areas are used as input
signalsi.
IS Machine function INC1 to Continuous in the operating mode area (V3000 0002.0 to .6)
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)
Related to ....
9-175
Signal descriptions
9.6.3
V3200 1000.4
V3200 1004.4
V3200 1008.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0
Application example(s)
Related to ....
V3200 1000.5
V3200 1004.5
V3200 1008.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
9-176
Enable handwheel (1 to 3)
V3200 1000.5
V3200 1004.5
V3200 1008.5
Interface signal
Signal inapplicable ......
Related to ....
Further references
Related to ....
Signal descriptions
9-177
Signal descriptions
V3200 1001.0 to .6
V3200 1005.0 to .6
V3200 1009.0 to .6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Related to ....
9-178
Handwheel active (1 to 3)
V33001000.7 and .6
V33001004.7 and .6
V33001008.7 and .6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Application example(s)
Related to ....
V33001001.0, ..., .6
V33001005.0, ..., .6
V33001009.0, ..., .6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
Related to ....
Signal descriptions
9-179
Signal descriptions
9.6.4
V380x0004.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
Application example(s)
Related to ....
V380x0004.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
9-180
V380x0004.7 and .6
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - - > 1
Signal descriptions
V380x0005.0 ... .6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
No traversing
AUTOMATIC and MDA modes
The machine axis cannot be traversed in JOG mode if it is already traversed via the channel specific PLC interface (as a geometry axis). Alarm 20062 is output.
Indexing axes
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 )
IS Traversing key lock (V380x0004.4 )
9-181
Signal descriptions
V390x0004.7 and .6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Application example(s)
Related to ....
V390x0005.0, ..., .6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
Related to ....
9-182
Handwheel active (1 to 3)
Signal(s) from axis/spindle (NCK - > PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release: 1.1
These PLC interface signals are used whether the machine axis is assigned handwheel 1, 2, 3
or no handwheel.
One axis can be assigned only one handwheel at a time.
If several interface signals Activate handwheel are set, the priority is Handwheel 1 before
Handwheel 2 before Handwheel 3.
If the assignment is active, the machine axis can be traversed in JOG mode using the handwheel.
This machine axis is not assigned handwheel 1, 2 or 3.
IS Enable handwheel (V380x0004.0 to .2)
IS Handwheel selected from HMI (V19000003, ff)
9.7
9.7.1
Interface signals
Number
.Bit
Name
Ref.
for handwheel 1
for handwheel 2
for handwheel 3
.0
V3000 0000
.2
JOG mode
V3000 0002
.0 to .6
V3100 0000
.2
V32001000
V32001004
V32001008
.2, .1, .0
.2, .1, .0
.2, .1, .0
V32001000
V32001004
V32001008
.4
.4
.4
V32001000
V32001004
V32001008
.5
V32001000
V32001004
V32001008
.7 or .6
.7 or .6
.7 or .6
V32001000
V32001004
V32001008
.0, ..., .6
.0, ..., .6
.0, ..., .6
V33001000
V33001004
V33001008
.2, .1, .0
.2, .1, .0
.2, .1, .0
V33001000
V33001004
V33001008
.7 or .6
.7 or .6
.7 or .6
V33001001
V33001005
V33001009
.0, ..., .6
.0, ..., .6
.0, ..., .6
NCK - specific
V2600 0001
Mode- specific
Channel- specific
Axis/spindle- specific
VB380x0000
Feed override
V380x0000
.7
Override active
V380x0002
.2
Delete distance to go
V380x0004
.2, .1, .0
V380x0004
.4
V380x0004
.5
9-183
Axis/spindle- specific
V380x0004
.7 or .6
V380x0005
.0 to .6,
V390x0000
.7 / .6
V390x0004
2, .1, .0
V390x0004
.7 or .6
V390x0005
.0, ..., .6
9.7.2
Machine data
Number
Identifier
Name
Ref.
General
10000
AXCONF_MACHAX_NAME_TAB [n]
11310
HANDWH_REVERSE
11320
HANDWH_IMP_PER_LATCH[n]
11346
HANDWH_TRUE_DISTANCE
Chpt. 19
Channel- specific
20060
AXCONF_GEOAX_NAME_TAB [n]
Chpt. 19
20100
DIAMETER_AX_DEF
P1
G2
Axis/spindle- specific
32000
MAX_AX_VELO
32010
JOG_VELO_RAPID
32020
JOG_VELO
32300
MAX_AX_ACCEL
Axis acceleration
B2
32420
JOG_AND_POS_JERK_ENABLE
B2
32430
JOG_AND_POS_MAX_JERK
B2
35130
GEAR_STEP_MAX_VELO_LIMIT[n]
S1
9.7.3
Setting data
Number
Identifier
Name
Ref.
General
41010
JOG_VAR_INCR_SIZE
41110
JOG_SET_VELO
41130
JOG_ROT_AX_SET_VELO
41200
JOG_SPIND_SET_VELO
9-184
10.1
10
Brief description
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.
10-185
Operating modes
10.2
Operating modes
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 traversing keys. Channel - specific signals and interlocks are not taken into account.
The desired machine function is activated by the IS REF (V300 00001.2). The display can
be seen in the IS Active machine function REF (V3100 0001.2).
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 stopped 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:
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.
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).
10-186
10.2.1
Operating modes
Mode change
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 possible 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 Table.
Table 10-1
JOG
From
To
AUTO
previously
Reset
Interr.
AUTOMATIC
Reset
X
JOG
MDA
Interr.
MDA
MDA
previously
Interr.
Reset
X
X
X
Interr.
10-187
10.2.2
Operating modes
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.
sb sb
Block search
sb
sb
sb
sb sb
Channel active
Channel interrupted
Channel active
Channel active
Channel active
Channel active
Functionalities
Channel interrupted
Table 10-2
sb sb
s
sb
10-188
10.2.3
Operating modes
Channel active
Channel interrupted
Channel active
Channel active
Channel active
Channel active
Channel interrupted
Table 10-3
SW limit switch -
HW limit switch +
HW limit switch -
Clamping tolerance
DAC limitation
(analog spindle)
Contour monitoring
Spindle synchronized
x
x
10-189
10.2.4
Operating modes
Overview of interlocks
In the individual operating modes, various interlocks can be active.
Channel interrupted
Channel active
Channel active
Channel active
Channel active
Channel interrupted
Channel active
Which interlock can be enabled in which operating mode and in which operating status is to
be seen in the Table below:
802- Ready
NC Start inhibited
Read- in disable
Spindle disable
Servo disable
Axis disable
Servo disable
Spindle lock
General interlocks
Axis/specific interlocks
10-190
10.3
10.3.1
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 interface signals. The manipulation is carried out using mode - specific or channel - specific interface 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:
10.3.2
by selecting a program via the program number in Program list (see Manual Operating and Programming..., Chapter 7)
by reselecting an active program via the PLC - HMI interface (see Section 19.5)
10-191
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
10.3.3
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:
10-192
10.3.4
Stopping the part program execution at the next block border (with NC Stop at the block
border, M0/M1 or single block); any other STOP commands will stop it immediately.
Any auxiliary functions of the current block which are not yet output at this moment will no
longer be output.
The axes are stopped and the part program execution is also stopped.
RESET command
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:
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.
10-193
10.3.5
Program control
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.
Table 10-4
Program control
Function
Selection signal
Enable signal
V1700 0001.0
V3200 0002.0
V1700 0000.6
V3200 0000.6
V1700 0001.3
V3200 0006.6
Preselection:
SBL1 - Single block coarse
SBL2 - Single block fine
Single block
user - specific
V3200 0000.4
M1 Programmed stop
V1700 0000.5
V3200 0000.5
V3300 0000.5
V1700 0000.7
V3200 0001.7
V3300 0001.7
10.3.6
Program status
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 program status Interrupted or, in case of Reset, Aborted is displayed.
The following program statuses are possible:
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).
10-194
Table 10-5
IS Reset
Aborted
Interrupted
Stopped
Waiting
Running
IS NC Stop
IS Read - in disable
Feed override = 0%
IS Spindle stop
M2 in the block
IS Single block
10.3.7
Channel status
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:
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.
10-195
Table 10-6
Reset
IS Reset
Interrupted
Active
IS NC Stop
IS Read - in disable
Feed override = 0%
IS Spindle stop
M2 in the block
IS Single block
10.3.8
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.
Table 10-7
Situation
Channel
status
R
Program status
A
Active mode
A
A
x
10-196
J
RESET (4)
RESET (5)
x
RESET (6)
NC Start (13); mode change (5 or 6)
NC Start (15)
Table 10-7
10
11
12
14
15
16
17
13
NC Stop (12)
x
Channel status:
RAborted
UInterrupted
ARunning
10.3.9
Operating modes:
AAUTOMATIC
MMDA
JJOG
Program status:
NAborted
UInterrupted
SStopped
WWaiting
ARunning
M0
t4
Spindle run - up
Axis running
t5
Program:
Fig. 10-1
10-197
Program test
10.4
10.4.1
Program test
General remarks on program test
Objective
For testing a new part program, various control functions are provided. These functions considerably reduce any hazards to the machine during the test phase and also reduce the required time. It is possible to enable several program test functions at the same time.
The following test possibilities will be described in the following:
10.4.2
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. Merely 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 switching - 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 selection, 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).
10-198
Program test
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.
10.4.3
Functionality
The user can use this function to execute a part program step by step and check the individual 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.
Single block coarse is the default setting when the control system is turned on.
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.
10-199
Program test
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 Program status: Running (V3300 0003.0) are reset.
10.4.4
Functionality
The part program can be started via the IS NC Start (V3200 0007.1). With the function enabled, 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 destroyed due to the changed feed values.
Selection/enabling
The operation with dry run feed is selected in the operating area Position - > softkey Program 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 setting 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.
10-200
10.4.5
Program test
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 program 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 continued.
Note: Make absolutely sure that a collision - free starting position and the appropriate technological 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:
Interface signal
The IS
10-201
Program test
Note
The IS Approach block active will only be set in case of Block search with calculation at the contour, 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).
Start
block
search
Searched
block
found
NC Start
Output action
blocks
NC Start
Output approach block
Target
block in
main program part
Fig. 10-2
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 output 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).
10-202
Program test
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
10.4.6
Functionality
To test new programs, it is useful to lock or skip certain part program blocks for program execution.
PROGRAM1
N10 ...
N20 ...
Block being
processed
N30 ...
/N40 ...
/N50 ...
Blocks
N40 and N50 are skipped during the
program execution
N60 ...
N70 ...
N80 ...
N90 M2
Fig. 10-3
10-203
Program test
Selection/enabling
The skip function is selected on the user interface from the menu Program control. The selection 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.
10.4.7
Graphical simulation
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 broken - line graphics after actuating NC Start.
Selection/deselection
The graphical simulation is accessible for the program selected via the operating area Program, Load program and using the Simulation softkey. At the same time, the IS Simulation active (V1900 0000.6) is set and is reset again when quitting the operating area Program 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:
Stopping the axes/spindle by changing to program test: Set IS Enable program test
(V3200 0001.7)
10-204
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 AUTOMATIC mode. The display is carried out in the same way as with the graphical simulation.
References:
10.5
Function
The function Program runtime provides timers that can be used for the monitoring of technological 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.
Time since the last booting of the CNC with default values ( in minutes ):
$AN_SETUP_TIME
With Power - up of control system with default values, the timer is automatically set to
zero.
10-205
Workpiece counter
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:
10.6
Workpiece counter
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
10-206
Workpiece counter
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_COUNTER or
MD 27882: PART_COUNTER_MCODE.
Display
The contents of the counters is displayed on the screen in the operating area OFFSET/PARAM - > 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:
10-207
10.7
10.7.1
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 Simulation, 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 Simulation, 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.
Related to ...
10-208
MD 287: MM_CTM_SIMULATION_MAX_Z
MD 288: MM_CTM_SIMULATION_MAX_VIS_AREA
287
MD number
Default: 0
MM_CTM_SIMULATION_MAX_Y
Simulation for max. display Z
Min. 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 coordinate 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
1
+Z
+Z
+Z
+Z
3
+X
+Z
+X
+Z
4
+X
+X
+
X
7
+Z
+X
+Z
10-209
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
1:
292
MM_CTM_G91_DIAMETER_ON
MD number
Incremental infeed
Default: 0
Min. input limit: 0
Change valid: immediately
Protection level:
Data type: BYTE
Meaning:
0:
Input in radius
1:
Input in diameter
10-210
10.7.2
21000
MD number
CIRCLE_ERROR_CONST
Circle end point monitoring constant
Default: 0.01
Unit: mm
Meaning:
Application example
27860
MD number
PROCESSTIMER_MODE
Enable program runtime measurement
Default: 0x7
It is recommended to disable timers not needed permanently. This will have a positive influence
on the calculation time for other applications.
10-211
27880
MD number
Default: 0x0
Change valid after RESET
Data type: DWORD
Meaning:
PART_COUNTER
Enable workpiece counters
Min. input limit: 0x0
Unit: -
Application example
Related to ...
10-212
MD 27882: PART_COUNTER_MCODE
IS Required parts reached (V3300 40001.1)
27882
MD number
PART_COUNTER_MCODE[n]
n = 0 ... 2 , index for counter assignment
Workpiece counting using an M command
Default: (2, 2, 2)
Unit:
Application example
Related to ...
10.7.3
MD 27880: PART_COUNTER
42000
THREAD_START_ANGLE
SD number
Default: 0.0
Unit: degrees
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 programmed in the G33 block of the part program, the setting data will be active.
Further references
42010
SD number
Default: ( - 1, - 1)
Change valid: immediately
Data type: DOUBLE
Meaning:
THREAD_RAMP_DISP[n]
(index n = 0: Acceleration distance, n = 1: Braking distance)
Acceleration and braking behavior of feed axis on thread cutting G33
Min. input limit: - 1
Max. input limit: 999 999.
Protection level: 7/7
Unit: mm/inch
Valid from SW release:
Acceleration distance and braking distance of the feed axis on thread cutting:
- 1:
Starting/braking of the feed axis is carried out with the configured acceleration.
The jerk will act according to the currently programmed BRISK/SOFT.
0:
Start/braking of the feed axis on thread cutting is carried out following a step - like curve.
>0:
The max. acceleration/brake distance is specified. Under certain circumstances, the
specified path may lead to an acceleration overload of the axis.
Reset/part program end is used to activate the default setting.
Example:
THREAD_RAMP_DISP[0] = 2 acceleration distance 2 mm
Description of Functions, Section Feed
Further references
10-213
42100
DRY_RUN_FEED
SD number
Default: 5000
Change valid: immediately
Unit: mm/min
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 ......
Application example(s)
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.
10-214
10.8
10.8.1
Signal descriptions
Signal descriptions
Mode signals
V3000 0000.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Signal inapplicable ......
Related to ....
AUTOMATIC mode
Signal(s) to NCK (PLC ---> NCK)
Signal(s) updated: cyclically
AUTOMATIC mode is selected from PLC program.
V3000 0000.1
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Signal inapplicable ......
Related to ....
MDA mode
Signal(s) to NCK (PLC ---> NCK)
Signal(s) updated: cyclically
MDA mode is selected from the PLC program.
V3000 0000.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Signal inapplicable ......
Related to ....
JOG mode
Signal(s) to NCK (PLC ---> NCK)
Signal(s) updated: cyclically
JOG mode is selected from the PLC program.
V3000 0000.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0
10-215
Signal descriptions
V3000 0000.7
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - > 1
Reset
Signal(s) to NCK (PLC ---> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The channel should change to the RESET status. The current program is then in the program
status Aborted. All spindles and axes running will be decelerated along their acceleration
characteristics to a standstill without contour violation.The basic settings will be recovered
(e. g. G functions). The alarms will be cleared if they are not POWER ON alarms.
Channel status and program sequence are not influenced by this signal.
IS Channel RESET
IS All channels in RESET status
An alarm that cancels the IS Ready will ensure that the channel is no longer in the reset
status. In order to be able to switch the mode, RESET must be provided.
V3000 0001.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Signal inapplicable ......
V31000 000.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
V3100 0000.1
Interface signal
Edge evaluation:
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Active mode:MDA
Signal(s) from NCK (NCK ---> PLC)
Signal(s) updated: cyclically
MDA mode is active.
V3100 0000.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
10-216
V3100 0000.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal state 0 or edge
change 1 - - - > 0
V3100 0001.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
10.8.2
Signal descriptions
802- READY
Signal(s) from NCK (NCK ---> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
This signal is set after Mains Power On and all voltages have been established. The operating
mode group is now ready for operation, and part programs can be executed in the channel
and/or axes can be traversed.
The operating mode group / channel is not ready for service. Possible causes are:
- a serious axis or spindle alarm is present
- hardware fault
- mode group configured not correctly (machine date)
If Mode group ready changes to signal status 0,
- the axis and spindle drives are decelerated to a standstill at the maximum braking current;
- the signals from the PLC to the NCK are set to the active status (clear position).
An alarm that cancels the IS 802 - READY ensures that the channel is no longer in the RESET
status. To be able to switch over the operating mode, RESET (V30000000.7) must be provided.
V3200 0000.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Application example(s)
Special cases, errors, ....
Related to ....
Further references
10-217
Signal descriptions
V3200 000.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
Enable M1
Signal(s) to channel (PLC ---> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
In AUTOMATIC or MDA, M1 contained in the part program will result in a programmed stop.
V3200 0001.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
V3200 0002.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
10-218
Skip block
Signal(s) to channel (PLC ---> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The blocks of the part program, which are marked with a slash (/), will be skipped. For a
series of blocks to be skipped, this signal will only be active if it is provided prior to decoding
the first block of this series, best before NC Start.
The marked program blocks will not be skipped.
IS Skip block selected
V3200 0006.1
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Application example(s)
Signal descriptions
Read- in disable
Signal(s) to channel (PLC ---> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The data transfer to the interpolator will be disabled for the next block. This signal is only
active in AUTOMATIC and MDA modes.
The data transfer to the interpolator will be enabled for the next block. This signal is only active in AUTOMATIC and MDA modes.
If the execution of the auxiliary function must be completed for the execution of the
next NC block (e. g. for tool change), the automatic block change must be prevented by Read - in disable.
N21 G...
X ...M...
N20 T...
N20 T...
T
Related to ....
V3200 0006.4
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Special cases, errors, ......
N21
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
10-219
Signal descriptions
V3200 0007.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Application example(s)
Related to ....
V3200 0007.1
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - > 1
V3200 0007.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
10-220
NC Start inhibited
Signal(s) to channel (PLC ---> NCK)
Signal(s) updated: cyclically
IS NC Start is inactive.
IS NC Start is active.
This signal is used, e.g. to suppress that the program is executed once more due to a lack of
lubricant.
IS NC Start
NC Start
Signal(s) to channel (PLC ---> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release
AUTOMATIC mode: The selected NC program is started or continued.
If data are transferred from the PLC to the NC in the program status Program interrupted,
these will be taken into account with NC start immediately.
MDA mode: The entered part program block are enabled for execution or continued.
No effect
IS NC Start inhibited
V3200 0007.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal descriptions
NC Stop
Signal(s) to channel (PLC ---> NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The current NC program is stopped immediately, and the current block will not be completed.
Only the axes are stopped without contour violation.
Any distances to go will only be traversed after restart.
The program status will change to Stopped, and the channel status will change to
Interrupted.
no effect
With NC Start, the program will be continued from the interruption position.
IS NC-Stop
IS NC-Start
Program running
Axis running
Block executed
Special cases, errors, ....
The signal NC Stop must be provided at least one PLC cycle time.
Related to ....
10-221
Signal descriptions
V3200 0007.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
V3300 0000.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Application example(s)
V3300 0000.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Application example(s)
10-222
V3300 0000.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal descriptions
M0/M1 active
Signal(s) from channel (NCK ---> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The part program block is executed, the auxiliary functions are output and
- M0 is stored in the user memory or
- M1 is stored in the user memory and IS Activate M01 is active
The program status changes to Stopped.
- With the IS NC Start
- In case of program abortion by Reset
M0
M change signal
(1 PLC cycle time)
IS M0/M1 active
IS NC Start
Related to ....
IS Enable M01 )
IS M01 selected
V3300 0000.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Application example(s)
V3300 0001.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Application example(s)
10-223
Signal descriptions
V3300 0001.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
M2/M30 active
Signal(s) from channel (NCK ---> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The NC block that contains M2 is executed completely. If the block also contains traversing
movements, the signal will be output only when the target position is reached.
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)
Special cases, errors, ....
V3300 0001.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
10-224
The PLC can use this signal to detect the end of program execution and react accordingly.
- The functions M2 and M30 have the same effect. It is recommended to use only M2.
-
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.
V3300 0003.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Signal descriptions
V3300 0003.2
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
V3300 0003.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
V3300 0003.4
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
IS NC Stop
IS NC Stop: Axes plus spindles
IS NC Stop at block border
The IS Program status: Interrupted indicates that the part program can be continued by
restart.
10-225
Signal descriptions
V3300 0003.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
V3300 0003.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
V3300 0003.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
V3300 4001.1
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 ---> 1
V1700 0000.5
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
10-226
M01 selected
Signal(s) von MMC ---> PLC
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The program control Enable M1 has been selected from the user interface. The function will
thus not yet come into effect.
The program control Enable M1 has not been selected from the user interface.
IS Enable M01 )
IS M0/M01 active
Signal descriptions
V1700 0000.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
V1700 0001.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
V1700 0001.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
V1700 0002.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
V1900 0000.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - > 1
Signal state 0 or edge
change 1 - - > 0
Related to ....
Simulation active
Signal(s) von HMI ---> PLC
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The Simulation function has been selected from the user interface.
The Simulation function has not been selected from the user interface.
10-227
10.9
10.9.1
Identifier
Name
Ref.
Channel- specific
20050
AXCONF_GEOAX_ASSIGN_TAB[n]
Chpt. 19
20060
AXCONF_GEOAX_NAME_TAB[n]
Chpt. 19
20070
AXCONF_MACHAX_USED[n]
Chpt. 19
20080
AXCONF_CHANAX_NAME_TAB[n]
Chpt. 19
20100
DIAMETER_AX_DEF
P1
20700
REFP_NC_START_LOCK
R1
21000
CIRCLE_ERROR_CONST
Identifier
Name
Ref.
Channel- specific)
22000
AUXFU_ASSIGN_GROUP[n]
H2
22010
AUXFU_ASSIGN_TYPE[n]
H2
22020
AUXFU_ASSIGN_EXTENSION[n]
H2
22030
AUXFU_ASSIGN_VALUE[n]
H2
22550
TOOL_CHANGE_MODE
W1
Name
Ref.
Identifier
Channel- specific )
27860
PROCESSTIMER_MODE
27880
PART_COUNTER
27882
PART_COUNTER_MCODE[n]
10-228
Identifier
Name
Ref.
Display MD
283 ...
293
10.9.2
Number
Identifier
Name
Ref.
Channel- specific
42000
THREAD_START_ANGLE
42010
THREAD_RAMP_DISP
42100
DRY_RUN_FEED
10.9.3
Interface signals
.Bit
Name
Ref.
Name
Ref.
PLC to NCK
V30000000
.0
AUTOMATIC mode
V30000000
.1
MDA mode
V30000000
.2
JOG mode
V30000000
.4
V30000000
.7
Reset
V30000001
.2
Number
.Bit
NCK to PLC
V31000000
.0
V31000000
.1
V31000000
.2
V31000000
.3
802- READY
V31000001
.2
10-229
Channel signals
Number
.Bit
Name
Ref.
Name
Ref.
PLC to NCK
V32000000
.3
Enable DRF
V32000000
.4
V32000000
.5
Enable M01
V32000000
.6
V32000001
.0
Enable Referencing
V32000001
.7
V32000002
.0
Skip block
V32000006
.0
Feed lock
V32000006
.1
Read- in disable
V32000006
.2
Delete distance to go
V32000006
.3
V32000006
.4
V32000006
.6
V32000006
.7
V32000007
.0
NC START inhibited
V32000007
.1
NC Start
V32000007
.2
V32000007
.3
NC Stop
V32000007
.4
V32000007
.7
Reset
Number
.Bit
NCK to PLC
V33000000
.3
V33000000
.4
V33000000
.5
M00/M01 active
V33000000
.6
V33000001
.0
Referencing active
V33000001
.4
V33000001
.5
M2/M30 active
V33000001
.7
V33000003
.0
V33000003
.2
V33000003
.3
V33000003
.4
V33000003
.5
V33000003
.6
V33000003
.7
V33004001
.1
10-230
R1
Number
.Bit
Name
Ref.
MMC to PLC
V17000000
.5
M01 selected
V17000000
.6
V17000001
.3
V17000001
.7
V17000002
.0
V19000000
.6
Simulation active
10-231
notice
10-232
11
Feed (V1)
11.1
Feedrate F
Functionality
The feedrate F is the tool path velocity of the tool along the programmed workpiece contour. 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:
G94
|G95
The inch unit system applies to G700 or to the system setting inch with
MD 10240: SCALING_SYSTEM_IS_METRIC =0.
11-233
Feed (V1)
11.1
Feedrate F
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 movement can be carried out. However, note SD 42110: DEFAULT_FEED.
If the spindle has stopped with G95 active, no axis movement can be carried out. No
alarm is output.
With the Dry run feed function enabled and the program started, the feedrates programmed in conjunction with G1, G2, G3, CIP and CT are replaced by the feedrate value defined 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 traverse override, please refer to:
References: Chapter 9 Manual Traversing and Handwheel Traversing
Notes
11.1.1
11-234
Feed (V1)
11.1
Feedrate F
Information
11.1.2
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 degree.
References:
11.1.3
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:
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.
11-235
Feed (V1)
11.2
11.2
Rapid traverse G0
Rapid traverse G0
Application
The rapid traverse movement G0 is used for quick positioning of the tool, not for direct workpiece 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.
11-236
Feed (V1)
11.3
11.3
11.3.1
Feed override
Feed override
Overview
Progr. F value
Progr. S value
X axis (radius)
Stored
S value
G96
SD: DRY_RUN_FEED
(dry run
feed)
G95
G97
F value
(G94)
SG96
2**X
G95/G96/G97
G94
Maximum
*
Spindle override
from machine
control panel
PLC
G94
G95
*
100%
Feed override
from machine control
panel 0 - xxx %
Fig. 11-1
11.3.2
PLC
IS: Feed override active
IS: Feed override active
IS: Override active
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 (geometry 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.
11-237
Feed (V1)
11.3
Feed override
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!).
11.3.3
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 testing 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 velocity limits and without contour error.
The overrides will apply to the programmed values before the limitations (e. g. G26) come
into effect.
11-238
Feed (V1)
11.3
Feed override
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 program 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.
11-239
Feed (V1)
11.4
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.
11.4
SD inapplicable to ......
DEFAULT_FEED
Default value for feedrate
Min. input limit: 0.=
Protection level: 7/7
Related to ....
11-240
Feed (V1)
11.5
11.5
Signal descriptions
Signal descriptions
11.5.1
V3200 0000.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
VB3200 0004
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
Feed override
Signal(s) to channel (PLC NCK)
Signal(s) updated: cyclically
Table 11-1
Switch
position
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Related to ....
SD 42100: DRY_RUN_FEED will be used instead of the programmed feed (with G1, G2, G3,
CIP, CT).
The interface signal is evaluated on NC Start if the channel was in the RESET state.
When using the selection via PLC, the interface signal Enable dry run feed must be set from
the PLC user program.
The programmed feed will be used for traversing.
active after RESET state
Testing a workpiece at increased feedrate.
IS Dry run feed selected (V1700 0000.6)
SD 42100: DRY_RUN_FEED (dry run feed)
00001
00011
00010
00110
00111
00101
00100
01100
01101
01111
01110
01010
01011
01001
01000
11000
11001
11011
11010
11110
11111
11101
11100
10100
10101
10111
10110
10010
10011
10001
10000
0.0
0.01
0.02
0.04
0.06
0.08
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.75
0.80
0.85
0.90
0.95
1.00
1.05
1.10
1.15
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
11-241
Feed (V1)
11.5
Signal descriptions
VB3200 0005
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
Table 11-2
Switch
position
Code
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00001
00011
00010
00110
00111
00101
00100
01100
01101
01111
01110
01010
01011
01001
01000
11000
11001
11011
11010
11110
11111
11101
11100
10100
10101
10111
10110
10010
10011
10001
10000
0.0
0.01
0.02
0.04
0.06
0.08
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.75
0.80
0.85
0.90
0.95
1.00
1.00
1.00
1.00
1.00
1.00
1.00
1.00
1.00
1.00
1.00
1.00
1.00
Related to ....
V3200 0006.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
Feed disable
Signal(s) to channel (PLC NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The signal of a channel is active in all operating modes.
The signal results in feed disable for all axes involved in interpolation provided G33
(thread) is not active.
All axes will be stopped with compliance of the path contour. If the feed disable (0 signal)
has been canceled, the interrupted part program will be continued.
The position control remains stored, i.e. the following error will be reduced.
If for an axis for which Feed Disable is provided, a traversing request is provided, this will
remain stored. The traversing request provided will be carried out directly at the moment
when Feed disable is canceled.
11-242
If the axis in question interpolates with other axes, this will also apply to these axes.
The feed is enabled for all axes of this channel.
If a traversing request (Traversing command) is provided for an axis or an axis group if
Feed disable is canceled, this will be carried out directly.
Feed disable is disabled if G33 is enabled.
Feed (V1)
11.5
V3200 0006.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
Signal state 0 or edge
change 1 --->0
V3200 0006.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
Signal state 0 or edge
change 1 --->0
V3200 1000.3
and
V3200 1008.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 --->1
V1700 0000.6
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
Signal descriptions
Feed Stop
11-243
Feed (V1)
11.5
Signal descriptions
V1700 0001.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - - > 1
11-244
Feed (V1)
11.5
11.5.2
Signal descriptions
Signals to axis/spindle
VB380x 0000
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 ---> 1
Switch
position
Code
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00001
00011
00010
00110
00111
00101
00100
01100
01101
01111
01110
01010
01011
01001
01000
11000
11001
11011
11010
11110
11111
11101
11100
10100
10101
10111
10110
10010
10011
10001
10000
0.0
0.01
0.02
0.04
0.06
0.08
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.75
0.80
0.85
0.90
0.95
1.00
1.05
1.10
1.15
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
Table 11-3
Related to ....
IS Override active
11-245
Feed (V1)
11.5
Signal descriptions
VB380x 2003
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 ---> 1
Spindle override
Signal(s) to spindle (PLC NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
The spindle override is specified from the PLC using the Gray code.
The override value determines the percentage of the programmed speed setpoint provided
to the spindle.
Switch
position
Code
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00001
00011
00010
00110
00111
00101
00100
01100
01101
01111
01110
01010
01011
01001
01000
11000
11001
11011
11010
11110
11111
11101
11100
10100
10101
10111
10110
10010
10011
10001
10000
0.5
0.55
0.60
0.65
0.70
0.75
0.80
0.85
0.90
0.95
1.00
1.05
1.10
1.15
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
1.20
Table 11-4
Related to ....
V380x 2001.0
Interface signal
Instead of the spindle override value, the feed override value (VB38030000) will be used for
the spindle.
Related to ....
IS
IS
IS
11-246
Feed (V1)
11.5
V380x 0001.7
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 ---> 1
Related to ....
V380x 0004.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 ---> 1
Application example(s)
Signal descriptions
Override active
Signal(s) to axis/spindle (PLC NCK)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
Feed override active:
The axis - specific feed override 0 to max. 120 % entered in the PLC interface will be
taken into account.
Spindle override active:
The spindle override 0 to max. 120 % entered in the PLC interface will be taken into
account.
The present axis - specific feed override or spindle override is inactive.
If the override is not active, 100 % will be used internally in the NC as the override factor.
Note:
An exception for this value is the 1st switch position of the Gray coded interface. In this case,
this override factor is used even if Override is inactive, and 0 % is output as the override
value for the axes (has the same effect as Feed disable); for the spindle correspondingly
50 %.
In spindle mode Oscillation, the spindle override is always supposed to be 100 %.
The spindle override effects the programmed values before the limitations
(e. g. G26) come into effect.
The feed override is disabled if G33 is active.
IS Feed override and IS Spindle override
Feed Stop:
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.
This signal results in Feed Stop for all axes interpolating if Feed Stop is provided for one
of the path axes. In this case, all axes will be stopped, observing the path contour. After
canceling the Feed Stop signal, the interrupted part program will be continued.
The position control remains stored, i.e. the following error will be reduced.
If a traversing request is provided for an axis for which Feed Stop is provided, this will
remain stored. This traversing request will be carried out directly at the moment when
Feed Stop is canceled.
If the axis interpolates with other axes, this will also apply to these axes.
Spindle Stop:
The spindle will be decelerated to a standstill along its deceleration characteristic.
In positioning mode, the positioning process will be aborted by setting the signal Spindle
Stop. The behavior above applies to single axes.
Feed Stop:
The feed for the axis is enabled.
If a traversing request (traversing command) is provided for the axis when Feed Stop
is canceled, this will be carried out directly.
Spindle Stop:
The speed is enabled for the spindle.
If Spindle Stop is canceled, the spindle is accelerated to the previous speed setpoint
along its acceleration constant or, in positioning mode, the positioning is continued.
Feed Stop:
The traversing movements of the machine axes will not be started with Feed Stop if,
e.g. certain operating states are provided on the machine which do not allow an axis
movement (e. g. door not closed).
Spindle Stop:
to carry out a tool change.
11-247
Feed (V1)
11.6
11.6
11.6.1
Interface signals
Number
.Bit
Name
Ref.
Channel- specific
V3200 0000
.6
V3200 0004
Feed override
V3200 0005
V3200 0006
.0
Feed disable
V3200 0006
.6
V3200 0006
.7
V3200 1000
.3
V3200 1004
.3
V3200 1008
.3
V1700 0000
.6
V1700 0001
.3
V3300 0001
.2
Axis/spindle- specific
VB380x 0000
Feed override
VB380x 2003
Spindle override
V380x 0001
.7
Override active
V380x 2001
.0
V380x 0004
.3
V390x 2002
.0
S1
V390x 2002
.3
S1
11.6.2
Number
Identifier
Name
Ref.
SCALING_SYSTEM_IS_METRIC
G1
MAX_AX_VELO
G1
35100
SPIN_VELO_LIMIT
S1
K1
DRY_RUN_FEED
42110
DEFAULT_FEED
11-248
12.1
12
Brief description
In the continuous-path mode, the CNC executes a part program block by block. Only if the
functions of the block currently executed have been completed, the next block is started. Various demands placed on machining and positoning require various block change criteria. Two
behaviors are to be found at the block borders for the path axes.
The first type, Exact stop, means that all path axes must have reached the given target position depending on an exact stop criterion before the next block change is initiated. To be able
to fulfill this criterion, the path axes must reduce their tool path velocity what, however, will
result in a delay of the block change. The second type, Continous-path mode, is used to try
to avoid decelerating of the tool path rate at the block border to be able to change to the next
block at the same tool path velocity (if possible).
LookAhead is a method, which is used in continuous-path mode to determine a velocity
control looking ahead for several NC program blocks.
12-249
12.2
General
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 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).
on PLC acknowledgement.
If the acknowledgement by the PLC is required for an auxiliary function output before or
after the end of a motion, the stop is carried out at block end.
No contour errors occur when stopping for synchronization. However, the stop is not desired
especially in contiuous path mode, since a relief cut can occur.
12-250
12.3
Exact Stop
Exact Stop
The Exact Stop function (G60, G9) is used to wait for the path axes running in to the programmed
block end point. If all path axes have reached the exact stop criterion, the block change is carried
out. The velocity at the block transition is nearly zero.
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.
Exact stop is not recommended if
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.
with G602
t1=interpolator end
with G601
Set value
t1
Fig. 12-1
12-251
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
12.4.1
shorter processing times due to missing braking and acceleration procedures, which are
required for reaching the exact stop criterion.
12-252
If auxiliary functions are output prior to the traversing motion, the previous block is only
completed when the selected exact stop criterion is reached.
If auxiliary functions are output after the traversing motion, these are output after interpolator end of the block.
If an executable block does not contain any traversing information for the path axes, the
previous block is completed when the selected exact stop criterion is reached.
If the function Empty buffer (STOPRE) is programmed in the part program, the previous
block is completed when the selected exact stop criterion is reached.
the time for the positioning of a spindle is longer using SPOS than the traversing time of
the path axes. The block change is carried out when the exact stop fine of the spindle to
be positioned is reached.
12.4.2
Function
This function reduces the traversing rate in continuous path mode such that the non-tangential 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 axisspecific 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 changes. 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 during block change. In case of an almost tangential block transition, the path velocity is not reduced, if the admissible axes accelerations are not exceeded. This allows to overrun very
small bends in the contour.
12-253
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 specifies 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.
12.4.3
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), acceleration 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.
12-254
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.
12.4.4
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 acceleration change for each machine axis separately, as it is already done for the acceleration limitation 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 contours.
References:
Section Acceleration.
12-255
LookAhead
12.5
LookAhead
Function
LookAhead is a procedure in continuous path mode (G64), which can pre-emptively determine 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 traversed, 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 reached 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 feedrate 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
N1
Fig. 12-2
N2
N3
N4
N5
N6
N7
N8 N9
N10 N11
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.
12-256
LookAhead
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 velocity, and can then be reduced again, to allow the velocity at the block end point of the last predicted 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 programmed velocity. This allows to pre-emptively attain the smaller velocity beyond the current
block.
12-257
12.6
12.6.1
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 ....
12.6.2
32432**
MD number
Default:
PATH_TRANS_JERK_LIM
Max. axis-specific jerk with path movement at the block transition
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
Meaning:
MD inapplicable ......
Application example(s)
Related to ....
** This machine data is not available with the 802D base line.
12-258
12.7
12.7.1
Signal descriptions
Channel - specific signals
V3300 00004.3
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
12.7.2
Signal descriptions
V390x 0000.6
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
V390x0000.7
Data block
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
Signal state 0 or edge
change 1 - - -> 0
Signal inapplicable ...
Related to ....
12-259
12.8
12.8.1
Number
.Bit
Name
Ref.
Channel-specific
V33000004
.3
Axis/spindle-specific
V390x0000
.6
V390x0000
.7
12.8.2
Machine data
Number
Identifier
Name
Ref.
Channel-specific
29000
LOOKAH_NUM_CHECKED_BLOCKS
Axis/spindle-specific
32431**
MAX_AX_JERK
B2
32432**
PATH_TRANS_JERK_LIM
36000
STOP_LIMIT_COARSE
A3
36010
STOP_LIMIT_FINE
A3
36020
POSITIONING_TIME
A3
** This machine data is not available with the 802D base line.
12-260
13.1
13
Brief description
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
13-261
13.2
Value
Explanation
Meaning:
Range
Range
Type
Meaning:
for selected M
functions:
1 ... 2
0 ... 99
INT
Function
Spindle no.
S
Spindle no.
1 ... 2
0 ... 3.4028 ex 38
REAL
Spindle speed
any
0 ... 99
3.4028 ex 38
REAL
any
0-32000
INT
Tool selection
0-9
INT
0.001999 999.999
REAL
Feedrate
Number
per
block
1
These functions have no
effect in the NCK and
must be realized exclusively by the PLC.
1
D0 deselection,
default value D1
1
1
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 programming examples for H functions.
If the permissible number of auxiliary functions per block is exceeded, alarm 12010 is output.
Table 13-2
13-262
Programming
H5
H0=5.0
H=5.379
H0=5.379
H17=3.5
H17=3.5
H5.3=21
Block change
The NCK can carry out a new auxiliary function output to the PLC only after the PLC has acknowledged 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.
13.3
Transfer time
Auxiliary functions output at the end of the block (e.g. M2) are only output if all axes and
SPS movements of the spindle are completed.
If several auxiliary functions with different output types (prior to, during, at the end of the movement) are programmed in a block that contains movements, the individual auxiliary functions 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
13-263
13.4
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 values 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).
13-264
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 machine data; then reboot the control system.
Table 13-3
Index n
MD 22000
(GROUP)
MD 22010
(TYPE)
MD22020
(EXTENSION)
MD22030
(VALUE)
78
79
80
81
10
11
12
-1
13.5
13-265
13.6
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
13.6.2
A minor part of M functions is assigned a fixed functionality defined by the control manufacturer (see Users Guide Operation and Programming). The remaining functions are
free for use by the machine manufacturer.
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 number.
References:
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 compensations are described in detail:
References:
13-266
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
13.6.5
Range of values of the H functions: Floating point data (such as arithmetic parameters R)
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:
13-267
13.7
13.7.1
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]
13.7.2
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)
13-268
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.
Application example(s)
Special cases, errors, ......
Related to ....
Index [n] of the machine data always designates the auxiliary function number in the channel: 0-63.
All auxiliary functions assigned to auxiliary function groups must be numbered in the ascending 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].
see Section 13.4
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.
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 extension are assigned to this group.
further see MD 22010: AUXFU_ASSIGN_TYPE[n] (auxiliary function type)
Application example(s)
see Section 13.4
13-269
13.8
Signal descriptions
Signal descriptions
V2500 0004. 0 to .4
V2500 0006.0
V2500 0008.0
V2500 0010.0
V2500 0012.0 to .2
Interface signal
Edge evaluation: no
Signal state 1
M funct. changes 1 to 5
S funct. change 1
T funct. change 1
D funct. change 1
D funct. changes 1 to 3
Signal(s) from channel (NCK - -> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release:
An M, S ,T, D, H information has been output to the interface together with a new value and the
corresponding change signal. The change signal indicates that the corresponding value is valid.
The change signals are only valid for one PLC cycle, i.e. if the signal is 1, a change is pending
for this cycle.
Signal state 0
The value of the appropriate information is not valid.
VD2500 2000
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
Application example(s)
Special cases, errors,
......
VB2500 1000 to
VB2500 1012
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
Application example(s)
Related to ...
VD2500 3000
VD2500 3008
VD2500 3016
VD2500 3024
VD2500 3032
VD2500 3012
VD2500 3020
VD2500 3028
VD2500 3036
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
Related to ....
13-270
T function1
Signal(s) from channel (NCK - -> PLC)
Signal(s) updated: job-controlled
Signal(s) valid from SW release:
from NCK
Once the T change signal is provided, this machine data provides the T function programmed in
an NC block.
Range of values of T function: 0-32000; integer
The T function remains stored until it is overwritten by a new T function.
after power up of the PLC.
Before a new auxiliary function is entered, the remaining functions are deleted.
Control of automatic tool selection.
With T0, the current tool is removed from the tool mount and no new tool is changed (default
configuration of machine manufacturer).
M function 1
M function 2
M function 3
M function 4
M function 5
Extended address of M function 1
Extended address of M function 2
Extended address of M function 3
Extended address of M function 4
Extended address of M function 5
Signal(s) from channel (NCK - -> PLC)
Signal(s) updated: job-controlled from
Signal(s) valid from SW release:
NCK
This machine data provides up to 5 M functions programmed in a block at a time once the M
change signals are provided.
Range of values of the M functions: 0 to 99; integer
Range of values of the extended address: 1 ... 2; integer (spindle number)
The M functions remain stored until they are overwritten by new M functions.
after power up of the PLC.
Before a new auxiliary function is entered, the remaining functions are deleted.
IS M function for the spindle (DINT), axis-specific (VD370x 0000)
VD2500 4000
VD2500 4008
VD2500 4004
VD2500 4012
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
Related to ....
VD2500 5000
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
Application example(s)
Special cases, errors, ......
VD2500 6000
VD2500 6008
VD2500 6016
VW2500 6004
VW2500 6012
VW2500 6020
Interface signal
Edge evaluation: no
Signal state 1
Signal state 0
Application example(s)
Signal descriptions
S function 1
S function 2
Extended address of S function 1
Extended address of S function 2
Signal(s) from channel (NCK - -> PLC)
Signal(s) updated: job-controlled from
Signal(s) valid from SW release:
NCK
The programmed S function is made available here in an NC block (speed or cutting value for
G96), as soon as the S change signal is present.
Range of values of S function: floating point (REAL format/4-byte))
The S function is kept, until it is overwritten by a new S function.
after power up of the PLC.
Before a new auxiliary function is entered, the remaining functions are deleted.
IS S function for the spindle (REAL), axis-specific (VD370x 0004)
D function 1
Signal(s) from channel (NCK - -> PLC)
Signal(s) updated: job-controlled from
Signal(s) valid from SW release:
NCK
Once the D change signal is provided, this machine data provides the D function programmed in
an NC block.
Range of values of D function: 0-9; integer
The D function remains stored until it is overwritten by a new D function.
after power up of the PLC.
Before a new auxiliary function is entered, the remaining functions are deleted.
D0 is reserved for the deselection of the current tool offset.
H function 1
H function 2
H function 3
Extended address of H function 1
Extended address of H function 2
Extended address of H function 3
Signal(s) from channel (NCK - -> PLC)
Signal(s) updated: job-controlled from
Signal(s) valid from SW release:
NCK
This machine data provides up to 3 H functions programmed in a block at a time once the H
change signals are provided.
Range of values of H function: Floating point (REAL-Format/4-byte)
Range of values of the extended address: 0 to 99; integer
The H functions remain stored until it is overwritten by a new H function.
after power up of the PLC.
Before a new auxiliary function is entered, the remaining functions are deleted.
Switching operations on the machine.
13-271
13.9
13.9.1
Interface signals
Number
.Bit
Name
Ref.
Channel-specific
V2500 0000
.0 to .4
V2500 0006
.0
S function 1 change
V2500 0008
.0
T function 1, change
V2500 0010
.0
D function 1, change
V2500 0012
.0 to .2
VD2500 2000
T function 1 (DInt)
VD2500 3000
M function 1 (DInt)
VD2500 3004
VD2500 3008
M function 2 (DInt)
VD2500 3012
VD2500 3016
M function 3 (DInt)
VD2500 3020
VD2500 3024
M function 4 (DInt)
VD2500 3028
VD2500 3032
M function 5 (DInt)
VD2500 3036
VD2500 4000
VD2500 4004
VD2500 4008
VD2500 4012
VD2500 5000
D function 1 (DInt)
VB2500 6004
VD2500 6000
VB2500 6012
VD2500 6008
VB2500 6020
VD2500 6016
V2500 1000
.0 - .7
V2500 1001
.0 - .7
V2500 1012
.0 - .7
VD370x 0000
S1
VD370x 0004
S1
to
13-272
13.9.2
Number
Machine data
Identifier
Name
11100
AUXFU_MAXNUM_GROUP_ASSIGN
22000
AUXFU_ASSIGN_GROUP[n]
22010
AUXFU_ASSIGN_TYPE[n]
22020
AUXFU_ASSIGN_EXTENSION[n]
22030
AUXFU_ASSIGN_VALUE[n]
Ref.
13-273
notice
13-274
14.1
14
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
The compensation is active for all interpolation types: Linear and circular
Detailed description:
References:
14-275
14.2
Tool
Tool
Selecting a tool
The T function is used to select a tool in the program. Whether the new tool is loaded immediately using the T function or using M6, depends on the setting in MD 22550:
TOOL_CHANGE_MODE (new tool compensation with M function).
14-276
14.3
Tool compensation
Tool compensation
The tool length compensation (TLC) will be realized with the first traversing movement of
the axis for which the TLC is to be active. This traversing movement must be a linear interpolation (G0, G1).
The tool radius compensation (TRC) will be active by programming G41/G42 in the active
plane (G17, G18 or G19). The TRC with G41/G42 may only be carried out in a program
block that contains G0 (rapid traverse) or G1 (linear interpolation).
For a detailed description of the tool compensation including tool radius compensation, see:
References:
14-277
14.4
Tool monitoring
Tool monitoring
Note
This function is not available with the 802D base line.
14.4.1
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:
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 counters 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 interface signal is output.
First, another interface signal is output when a cutting edge of a tool has reached the prewarning limit specified for this tool.
14-278
$TC_TP9[t] - type of the monitoring function for the tool with number t :
= 0:
no monitoring
= 1:
life time of the monitored tool
= 2:
count of the monitored tool
Tool monitoring
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 operators/programmers own responsibility to manage these system parameters.
For the operation (HMI), see the following references: Operation and Programming
Identifier
Description
Data Type
Default
$TC_MOP1[t,d]
REAL
0.0
$TC_MOP2[t,d]
REAL
0.0
$TC_MOP3[t,d]
INT
$TC_MOP4[t,d]
Remaining count
INT
...
...
REAL
0.0
REAL
0.0
Interface signals
Some monitoring states are provided to the PLC/user:
14-279
14.4.2
Tool monitoring
After power-up of the control system, Reset/end of program, the factor $A_MONIFACT
has the value 1.0; real time is active.
Examples showing how the system variable is taken into account:
$A_MONIFACT=1 1 minute of real time = 1 minute of tool life which is decremented
$A_MONIFACT=0.1 1 minute of real time = 0.1 minute of tool life which is decremented
$A_MONIFACT=5 1 minute of real time = 5 minutes of tool life which are decremented
RESETMON(state, t, d, mon)
will set the actual value to the setpoint:
- either for all cuttting edges of a certain tool or only for one certain edge
- either for all or only for a certain monitoreing type
transfer parameters:
INT state
Status of the command execution:
= 0
Successful execution
= -1
The cutting edge with the specified D number does not exist.
= -2
The tool with the specified T number t does not exist.
= -3
The specified tool t does not provide a defined monitoring function.
= -4
The monitoring function is not enabled, i.e. the command will not be carried
out.
14-280
INT
t
=0
<> 0
Internal T number:
for all tools
for this tool ( t < 0 : generating the absolute amount |t|)
INT
d
optional: D number of the tool with the number t:
>0
for this D number
without d / = 0 all cutting edges of tool t
INT
Tool monitoring
mon
Notes:
14.4.3
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 transferred directly as a number (1 or 2).
x:=0
14-281
Tool monitoring
Example:
N10 G0 X100
N20 ...
N30 T1
N40 M6 D2
N50 SETPIECE(2)
N60 X... Y...
N100 T2
N110 M6 D1
N120 SETPIECE(4)
N130
N200
N210
N220
X... Y...
T3
M6 D2
SETPIECE(6)
Notes:
-
...
N100 RESETMON(state,12,1,2) ;Setpoint update of the workpiece counter for T12, D1
...
14.4.4
14-282
Tool monitoring
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
14-283
14.5
SD 42940: TOOL_LENGTH_CONST
(assignment of the tool length compensations to the geometry axes)
SD 42950: TOOL_LENGTH_TYPE
(assignment of the tool length compensations irrespective of the tool type)
Note: The changed setting data will come into effect with the next cutting edge selection.
References:
Length 1
Y
X
Z
X
Z
Y
Length 2
X
Z
Y
Y
X
Z
Length 3
Z
Y
X
Z
Y
X
*) Each value unequal to 0, which is not equal to one of the six values mentioned above, is
evaluated as the value with 18.
In the case of values with a negative sign, the assignment with regard to length 3 is always
the same; the lengths 1 and 2 are changed, compared with the assignment with the relevant
positive values.
14-284
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
17*)
18
19
-17
-18
-19
Length 1
Z
Y
X
Z
Y
X
Length 2
Y
X
Z
X
Z
Y
Length 3
X
Z
Y
Y
X
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).
References:
Notes
The influence of these two setting data only refers to tool lengths; the tool radius is not
concerned.
Example
SD 42940: TOOL_LENGTH_CONST =18
SD 42950: TOOL_LENGTH_TYPE =2
14-285
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.
14-286
14.6
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 ....
14-287
Setting data
42940
SD number
Default: 0
Change valid: immediately
Data type: DWORD
Meaning:
TOOL_LENGTH_CONST
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
Min. input limit: 0
max. Eingabegrenze: 19
Protection level: 3/3
Unit: Valid from SW release: 2.0
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 assignment 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
SD number
Default: 0
Change valid: immediately
Data type: DWORD
Meaning:
TOOL_LENGTH_TYPE
Assignment of the tool length compensation irrespective of the tool type
Min. input limit: 0
Max. input limit: 2
Protection level: 3/3
Unit: Valid from SW release: 2.0
0:
The assignment is carried out according to the default settings. A distinction is made between 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
14-288
14.7
Signal descriptions
Signal descriptions
V1900 5001.0
Interface signal
Edge evaluation: yes
Signal status 1 or edge
transition 0 - - -> 1
Signal status 0 or edge
transition 1 - - -> 0
V3200 0013.5
Interface signal
Edge evaluation: nein
Signal state 1 or signal
transition 0 ---> 1
Signal state 0 or signal
transition 1 ---> 0
Related to ....
V5300 0000.0
Interface signal
Edge evaluation: yes
Signal state 1/ value
Signal state 0
V5300 0000.1
Interface signal
Edge evaluation: yes
Signal state 1 / value
Signal state 0
VD5300 1000
Interface signal
Edge evaluation: yes
Signal state 1/ value
Signal state 0
VD5300 1004
Interface signal
Edge evaluation: yes
Signal state 1 / value
Signal state 0
No effect
14-289
14.8
14.8.1
Interface signals
Number
.Bit
Name
Ref.
Channel-specific
V2500 0008
.0
T function 1, change
H2
V2500 0010
.0
D function 1, change
H2
VD2500 2000
T function 1
H2
VD2500 5000
D function 1
H2
V2500 1000
.6
M6
H2
V3200 0013
.5
V5300 0000
.0
V5300 0000
.1
VD5300 1000
VD5300 1004
14.8.2
Machine data
Number
Identifier
Name
Ref.
General
18080**
MM_TOOL_MANAGEMENT_MASK
Channel-specific
20310**
TOOL_MANAGEMENT_MASK
20360
TOOL_PARAMETER_DEF_MASK
22550
TOOL_CHANGE_MODE
** This machine data is not available with the 802D base line.
14-290
Measuring (M5)
15.1
15
Brief description
15-291
Measuring (M5)
15.2
Hardware requirements
15.2
Hardware requirements
15.2.1
General
To acquire tool and workpiece dimensions, a switching sensing probe is required, which provides 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 therefore divided into three groups, depending on the number of directions in which a probe can be
deflected (see Fig. 15-1).
Multi-directional
probe
Fig. 15-1
Bi-directional
probe
Mono-directional
probe
Probe types
Table 15-1
Probe assignment
Tracer type
Turning machines
Tool measurement
Workpiece measurement
Workpiece measurement
multi-directional
bi-directional
mono-directional
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.
15-292
Measuring (M5)
15.2
Hardware requirements
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.
15.2.2
15-293
Measuring (M5)
15.2
Hardware requirements
Button for
POWER
ON -RESET
Motor encoder
Drive A
X411
FAULT
LED rot
Motor encoder
Drive B
X412
Option module
PROFIBUS-DP3
X423
Signaling terminals
X421
AS1
AS2
Terminals for supply and
pulse enable
Terminals drive B
P24
X454
M24
9
663
X431
19
Analog outputs
75.A
16.A
75.B
16.B
15
(reference)
X441
X34
M DAU1 DAU2
Terminals of drive A
56.A
14.A
24.A
20.A
65.A
9
I0.A
I1.A
O0.A
O1.A
Fig. 15-2
15-294
X453
Serial
interface
(RS232)
X471
56.B
14.B
24.B
20.B
65.B
9
I0.B
I1.B
O0.B
O1.B
Display
and
operating unit
Unit bus
X351
Elements on the front panel SIMODRIVE 611 UE; the sensing probe is connected to X453/X454
Measuring (M5)
15.3
15.3
15.3.1
Channel-specific measuring
Channel-specific measuring
Measuring mode
The measuring block is completed when the sensing probe signal is arrived or the position is
reached. The measuring job can be canceled using RESET.
References:
Note
If a geometry axis (axis in WCS) is programmed in a measuring block, the measured values for all
geometry axes will be stored.
15.3.2
Measurement results
References:
15-295
Measuring (M5)
15.4
15.4
15.4.1
Measuring accuracy
Accuracy:
The runtime of the measuring signal is determined by the hardware used. The delay times are
in the s 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 trigger signal per position controller cycle arrives.
15.4.2
;R10
;R11
N30
T1 D1
N40
N50
N60
STOPRE
N70
N80
R10=$AC_MEA[1]
;Switching signal at 1st measuring input
IF R10==0 GOTOF FEHL1 ;Evaluation of the signal
N90
N95
R11=$AA_MW[X]
M0
N100 M2
N110 FEHL1: MSG (Probe does not switch!)
N120 M0
N130 M2
15-296
Measuring (M5)
15.4
Switching signal
;Counter
MEASURED VALUE_IN_X
;Initial conditions, preselect tool compensation
for probe
ANF: G0 X0 F150
;Prepositioning in the measuring axis
MEAS=+1 G1 X100
;Measuring at the 1st measuring input on rising
switching edge, in the X axis
STOPRE
;Stop decoding for later evaluation of the result
(is carried out automatically when reading MEA)
R11= $AC_MEA[1]
;Switching signal at 1st read measuring input
IF R11==0 GOTOF FEHL1 ;Check switching signal
R[R12]=$AA_MW[X]
;Read measured value in workpiece coordinates
R12=R12+1
IF R12<11 GOTOB ANF
;Repeat 10 times
M0
M02
FEHL1: MSG (Probe does not switch)
M0
M02
After selecting the parameter display, the results of the measurement R1 to R10 can be read.
15-297
Measuring (M5)
15.5
15.5
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 sensing probe approach and another positioning process. At the end, the tool compensation values 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:
Important
The PLC user program must be created with the appropriate sequences. Only then the required 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. Rapid traverse override must not be active.
The screen forms displayed and the sequence are dependent on the technology. Correspondingly, the following tool types can be measured:
Turning technology
Milling technology
15-298
Measuring (M5)
15.5
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 interface 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 announced 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.
A length compensation determined by measurement is automatically entered in the Geometry component of the active/specified tool compensation D of the active/specified tool, and the
associated components Wear and Adapter are deleted.
When measuring the cutter radius, it is assumed that no further offset is available in the axes
of the cutter radius plane (values in the axes of the Adapter component, as well as geometry
length 2 and 3 are equal to zero).
The result for the radius is entered in the Geometry component. The associated components
Adapter and Wear of both axes of the plane are deleted.
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 calibrated, i.e. the exact sensing probe switching points with reference to the machine zero must be
known to the control system.
15-299
Measuring (M5)
15.5
Use the Settings softkey to enter the following values in the window, which opens:
Retraction plane, safety clearance, JOG feed, variable incremental dimension and direction of rotation of the spindle fo general use in JOG and for tool measurement.
Press another softkey Sensor data to enter the following values in the window, which
opens:
-
Sensor switching points (The appropriate values are set automatically when calibrating.
If exact values are known, these can be entered manually. No calibration is thus required.)
The softkeys Measure tool -> Adjust sensor and the window, which opens, are used to
prompt the operator when performing the sequence required to calibrate the sensor. In this
case, the tool used is the calibration tool with the dimensions exactly known and entered.
With the milling technology, the calibration tool is one of the type milling cutter; with the
turning technology, the tool is a turning tool with edge radius zero. The entered edge position is not taken into account here.
The internal sequence when calibrating is the same as when measuring. The measurement results, however, are written to the data for the sensor switching points - not to the
tool offsets.
Note: The internal NC programs for measuring or calibrating have been designed such that
the measurement is carried out when a rising edge of the sensor occurs.
Measuring sequence
15-300
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 softkeys, 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 selected 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 traversing movement in JOG is thus canceled.
HMI will detect that the sensor has switched and will provide the order to the PLC for switching over to AUTOMATIC mode (IS AUTOMATIC mode;V1800 0000.0) after the traversing 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 cycle), 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
Measuring (M5)
15.6
Supplementary conditions
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 measuring 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). Analogously, 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.
15.6
Supplementary conditions
Use of the SIMODRIVE 611 UE drives, controller module in the A version and higher, with
the associated firmware V03.04.03
15-301
Measuring (M5)
15.7
15.7
361
MD number
Default: 0
Change valid: immediately
Data type: BOOLEAN
Meaning:
MEAS_TOOL_CHANGE
Input enable for T/D no. with tool gauging
Min. input limit: 0
Protection level: 3/3
373
MD number
Default: 0
Change valid: immediately
Data type: BOOLEAN
Meaning:
SMM_MEAS_SAVE_POS_LENGTH2
Enable Tool gauging Save Pos softkey for all values
Min. input limit: 0
Protection level: 2/2
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
15-302
Measuring (M5)
15.8
15.8
Signal descriptions
Signal descriptions
V1700 0003.7***
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
*** This interface data is not available with the 802D base line.
V1800 0000.0
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0
Signal not applicable to...
AUTOMATIC mode
Signal(s) to PLC (HMI ---> PLC)
Signal(s) updated: cyclically
AUTOMATIC mode is selected from HMI.
The signal status 1 is present only over one PLC cycle.
AUTOMATIC mode is not selected from HMI.
the signal Mode change disable
V1800 0000.1
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0
Signal not applicable to....
MDA mode
Signal(s) to PLC (HMI ---> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release: 1.1
MDA mode is selected form HMI.
The signal status 1 is present only over one PLC cycle.
MDA mode is not selected from HMI.
the signal Mode change disable
V1800 0000.2
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0
Signal not applicable to ...
JOG mode
Signal(s) to PLC (HMI ---> PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release: 1.1
JOG mode is selected from HMI.
The signal status 1 is present only over one PLC cycle.
JOG is not selected from HMI.
the signal Mode change disable
V1800 0000.4
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0
V1800 0000.6***
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0
*** This interface data is not available with the 802D base line.
15-303
Measuring (M5)
15.8
Signal descriptions
V1800 0001.2
Interface signal
Edge evaluation: yes
Signal state 1 or edge
change 0 - - -> 1
Signal state 0
Signal not applicable ....
V1900 5002.0
Interface signal
Edge evaluation: no
Signal status 1 or edge
transition 0 - - -> 1
Signal status 0 or edge
transition 1 - - -> 0
VD1900 5004
Interface signal
Edge evaluation: no
Value > 0
(DWORD)
Value = 0
Signal not applicable ....
V2700 0001.0
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
Signal state 0 or edge
change 1 - - -> 0
Probe 1 actuated
Signal(s) from NCK (NCK PLC)
Signal(s) updated: cyclically
Probe 1 is actuated.
V390x 0002.3
Interface signal
Edge evaluation: no
Signal state 1 or edge
change 0 - - -> 1
Measurement active
Signal(s) from axis/spindle (NCK PLC)
Signal(s) updated: cyclically
The function Measuring is active.
15-304
This shows the current measuring status of the axis (measuring block with this axis running).
The function Measuring is not active.
Measuring (M5)
15.9
15.9
15.9.1
Interface signals
Number
.Bit
Name
Ref.
.7***
V1800 0000
.0
V1800 0000
.1
V1800 0000
.2
V1800 0000
.4
V1800 0000
.6***
V1800 0001
.2
.0
Probe 1 actuated.
.3
Measurement active
*** This interface data is not available with the 802D base line.
15.9.2
Machine data
Number
Identifier
Name
Ref.
MEAS_PROBE_LOW_ACTIVE
15-305
Measuring (M5)
15.9
notice
15-306
Compensation (K3)
16.1
16
Brief description
Compensations
With the SINUMERIK 802D, the following compensations can be enabled axis-specifically:
Backlash compensation
The compensation functions can be set for each machine separately using axis-specific machine data.
Position display
The standard actual and set value display does not take into account the compensation values and displays the position values of an ideal machine. The compensation values are displayed in the operating area System in the screen form Service Axes under Abs. comp.
value meas. system 1.
16-307
Compensation (K3)
16.2
16.2
Backlash compensation
Backlash compensation
Effect
With axes/spindles provided with indirect measuring systems, the mechanical backlash results 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 (= normal case).
Table
Backlash
Encode
r
Encoder actual value advances the real actual value (table): Table traverses too short
Fig. 16-1
Negative backlash
The encoder lags behind the machine part (e.g. table); the table travels too far. A negative
compensation value must be entered.
16-308
Compensation (K3)
16.3
Interpolatory compensation
16.3
16.3.1
Interpolatory compensation
General
Compensation table
Since measurement deviations of ball screw spindle and measuring system have a direct influence on the accuracy of the workpiece machining, they must be compensated by appropriate 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 compensation 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 special system variables.
The compensation values are loaded by starting an NC program that contains the compensation tables.
The compensation data can also be loaded by transferring the compensation tables from a
PC via the serial interface of the HMI.
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 downloaded after editing.
16-309
Compensation (K3)
16.3
Interpolatory compensation
Error curve
Compensation curve
Linear interpolation
n
n+1
Intermediate point
Fig. 16-2
n+2
n+3
Position of
the axis
16.3.2
Function
The leadscrew error compensation / measuring system error compensation (LEC) is an axisspecific compensation.
With the LEC, the axis-specific actual position value is modified by the corresponding compensation value at the interpolation cycle and directly traversed by the machine axis. A positive compensation value results in a movement of the corresponding machine axis in the negative 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 compensation value should be selected correspondingly small. Otherwise, in case of large compensation values, other axis monitoring functions may result in alarm messages (e.g. contour monitoring, speed setpoint limitation).
16-310
Compensation (K3)
16.3
Interpolatory compensation
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).
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 Referenced/synchronized 1 = 0), the compensation processing will be switched off.
Compensation table
The position-related compensations for the corresponding axis are stored in the compensation 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):
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.
16-311
Compensation (K3)
16.3
Interpolatory compensation
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
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)
$AA_ENC_COMP_STEP[0,X1]= 2.0
;intermediate point spacing 2.0 mm
$AA_ENC_COMP_MIN[0,X1]= -200.0
;compensation starts at -200.0 mm
$AA_ENC_COMP_MAX[0,X1]= 40.0
;compensation ends at +40.0 mm
$AA_ENC_COMP_IS_MODULO[0,X1] = 0;compensation without modulo function
M17
Values for more than 125 interpolation points will cause alarm 12400 Element missing.
16-312
Compensation (K3)
16.3
Error curve
Compensation curve
(linear interpolation between the intermediate points)
Compensation values of compensation table
Compensation value
Start position
($AA_ENC_COMP_MIN)
End position
($AA_ENC_COMP_MAX)
Interpolatory compensation
Compensation value of
intermediate point 5
Reference point
-196 -194
2
38
40
119
120
Intermediate points
Linear interpolation
Fig. 16-3
Axis position
16.3.3
Measuring
The function Measuring provides the compensated actual positions (ideal machine) required
by the user or programmer.
16-313
Compensation (K3)
16.4
16.4
16.4.1
Prerequisites
When using the feedforward control, make sure that the following is observed:
Start-Up Guide
16-314
Compensation (K3)
16.4
16.4.2
NCK
Drive
+
-
Position
controller
Speed
controller
MD 32810: EQUIV_SPEEDCTRL_TIME
Fig. 16-4
Parameters
On start-up, the following axis-specific MD must be defined for the speed feedforward control:
MD 32810: EQUIV_SPEEDCTRL_TIME Equivalent time constant of the
connected speed control loop).
16-315
Compensation (K3)
16.5
16.5
32630
MD number
Default: 1
Change valid after RESET
Data type: Byte
Meaning:
Related to ....
Further references
FFW_ACTIVATION_MODE
Feedforward control can be enabled from the program
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release:
This MD can be used to define whether the feedforward control for this axis/spindle can be enabled/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.
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 referenced (IS: Referenced/synchronized 1 = 1).
Write-protection function (compensation values) active.
0: The LEC is not active for the axis/measuring system in question.
Related to ....
16-316
Compensation (K3)
16.5
32810
EQUIV_SPEEDCTRL_TIME[n]
n = control parameter record No.: 0 ... 5
MD number
Equivalent time constant of speed control loop
Default:
Min. input limit: 0.0
Max. input limit: ***
(0.0005, 0.0005, ... , 0.0005)
Change valid after NEW_CONF
Protection level: 2/2
Unit: s
Data type: DOUBLE
Valid from SW release:
Meaning:
This equivalent time constant is required for the function Speed feedforward control.
The value must correspond to the equivalent time constant of the closed speed control loop.
Setting aid: Orientation value is the time constant of the setpoint smoothing in the drive.
Related to ....
MD 36400: CONTOUR_TOL (tolerance band of contour monitoring)
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 output.
Related to ....
38000
MM_ENC_COMP_MAX_POINTS[n]
(MD can only be displayed)
MD number
Number of intermediate points for encoder/spindle compensation (LEC)
Default: 125
Min. input limit: Max. input limit: Change valid after Power On
Protection level: 0/7
Unit: Data type: DWORD
Valid from SW release:
Meaning:
With the LEC, the maximum number of intermediate points per axis/measuring system is 125.
The required number k can be calculated as follows using to the specified parameters:
$AA_ENC_COMP_MAX - $AA_ENC_COMP_MIN
k
$AA_ENC_COMP_MIN
$AA_ENC_COMP_MAX
$AA_ENC_COMP_STEP
Related to ....
------------------------------------------- + 1
$AA_ENC_COMP_STEP
starting position
(system variable)
end position
(system variable)
intermediate point distance (system variable)
16-317
Compensation (K3)
16.6
16.6
16.6.1
Interface signals
Number
.Bit
Name
Ref.
Axis/spindle-specific
V390x0000
.4
16.6.2
Referenced/synchronized 1
R1
Machine data
Number
Identifier
Name
Ref.
General
10240
SCALING_SYSTEM_IS_METRIC
G2
Axis-specific
32450
BACKLASH[n]
Backlash
32630
FFW_ACTIVATION_MODE
32700
ENC_COMP_ENABLE[n]
32810
EQUIV_SPEEDCTRL_TIME[n]
36500
ENC_CHANGE_TOL
38000
MM_ENC_COMP_MAX_POINTS[n]
16-318
17
Note
This function is not available with the 802D base line.
With SINUMERIK 802D, this function is an option and available with software release 2.0 and
higher.
17.1
Brief description
Range of application
Using the function Traversing to fixed stop (FXS = Fixed Stop), it is possible to build up defined 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 without 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.
17-319
17.2
Functionality
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 function must be programmed in a separate block.
Note
With FXS..., it is permitted to program the machine axis identifier after MD 10000: AXCONF_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.
17-320
Functionality
Programming examples
X250 Y100 F100 FXS[X1]=1
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 analog spindle), no new position may be programmed for this axis.
Before selecting this function, the spindle must be switched to the position-controlled mode.
17-321
Functionality
Function example
Actual position after
Traversing to fixed stop
Progr.
end
position
Fig. 17-1
Fixed -stop
monitoring window
Start position
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 traversing 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 acknowledgment 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 programmed 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 approach 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: FIXED_STOP_TORQUE_DEF (torque default setting) will apply.
17-322
FIXED_STOP_BY_SENSOR = 0
The status Fixed stop is reached is provided if the axis-specific contour deviation (= difference between the real and the expected following errors) has exceeded the value specified in MD 37030: FIXED_STOP_THRESHOLD (threshold for fixed-stop detection).
Functionality
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 deleted 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 completed, 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 programmed since the program has been started, the value entered in the MD 37020: FIXED_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 Traversing to fixed stop is deselected.
It is the users responsibility to make sure that the alarm is only triggered if the stop is broken.
17-323
Functionality
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: FIXED_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 Standstill 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 determined 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 canceled; 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 Acknowledge fixed stop reached.
The axis will then change to position control. The tracking of the position setpoint will be completed and be synchronized to the new actual position.
17-324
Functionality
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 following cases:
If FXS is activated via (FXS[]=1) to make sure that the reduction comes into effect immediately;
17-325
17.3
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
e.g. Cancel pulse inhibition) may result.
17-326
Tool breakage
Pulse inhibition
17.4
17-327
17.5
Miscellaneous
Miscellaneous
IS Axis/spindle disable
IS Servo enable
Contour monitoring
No axis-specific contour monitoring is carried out during Traversing to fixed stop.
17-328
Miscellaneous
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
Fig. 17-2
17-329
17.6
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.
Related to ....
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).
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.
17-330
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.
Related to ....
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).
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 37040: FIXED_STOP_BY_SENSOR = 1
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 axisspecific
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
17-331
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 function 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:
Related to ....
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.
IS Activate traversing to fixed stop
IS Enable traversing to fixed stop
IS Fixed stop reached
IS Acknowledge fixed stop reached
FIXED_STOP_SWITCH
Selection Traversing to fixed stop
Min. input limit: 0
Max. input limit: 1
Protection level: 2/2
Unit: Valid from SW release: 2.0
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.
17-332
43510
SD number
Default: 5.0
Change valid immediately
Data type: DOUBLE
Meaning:
FIXED_STOP_TORQUE
Clamping torque when traversing to fixed stop
Min. input limit: 0.0
Max. input limit: 100.0
Protection level: 2/2
Unit: %
Valid from SW release: 2.0
This setting 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).
Make sure that a clamping torque greater than 100% may exist only for a short time; otherwise, the
motor will be damaged!
When selecting the function Traversing to fixed stop by programming FXS[.],
the default setting of the MD 37010: FIXED_STOP_TORQUE_DEF is effective up to the programming with FXST[.] .
The command FXST[x] results in a block-synchronous change of this setting data.
Furthermore, this setting data can be changed by the operator.
The SD is already active when the stop is approached.
Related to ....
43520
SD number
Default: 1.0
Change valid immediately
Data type: DOUBLE
Meaning:
FIXED_STOP_WINDOW
Fixed-stopmonitoring window
Min. input limit: 0.0
Max. input limit: ***
Protection level: 7/7
Unit: mm, degrees
Valid from SW release: 2.0
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 reached.
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.
Related to ....
Otherwise, if Traversing to fixed stop is active, the value specified in the MD: FIXED_STOP_WINDOW_DEF is accepted into the setting data.
MD 37020: FIXED_STOP_WINDOW_DEF (default setting for the fixed-stop monitoring window)
17-333
17.7
Signal descriptions
Signal descriptions
Signals to axis/spindle
V380x 0001.1
Interface signal
Edge evaluation: no
Signal status 1 or signal
transition 0 - - -> 1
Signal status 0
V380x 0001.2
Interface signal
Edge evaluation: no
Signal status 1 or signal
transition 0 - - -> 1
Signal status 0 or signal
transition 1 - - -> 0
Related to ....
V380x 0003.1
Interface signal
Edge evaluation: no
Signal status 1 or signal
transition 0 - - -> 1
Traversing to fixed stop will be enabled and the axis will traverse from the starting position to the
programmed target position at the velocity programmed.
17-334
Signal descriptions
V380x 0003.1
Interface signal
Signal status 0
V390x 0002.5
Interface signal
Edge evaluation: no
Signal status 1 or signal
transition 0 - - -> 1
The fixed stop was even not yet reached after the function FXS has been selected.
17-335
17.8
17.8.1
Interface signals
Number
.Bit
Name
Ref.
axis/spindle-specific
V380x 0001
.1
V380x 0001
.2
V380x 0001
.3
Axis/spindle disable
Chpt.18
V380x 0002
.1
Servo enable
Chpt. 18
V380x 0003
.1
V390x 0002
.4
V390x 0002
.5
17.8.2
Machine data
Number
Identifier
Name
Ref.
axis-specific
37000
FIXED_STOP_MODE
37002
FIXED_STOP_CONTROL
37010
FIXED_STOP_TORQUE_DEF
37012
FIXED_STOP_TORQUE_RAMP_TIME
37020
FIXED_STOP_WINDOW_DEF
37030
FIXED_STOP_THRESHOLD
37040
FIXED_STOP_BY_SENSOR
37050
FIXED_STOP_ALARM_MASK
37060
FIXED_STOP_ACKN_MASK
Setting data
Number
Identifier
Name
Ref.
axis-specific
43500
FIXED_STOP_SWITCH
43510
FIXED_STOP_WINDOW
Fixed-stopmonitoring window
43520
FIXED_STOP_TORQUE
17-336
18
Note
This function is not available with the 802D base line.
With SINUMERIK 802D, these functions are options and are available with software release
2.0 and higher.
18.1
Brief description
Range of application
The control system transforms programmed traversing instructions from a Cartesian coordinate 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 machine 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 statements 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.
18-337
TRANSMIT
18.2
TRANSMIT
18.2.1
Overview
CM
Fig. 18-1
XM
ASM
ZM
18-338
TRANSMIT
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.
18.2.2
Configuring TRANSMIT
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 appropriate 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 transformations 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.
18-339
TRANSMIT
Fig. 18-2
$MC_TRANSMIT_BASE_TOOL_1
; The control system is communicated the position of
the tool zero with reference to the origin of the coordinate system agreed for
TRANSMIT. The machine data possesses three components for the three
axes of the Cartesian coordinate system.
Assignment of the axis components:
$MC_TRANSMIT_BASE_TOOL_1[0]=Tx
$MC_TRANSMIT_BASE_TOOL_1[1]=Ty
$MC_TRANSMIT_BASE_TOOL_1[2]=Tz
Y
Tx
Tz
Ty
Tool zero
Fig. 18-3
18-340
Position of the tool zero with reference to the origin of the Cartesian coordinate
system (turning center)
$MC_TRANSMIT_POLE_SIDE_FIX_1 = 0
TRANSMIT
18-341
TRANSMIT
18-342
18.3
18.3.1
TRACYL
TRACYL
Overview
CM
ASM
XM
ZM
Legend:
XM
ZM
CM
ASM
Fig. 18-4
18-343
TRACYL
CM
YM
XM
ASM
ZM
Legend:
XM
YM
ZM
CM
ASM
Fig. 18-5
18-344
Longitudinal groove
Cross groove
Fig. 18-6
TRACYL
Longitudinal groove
limited in parallel
via groove wall
compensation
(use of the YM axis)
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 cylindrical workpiece. The programmed X axis (infeed) is continued to be traversed as an X axis.
18-345
TRACYL
d*
Groove
Fig. 18-7
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.
18.3.2
Configuring TRACYL
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 appropriate values and loading this file into the control system, a quick start-up of TRACYL is
possible.
18-346
TRACYL
Note
The machine axis names, channel axis names and geometry axis names specified for transformations 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
a
b
Fig. 18-8
18-347
TRACYL
Fig. 18-9
$MC_TRACYL_BASE_TOOL_1
Ty
Tx
Y
X
Tz
Tool zero
YC
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
18-348
TRACYL
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 $SA_ASSIGN_FEED_PER_REV_SOURCE[AX4]=0
Note: Special handling of milling tools on turning machines is only possible with regard to the
length compensation. Reference: Chapter Tool: Compensation and Monitoring
18.3.3
($MC_TRAFO_TYPE_1 = 513)
18-349
TRACYL
Contour
A groove which is wider than the tool is created by programming the direction of the compensation (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 (continuous transition at external and internal corners, as well as detection of bottle neck problems).
50
100
115
Z
N100
10
N80
Path I
OFFN
N70
Milling tool
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
18-350
TRACYL
N1 SPOS=0
18-351
18.4
The frame active prior to TRANSMIT / TRACYL will be deselected by the control system
(G500).
Any active work area limitations will be deselected by the control system for the axes to
which the transformation applies (WALIMOF).
Any motion intermediate blocks, which contain a chamfer or radius, possibly instructed will
not be inserted.
Any motion intermediate blocks, which contain a chamfer or radius, possibly instructed will
not be inserted.
After deselecting TRANSMIT / TRACYL, any zero offsets (frames) and settings made for
turning must be set anew.
18-352
When working with TRANSMIT / TRACYL, the program is executed in the AUTOMATIC
mode.
An interruption of the AUTOMATIC mode and switching to JOG is possible. When returning to AUTOMATIC, the operator must make sure that the tool is repositioned without undue problems.
18.5
TRAFO_RESET_VALUE
Transformation active after RESET
Min. input limit: 0
Max. input limit: 2
Protection level: 2/2
Unit: Valid from SW release: 2.0
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 geometry 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
256
512
513
No transformation
TRANSMIT transformation
TRACYL transformation
TRACYL transformation with X -Y -Z -C kinematics
No transformations
TRAFO_TYPE_2
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
18-353
24110
MD number
Meaning:
TRAFO_AXES_IN_1[i]
Axis assignment for transformation 1 [axis index]: 0 ... 4
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]=
$MC_TRAFO_AXES_IN_1[1]=
$MC_TRAFO_AXES_IN_1[2]=
Channel axis of the axis parallel to the rotary axis
Example for TRACYL: see Chapter TRACYL
No transformation
TRAFO_AXES_IN_2
24120
MD number
TRAFO_GEOAX_ASSIGN_TAB_1[i]
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
MD number
TRAFO_GEOAX_ASSIGN_TAB_2[i]
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_ASSIGN_TAB_1.
18-354
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
1:
2:
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
18-355
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
18-356
18.6
Signal descriptions
Signal descriptions
Transformation active
Signal(s) from the NCK channel (NCK->PLC)
Signal(s) updated: cyclically
Signal(s) valid from SW release: 2.0
Either the NC command TRANSMIT or the command TRACYL is programmed in the part program. The appropriate block has been executed by the NC, and now a transformation is enabled.
Signal status 0
No transformation is active.
18-357
18.7
18.7.1
Number
.Bit
Name
Ref.
channel-specific
V3800 0001
18.7.2
.6
Transformation active
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
22534
TRAFO_CHANGE_M_CODE
24100
TRAFO_TYPE_1
24110
TRAFO_AXES_IN_1
24120
TRAFO_GOEAX_ASSIGN_TAB_1
24200
TRAFO_TYPE_2
24210
TRAFO_AXES_IN_2
24220
TRAFO_GOEAX_ASSIGN_TAB_2
24800
TRACYL_ROT_AX_OFFSET_1
24810
TRACYL_ROT_SIGN_IS_PLUS_1
24820
TRACYL_BASE_TOOL_1
Distance of the tool zero from the origin of the geometry axes (1st TRACYL)
24900
TRANSMIT_ROT_AX_OFFSET_1
24910
TRANSMIT_ROT_SIGN_IS_PLUS_1
24911
TRANSMIT_POL_SIDE_FIX_1
24920
TRANSMIT_BASE_TOOL_1
Distance of the tool zero from the origin of the geometry axes (1st TRANSMIT)
18-358
19
19.1
Brief description
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
is carried out via various data areas. The PLC user program need not take care of the exchange. From the users view, this is carried out automatically.
NCK
General
General
PLC
Signals to NC
Signals from NC
User
program
Operating Modes
Operating
Modes
Signals to NCK
Signals from NCK
Channel
Axis,
spindle
Channel
Signals to NCK
Signals to NCK
Signals from NCK
Signals from NCK
Spindle (n+1)
Axis n
Axis 2
Axis 1
Signals to NCK
Signals from NCK
Fig. 19-1
PLC/NCK interface
19-359
19.2
General signals
Mode signals
Channel signals
Axis/spindle signals
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
This provides a safety concept to manage the access rights, which contains several levels.
See also Start-Up Guide, Section Access rights
Table 19-1
Access protection
User
Access to (examples)
Password
SIEMENS, reserved
Password
Expert mode
Password
Machine manufacturer
Password
End user
IS
V2600
0000.7
End user:
Programmer
Setter
IS
V2600
0000.6
End user:
Qualified operator,
who will not program
IS
V2600
0000.5
End user:
Trained operator
who will not program
Example:
only program selection, input of tool wear
and zero offsets
IS
V2600
0000.4
End user:
Semi-skilled operator
Example:
No inputs, no program selection
only possible if the machine control
panel can be operated
19-360
fewer
access
rights
19-361
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.
19-362
The spindle is decelerated to standstill using rapid stop, taking into account
MD 36610: AX_EMERGENCY_STOP_TIME (duration of brake ramp in case of errors).
Then alarm 21612 Servo enable reset during the movement is output.
The position control loop of the axis/spindle will be opened. Checkback message to the
PLC using IS Position controller active (V390x0001.5) = 0 signal. In addition, the timer for
the time delay of servo enable (MD 36620: SERVO_DISABLE_DELAY_TIME (servo disable delay time) is started.
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.
19-363
19.3
19-364
19-365
19-366
19-367
19.4
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.
19-368
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
none
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.
19-369
19.5
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.
19-370
20
20.1
Address ranges
Operand identifier
Description
Range
Data
Timers
T0 to T31
Counters
C0 to C31
I0.0 to I17.7
Q0.0 to Q11.7
Flags
M0.0 to M255.7
SM
Special flags
ACCU (logics)
ACCU (arithmetics)
Range No.
(DB No.)
Subrange
Offset
Addressing
symbolic
(8 digits)
10
00
000
(10-79)
(00-99)
(0-9)
(000-999)
Description
SM 0.0
SM 0.1
SM 0.2
Buffered data lost - valid only in the first PLC cycle (0 - data o.k., 1 - data lost)
SM 0.3
SM 0.4
SM 0.5
SM 0.6
20-371
Address ranges
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 ***) .
20-372
20.2
20.2.1
User data
User data
User data 1
1000
Data 1 [r/w]
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Bit 3
Bit 2
Bit 1
Bit 0
Bit 3
Bit 2
Bit 1
Bit 0
User data
1000 0000
to
User data
1000 0011
20.2.2
User Data 2
Data 2 [r/w]
1100
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
User data
1100 0000
to
User data
1100 0007
20.2.3
1400
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
User data
1400 0000
to
User data
1400 0127
20-373
User alarm
20.3
User alarm
Note: For information on PLC alarms including the configuration of user alarms, please refer
to:
References:
Start-up Gude, Section PLC alarms
20.3.1
1600
Data block
Byte
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
700002
700001
700000
700010
700009
700008
700018
700017
700016
700026
700025
700024
700034
700033
700032
700042
700041
700040
700050
700049
700048
700058
700057
700056
700007
700006
700005
700004
700003
700015
700014
700013
700012
700011
700023
700022
700021
700020
700019
700031
700030
700029
700028
700027
700039
700038
700037
700036
700035
700047
700046
700045
700044
700043
700055
700054
700053
700052
700051
20.3.2
700063
700062
700061
700060
700059
1600
Data block
Byte
1600 1000
1600 1004
1600 1008
...
...
1600 1244
1600 1248
1600 1253
20-374
20.3.3
1600
Data block
Byte
Bit 7
Bit 6
Bit 5
1600 2000
Bit 4
PLC STOP
Bit 3
EMERGENCY
STOP
Bit 2
Bit 1
Bit 0
Feed lock
of all
axes
Read-in
disable
NC start inhibited
Bit 1
Bit 0
1600 2001
1600 2002
1600 2003
20.4
20.4.1
1700
Data block
DBB
Bit 7
1700 0000
Bit 6
Bit 5
Bit 4
Bit 3
Dry run
feed selected
M01 selected
DRF selected
[F10.8.2]
[F10.8.2]
Bit 2
[F10.8.2]
1700 0001
Program
test selected
[F10.8.2]
[F10.8.2]
[F11.5.1]
1700 0002
Block skip
selected
[F10.8.2]
1700 0003
Measuring
in JOG
active ***)
[F15.8]
***) These signals are not available for 802D base line.
1700
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
1700 1000
1700 1001
Bit 1
Bit 0
1700 1002
bis
1700 1003
***) These signals are not available for 802D base line.
20-375
1700
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1700 2000
Program
has been
selected
***)
[F19.5]
1700 2001
Error
performing
command
***)
[F19.5]
Command
performed
***)
[F19.5]
Bit 2
Bit 1
Bit 0
JOG mode
MDA mode
[F15.8]
[F15.8]
AUTO
mode
1700 2002
to
1700 2003
***) These signals are not available for 802D base line.
1800
Data block
Byte
Bit 7
1800 0000
Bit 6
Bit 5
Bit 4
Start measuring in
JOG ***)
Mode
change disable
[F15.8]
[F15.8]
Bit 3
[F15.8]
1800 0001
Machine
function
REF
[F15.8]
***) These signals are not available for 802D base line.
1900
Data block
Byte
1900 0000
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Simulation
active
[F10.8.2]
1900 0001
1900 0002
1900 0003
20-376
20.4.2
1900
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1900 1000
1900 1001
1900 1002
Axis number for handwheel 1
1900 1003
Machine
axis
[F9.6.1]
[F9.6.1]
[F9.6.1]
[F9.6.1]
Machine
axis
[F9.6.1]
[F9.6.1]
[F9.6.1]
[F9.6.1]
Machine
axis
[F9.6.1]
[F9.6.1]
[F9.6.1]
[F9.6.1]
1900 1006
1900 1007
20.4.3
1900
Data block
Byte
Bit 6
1900 5000
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
OP key
lock
[F19.4]
1900 5001
Update tool
list
[F14.7]
1900 5002
Enable tool
gauging in
JOG
[F15.8]
1900 5003
1900 5004
...
1900 5007
20-377
20.5
2500
Data block
Byte
PLC interface
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
M funct. 5
M funct. 4
M funct. 3
M funct. 2
M funct. 1
change
change
change
change
change
[F13.8]
[F13.8]
[F13.8]
[F13.8]
[F13.8]
2500 0000
to
2500 0003
2500 0004
2500 0005
2500 0006
S func. 1
change
[F13.8]
2500 0007
2500 0008
T func. 1
change
[F13.8]
2500 0009
2500 0010
D func. 1
change
[F13.8]
2500 0011
2500 0012
H func. 3
change
[F13.8]
H func. 2
change
[F13.8]
H func. 1
change
[F13.8]
Bit 2
Bit 1
Bit 0
M2
M1
M0
M10
M9
M8
M18
M17
M16
2500 0013
to
2500 0019
20.5.1
2500
Data block
NCK interface
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
M7
M6
M5
M4
M3
M15
M14
M13
2500 1002
M23
M22
M21
M12
M11
M19
...
20-378
M99
M98
M97
M96
Bit 2
Bit 1
Bit 0
Bit 2
Bit 1
Bit 0
2500 1013
to
2500 1015
Note: The signals are output for the duration of one PLC cycle.
20.5.2
T functions transferred
2500
Data block
PLC interface
Start byte
Bit 7
Bit 6
Bit 5
2500 2000
Bit 4
Bit 3
2500 2004
to
25002007
20.5.3
M functions transferred
2500
Data block
PLC Interface
Start byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
2500 3000
2500 3004
2500 3008
2500 3012
2500 3016
2500 3020
2500 3024
2500 3028
2500 3032
2500 3036
20-379
20.5.4
S functions transferred
2500
Data block
PLC interface
Start byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Bit 2
Bit 1
Bit 0
Bit 2
Bit 1
Bit 0
2500 4000
2500 4004
2500 4008
2500 4012
20.5.5
D functions transferred
2500
Data block
PLC interface
Start byte
Bit 7
Bit 6
Bit 5
2500 5000
Bit 4
Bit 3
2500 5004
20.5.6
H functions transferred
2500
Data block
PLC interface
Start byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
2500 6000
2500 6004
2500 6008
H function 2 (REAL)
2500 6012
2500 6016
2500 6020
20-380
20.6
NCK signals
2600
Data block
Byte
NCK signals
Bit 7
Bit 6
2600 0000
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Acknowledge
EMERGENCY
STOP
EMERGENCY
STOP
Bit 0
[F1.5]
[F1.5]
2600 0001
Request distances to
go along
the axes
[F20.12]
Requerst
axis actual
values
[F20.12]
INC inputs
in mode
group area
active 1)
[F9.6.2]
2600 0002
2600 0003
Notes: 1) see operating mode signals
2700
Data block
Byte
Bit 7
Bit 6
Bit 5
2700 0000
2700 0001
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
EMERGENCY
STOP active
[F1.5]
INCH dimension
system
Sensor 1 is
actuated.
[F15.8]
[F3.6]
2700 0002
Drive
ready
[F19.3]
2700 0003
Drives in
cyclic
mode
[F19.3]
NCK alarm
is present
[F19.3]
20-381
NCK signals
3000
Data block
Byte
3000 0000
Bit 7
Bit 6
Bit 5
Bit 4
Reset
Mode
[F10 8 1]
[F10.8.1]
change didi
sable
Bit 3
Bit 2
Bit 1
Bit 0
Operating mode
[F10.8.1]
JOG
MDA
AUTOM.
[F10.8.1]
[F10.8.1]
[F10.8.1]
Machine function
3000 0001
REF
Teach In
[F10.8.1]
Machine function 1)
3000 0002
Continuous
traversing
NCvar.
INC10 000
[F9.6.2]
INC 1000
INC 100
INC 10
INC 1
3000 0003
Note:
1) To be be able use the machine function signals in VB3000 0002, set the signal INC inputs in mode group area active
(V2600 0001.0) to 1.
The machine function INC10 000 is not supported by all machine control panels.
3100
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Active mode
3100 0000
802READY
[F10.8.1]
JOG
MDA
AUTOM.
[F10.8.1]
[F10.8.1]
[F10.8.1]
REF
Teach In
[F10.8.1]
3100 0002
3100 0003
20-382
20.7
20.7.1
Channel signals
Channel signals
Signals to NC channel
3200
Data block
Byte
3200 0000
Bit 6
Bit 5
Bit 4
Enable dry
run feed
Enable M01
[F10.8.2]
[F11.5.1]
3200 0001
Bit 3
Bit 2
Bit 1
Bit 0
[F10.8.2]
Enable referencing
[F10.8.2]
[F8.6]
3200 0002
Enable
block skip
[F10.8.2]
3200 0003
Feed override2) [F11.5.1]
3200 0004
H
3200 0006
[F11.5.1]
[F11.5.1]
[F10.8.2]
3200 0007
3200 0013
Delete distance to
go
[17.2]
Read-in disable
Feed disable
[F10.8.2]
[F11.5.1]
3200 0005
NC Stop fpr
axes plus
spindle
NC Stop
NC Stop at
block border
NC Start
NC Start inhibited
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
Disable
workpiece
counter ***)
[F14.7]
Note:
1)+ Feed override active
***) These signals are not available for 802D base line.
20-383
Channel signals
3200
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Traversing keys
+
[F9.6.3]
[F9.6.3]
[F9.6.3]
Traversing
key lock
Feed stop
[F9.6.3]
[F11.5.1]
Enable handwheel
3
[F9.6.3]
[F9.6.3]
[F9.6.3]
INC100
INC10
INC1
3200 1001
Continuous
traversing
INCvar.
INC10 000
INC1000
32001002
32001003
Geometry axis 2 (axis 2 in WCS)
3200 1004
Traversing keys
+
[F9.6.3]
[F9.6.3]
Traversing
key lock
Feed stop[
[F11 5 1]
[F11.5.1]
[F9.6.3]
[F9.6.3]
Activate handwheel
3
[F9.6.3]
[F9.6.3]
[F9.6.3]
INC100
INC10
INC1
Axis 2 in WCS
Machine functions 1) [9.6.3]
3200 1005
Continuous
traversing
INCvar.
INC10 000
INC1000
3200 1006
3200 1007
Geometry axis 3 (axis in WCS)
3200 1008
Traversing keys
+
[F9.6.3]
[F9.6.3]
Traversing
key lock
[F9.6.3]
Feed stop
[F11.5.1]
Activate handwheel
3
[F9.6.3]
[F9.6.3]
[F9.6.3]
INC100
INC10
INC1
3200 1009
Continuous
traversing
INCvar.
INC10 000
INC1000
3200 1010
3200 1011
Notes:
1) Machine function settings for the machine function in VB3200 1001, VB3200 1005, VB3200 1009 only if signal
INC inputs in mode group area active (V2600 0001.0) is not set.
The machine function INC10 000 is not supported by all machine control panels.
20-384
20.7.2
Channel signals
3300
Data block
3300 0000
3300 0001
Program
test active
[F10.8.2]
Bit 6
Bit 5
Bit 4
Bit 3
Last action
block active
M0/M1 active
Approach
block active
Action
block active
Bit 2
Bit 1
Bit 0
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
M2/M30 active
Block
search active
Referencing
active
[F10.8.2]
[F10.8.2]
[F11.5.1]
[F8.6]
3300 0002
Channel status
3300 0003
3300 0004
Program status
Reset
Interrupted
Active
Aborted
Interrupted
Stopped
Running
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
[F10.8.2]
NCK alarm
with porcessing
stop is present
Channelspecific
NCK alarm
is present
All axes
stopped
[F12.7]
[F8.6]
[F19.3]
[F19.3]
3300 0005
3300 0006
3300 0007
***) These signals are not available for 802D base line.
3300
Data block
Byte
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Travel command
Handwheel active
plus
minus
[F9.6.3]
[F9.6.3]
[F9.6.3]
[F9.6.3]
[F9.6.3]
INC100
INC10
INC1
Continuous
traversing
INCvar.
INC10 000
INC1000
3300 1002
3300 1003
Geometry axis 2 (axis 2 in WCS)
3300 1004
Travel command
Handwheel active
plus
minus
[F9.6.3]
[F9.6.3]
[F9.6.3]
[F9.6.3]
[F9.6.3]
INC100
INC10
INC1
3300 1005
INCvar.
INC10 000
INC1000
20-385
Channel signals
3300 1006
3300 1007
Geomery axis 3 (axis 3 in WCS)
3300 1008
Travel command
Handwheel active
plus
minus
[F9.6.3]
[F9.6.3]
[F9.6.3]
[F9.6.3]
[F9.6.3]
INC100
INC10
INC1
Bit 1
Bit 0
3300 1009
INCvar.
INC10 000
INC1000
3300 1010
3300 1011
3300
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
3300 4000
G00 active
3300 4001
Workpiece
setpoint reached
External
language
mode active
[F10.8.2]
[F19.3]
Bit 1
Bit 0
3300 4002
3300 4003
3500
Data block
Byte
Bit 7
3500 0000
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
3500 0001
3500 00..
3500 0063
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 available 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 interrelation 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).
20-386
20.8
20.8.1
Axis/spindle signals
Transferred M/S functions, axis- specific
3700...3704
Data block
Start byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
370x 0000
370x 0004
20.8.2
Axis/spindle signals
Bit 2
Bit 1
Bit 0
Bit 2
Bit 1
Bit 0
A
Signals to axis/spindle
3800...3804
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
380x 0001
Override
active
Position encoder 1
Follow-up
mode
Axis/spindle
lock
[F19.2]
[F11.5.2]
[F19.2]
[F19.2]
Acknowledge fixed
stop reached ***)
[F17.7]
Clamping
process
running
Distance to
go/spindle
reset
Servo
enable
[F2.7]
[F5.10]
380x 0002
380x 0003
Velocity/
spindle
speed limitation
[F19.2]
Fahren auf
Festanschlag ***)
[F17.7]
[F2.7]
Traversing keys
380x 0004
plus
minus
[F9.6.4]
[F9.6.4]
[F9.6.4]
Traversing
key lock
[F9.6.4]
Feed stop
Enable handwheel
Spindle Stop
[F11.5.2]
[F9.6.4]
[F9.6.4]
[F9.6.4]
Machine functions 1)
380x 0005
Continuous
traversing
INCvar
INC10 000
INC1000
INC100
INC10
INC1
380x 0006
to
380x 0011
Notes: 1) Machine function settings for the machine function in VB38x 0005 only if signal INC inputs in mode group range
active (V2600 0001.0) is not set.
The machine function INC10 000 is not supported by all machine control panels.
***) These signals are not available for 802D base line.
20-387
Axis/spindle signals
Signals to axis
3800...3804
Data block
Byte
Bit 7
380x 1000
(axis)
Delayed reference
point approach
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
plus
minus
plus
minus
[F2.7]
[F2.7]
[F2.7]
[F2.7]
Bit 1
Bit 0
[F8.6]
380x 1001
to
380x 1003
Signals to spindle
3800...3804
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
380x 2000
(spindle)
Invert
M3/M4
380x 2001
(spindle)
Bit 3
Bit 2
Gear is
switched
over
[F5.10]
[F5.10]
[F5.10]
[F5.10]
Resynchronization
when positioning 1
[F5.10]
[F5.10]
Set direction of rotation
380x 2002
CCW
CW
Oscillation
speed
d
(spindle)
[F5.10]
[F5.10]
[F5.10]
380x 2003
Oscillation
f
from
PLC
[F5.10]
Spindle override [F11.5.2]
(spindle)
Bit 2
Bit 1
Bit 0
Signals to drive
3800...3804
Data block
Byte
Bit 7
Bit 6
380x 4000
Bit 5
Bit 4
Bit 3
Speed setpoint smoothing
HLGSS
[F19.2]
[F19.2]
380x 4001
Pulse
enable
[F19.2]
Integrator
lock n controller
[F19.2]
380x 4002
380x 4003
20-388
20.8.3
Axis/spindle signals
3900...3904
Data block
Byte
Bit 6
Bit 5
Position reached
390x 0000
390x 0001
Bit 4
with exact
stop fine
with exact
stop coarse
Referenced/synd/
chronized 1
[F12.7]
[F12.7]
[F8.6]
Current
controller
acitve
[F19.3]
Position
controller
active
Axis/spindle
stopped (n
< nmin)
Bit 3
Bit 2
Encoder frequency exceeded 1
[F2.7]
Bit 1
Bit 0
Spindle/no
p
axis
i
[F5.10]
Follow-up
active
[F19.3]
[F19.3]
[F17.3]
390x 0002
Fixed stop
reached
***) [F17.7]
Activate traversing to
fixed stop
***) [F17.7]
Measuring
active
[F17.7]
390x 0003
Traversing command
390x 0004
Handwheel active
plus
p
minus
[F9.6.4]
[F9.6.4]
[F9.6.4]
[F9.6.4]
[F9.6.4]
INC100
INC10
INC1
Bit 2
Bit 1
Bit 0
continuous
NCvar.
INC10 000
INC1000
390x 0006
to
390x 0011
***) These signals are not available for 802D base line.
3900...3904
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
390x 1000
390x 1001
390x 1002
Lubrication
pulse
[F19.3]
390x 1003
20-389
Axis/spindle signals
3900...3904
Data block
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
390x 2000
Switch over
gear
(spindle)
[F5.10]
[F5.10]
[F5.10]
[F5.10]
Speed limit
exceeded
390x 2001
(spindle)
Spindle
Actual direction of
rotation CW
in setpoint
range
Setpoint
speed increased
Setpoint
speed limited
[F5.10]
[F5.10]
[F5.10]
[F5.10]
Control
mode
Oscillation
mode
Positioning
mode
[F5.10]
[F5.10]
[F5.10]
Rigid
g tapp
ping
i
[F5.10]
Constant
cutting
tti rate
t
active
[F5.10]
[F5.10]
390x 2003
3900...3904
Data block
Byte
Bit 6
Bit 5
Bit 4
390x 4000
390x 4001
Pulses
enabled
[F19.3]
390x 4002
Bit 3
Bit 2
Variable
signaling
g
g
f
function
1
[F19.3]
Integrator of
n controller
disabled
[F19.3]
Bit 1
Bit 0
Drive
ready
y
[F19.3]
nact = nset
nact<nx
Md < Mdx
[F19.3]
[F19.3]
[F19.3]
[F19.3]
Acceleration prop
cess completed
Temperature prewarning
Heat sink
Motor
[F19.3]
[F19.3]
[F19.3]
390x 4003
UZK<warning threshold
[F19.3]
20-390
20.9
20.9.1
4500
Data block
Byte
4500 0000
4500 0002
4500 0004
to
4500 0062
20.9.2
4500
Data block
Byte
4500 1000
4500 1001
to
45001031
20.9.3
4500
Data block
Start byte
4500 2000
4500 2004
to
4500 2028
20-391
20.9.4
4500
Data block
Byte
4500 3000
4500 3001
to
4500 3031
Note: For information on PLC alarms including the configuration of user alarms, please refer
to:
References:
Start-up Guide, Section PLC alarms
Data block
PLC interface
Byte
4900 0000
Offset[0]
4900 0001
Offset[1]
to
4900 0511
Offset[511]
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 variables
20-392
20.11
5300
Data block
Byte
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
5300 0000
Bit 1
Bit 0
Tool limit
value reached ***)
[F14.7]
[F14.7]
***) These signals are not available for 802D base line.
5300
Data block
Byte
5300 1000
5300 1004
[F14.7]
***) These signals are not available for 802D base line.
20-393
Data block
Byte
570x 0000
570x 0004
Note:
20-394
21
This Chapter describes machine data that are of general importance, but for which no topicrelated chapters/sections are included in this Description of Functions.
21.1
202
MD number
FIRST_LANGUAGE
First language
Default: 1
Unit: -
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
203
MD-Nummer
DISPLAY_RESOLUTION
Display resolution
Default: 3
Unit: -
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 ....
204
MD number
DISPLAY_RESOLUTION_INCH
Display unit for inch scaling system
Default: 4
Unit: -
Meaning:
This machine data is used to define the number of decimal places for linear axes if an inch scaling 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 ....
21-395
205
MD number:
DISPLAY_RESOLUTION_SPINDLE
Display unit for spindle values
Default: 1
21.2
10000
MD number
AXCONF_MACHAX_NAME_TAB[0]...[4]
Machine axis name
Default:
Turning: (X1, Z1, SP, A1, B1)
Milling: (X1, Y1, Z1, SP, A1)
Change valid after Power On
Related to ....
10074
MD number
PLC_IPO_TIME_RATIO
Factor of PLC task for power up (IPO)
Default: 2
Change valid after: Power On
Date type: DWORD
Meaning:
Unit: -
Application example(s)
21-396
10136
MD number
DISPLAY_MODE_POSITION
Display mode for actual position in the WCS
Default: 0
Unit: -
Application example(s)
11210
MD-Nummer
UPLOAD_MD_CHANGES_ONLY
Saving of modified MDs only
Default: 0x0F
Unit: -
Meaning:
14510
MD number
USER_DATA_INT[0]...[31]
User data (INT)
Default: 0
Unit: -
21-397
14512
MD number
USER_DATA_HEX[0]...[31]
User data (HEX)
Default: 0
Unit: -
Meaning:
14514
MD number
USER_DATA_FLOAT[0]...[7]
User data (FLOAT)
Default: 0.0
Unit: -
Meaning:
User machine data; evaluation in the PLC (floating point format, in the PLC limited to the 32-bit
IEEE format)
14516
MD number
USER_DATA_PLC_ALARM[0]...[31]
User data (HEX)
Default: 0
21.3
20050
MD number
Default:
Drehen: (1, 0, 2)
Frsen: (1, 2, 3)
Change valid after Power On
AXCONF_GEOAX_ASSIGN_TAB[0]...[2]
Assignment Geometry axis / channel axis
Min. input limit: 0
(0 means that the geometry axis is assigned to none channel axis)
Unit: -
Meaning:
20070
MD number
AXCONF_MACHAX_USED[0]...[4]
Machine axis number valid in the channel
Default:
Turning: (1, 2, 3, 0, 0)
Milling: (1, 2, 3, 4, 5)
Change valid after Power On
Date type: BYTE
21-398
Unit: -
20070
MD number
AXCONF_MACHAX_USED[0]...[4]
Machine axis number valid in the channel
Meaning:
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 additional axes; these can also be programmed.
Application example(s)
Related to ....
20080
MD number
AXCONF_CHANAX_NAME_TAB[0]...[4]
Channel axis name
Default:
Turning: (X, Z, SP, , )
Milling: (X, Y, Z, SP, A)
Change valid after Power On
Unit: -
Meaning:
22510
MD number
GCODE_GROUPS_TO_PLC
G functions to PLC
Default:
2, 0, 0, 0, 0, 0, 0, 0
Change valid after NEW_CONF
Data type: BYTE
Unit: -
21-399
22510
MD number
GCODE_GROUPS_TO_PLC
G functions to PLC
Meaning:
References:
27800
MD number
TECHNOLOGY_MODE
Technology in the channel
Default:
Turning: 1
Milling: 0
Unit: -
21-400
21.4
30600
MD number
FIX_POINT_POS
Fixed-value positions of the axes with G75
Default: 0.0
Meaning:
This machine data is used to specify the fixed-point position approached when programming
G75.
Application example(s)
Further reference
33050
MD number
LUBRICATION_DIST
Distance to be traversed for the PLC signal lubrication pulse
Meaning:
Related to ....
21-401
Platz fr Notizen
21-402
Index
A
Acceleration, 9-163
Acceleration profiles, 4-79
Jerk -limited acceleration, 4-79
Sudden acceleration, 4-79
Accuracy, 15-296
ACN, 6-134
Action single block, 10-199
Actual values, 2-30
Actual -value assignment, 3-61
Actual -value processing, 3-63
Actual -value resolution, 3-63
Actual -value system, 3-57
Auxiliary function groups
Defaulted, 13-264
Non -grouped, 13-264
Auxiliary function output, Block change, 13-263
Auxiliary functions, 13-261
Description, 13-266
Axis monitoring
Clamping, 2-27
Contour, 2-24
Axis monitoring
Actual velocity, 2-30
Positioning monitoring, 2-25
Speed setpoint, 2-28
Zero speed , 2-27
Axis -related jerk limitation, 4-81
B
Backlash compensation
Negative backlash, 16-308
Positive backlash, 16-308
Block change point, 12-252
Block search, 10-201, 13-265
C
Channel, 10-185
Channel status, 10-195
Commands MEAS, MEAW, 15-295
Compensation table, 16-311
Computational resolution, 3-51
Connecting the probe, 15-293
Continuous traversing, 9-165
Contour violation, 2-35
Control, 3-65
Cyclic signal exchange, 19-360
E
Edge selection during tool change, 14-277
EMERGENCY STOP
Acknowlededgement, 1-19
Interface signal, 1-18
Sequence, 1-18
Encoder monitoring functions, 2-31
Encoder frequency, 2-31
Zero marks, 2-32
Exact stop, 12-251
Exact stop criteria, 12-251
Exact stop corase, 2-25
Exact stop fine, 2-26
Exact stop criterion, 12-252
Exact stop limit fine, 2-25
F
Feed disable, 11-237
Feed override, 9-163
Feed override switch, 11-238
Feed stop, 10-196
Feed/spindle stop, 11-237
Feedrate, 3-50
Feeds
Feed disable, 11-237
Feed override, 11-236, 11-237, 11-238
Feed/spindle stop, 11-237
Feedrate F, 11-233
Spindle override, 11-239
Tapping with compensating chuck G63, 11-235
Tapping without compensating chuck G331, G332,
11-235
Thread cutting G33, 11-234
Following error compensation, 16-314
Parameters, 16-314
H
Handwheel, traversing in JOG mode, 9-167
Hardware limit switches, 2-33, 9-164
I
Implied exact stop, 12-252
Inch scaling system, 3-53
Incremental traversing, 9-166
D functions, 14-277
Index-403
Index
J
Jerk limit, 12-255
Jerk limitation, 12-254
Jerk reduction, 12-254
L
Limit switch monitoring, 2-33
Linear axis, with rotary encoder installed on the motor,
3-64
LookAhead, 12-252, 12-256
Following block velocity, 12-257
Selection and deselection, 12-257
Velocity profiles, 12-257
Index-404
M
Machine data, 21-395
Manual Traversing and Handwheel Traversing (H1),
9-161
Metric scaling system, 3-53
Mode change, 10-187
Mode group, ready to operate, 10-186
Monitoring of static limitations, 2-33
Motion monitoring functions, 2-24
N
NC Start, 10-191
NC Stop, 10-196
O
Operating modes, 10-188
Locks, 10-190
Monitoring functions, 10-189
Output of auxiliary function, Block search, 13-265
Overload factor, 12-254
P
Parameter sets of position controller, 3-66
Part program interruption, 10-192
Path -related jerk limitation, 4-80
PATH_TRANS_JERK_LIM, MD 32432, 12-258
Physical quantities, 3-52
PLC service display, 15-296
PLC user interface, 20-371
Axis/spindle signals, 20-387
Channel signals, 20-383
PLC machine data, 20-391
User alarm, 20-374
User data, 20-373
PLC/NCK interface, 19-359
Position control, 3-66
Position control direction, 2-30
Position control gain, 2-26
Position control loop, 3-65
Positioning window, 2-26
Probe assignment, 15-292
Probe types, 15-292
Bi-directional, 15-293
Mono -directional, 15-293
Multi-directional, 15-292
Program control, 10-194
DRY, 10-194
M01, 10-194
PRT, 10-194
ROV, 10-194
SBL1, 10-194
SKP, 10-194
Index
R
Rapid stop, 2-24, 2-28, 2-29, 2-30, 2-31, 2-32
Rapid traverse override, 9-163
Rapid traverse override switch, 11-238
Read measurement results , 15-295
Read -in lock, 10-196
Referencing
axis -specific, 8-142
channel -specific, 8-142
using incremental measuring systems, 8-143
Referencing using absolute encoders, 8-146
Reset, 1-19, 10-196
Rotary axes
Absolute programming, 6-134, 6-135
Axis adresses, 6-131
Feed, 6-132
Incremental dimension programming, 6-135
Modulo 360 degrees, 6-133
Software limit switches, 6-133
Units, 6-132
Rotary axis, 6-131
with rotary encoder installed on the motor, 3-64
S
Scaling system, 3-53
Conversion, 3-53
Switching over manually, 3-55
Sensing probe function test, 15-296
Setpoint output, 3-57
Setpoint system, 3-57
Signal, Transformation active, 15-303
Signals from NCK to PLC, 19-364
Signals from PLC to HMI, 19-368
Signals from PLC to NCK, 19-360
T
T function, 13-266
Tachogenerator, 2-29
Tool, 14-276
Tool compensation, 14-277
Transverse axes
Diameter programming, 7-139
Geometry axes, 7-139
Traversing ranges, 3-50
Traversing to fixed stop, Monitoring window, 17-323
V
Velocities, 3-49
Velocity reduction according to the overload factor,
12-253
W
Work area limiting, 6-133
Working area limitation, 2-35
Index-405
Index
notice
Index-406
To
SIEMENS AG
A&D MC IS
Postfach 3180
Suggestions
Corrections
For Publication/Manual
D-91050 Erlangen
SINUMERIK 802D
SINUMERIK 802D base line
Manufacturer Documentation
Descriptions of Functions
From
Order No.:6FC5697-2AA10-0BP2
Edition
11.03
Name
Company/dept.
Street
Zip code:
City:
Telephone:
Telefax:
SINUMERIK 802D
Turning,
Milling
SINUMERIK 802D
SINUMERIK 802D
Turning
Milling
SINUMERIK 802D
Turning,
Milling
SINUMERIK 802D
Documentation
SIMODRIVE
611U
Turning,
Milling
SINUMERIK 802D
Turning,
Milling
Siemens AG
Automatisierungs- und Antriebstechnik
Motion Control Systems
Postfach 3180, D 91050 Erlangen
Germany
www.ad.siemens.de
Siemens AG 2003
Subject to change without prior notice
Order No.: 6F5697-2AA10-0BP2
Printed in the Federal Republic of Germany