Page 1 Master-Slave (TE3) Handling Transformation Package (TE4) MCS Coupling (TE6) Valid for Retrace Support (TE7) Control SINUMERIK 840D sl/840DE sl Cycle-Independent Path- SINUMERIK 840Di sl/840DiE sl Synchronous Signal Output SINUMERIK 840D powerline/840DE powerline (TE8) SINUMERIK 840Di powerline/840DiE powerline Axis pair for collision...
Page 2 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 3 • Manufacturer/service documentation A monthly updated publications overview with respective available languages can be found in the Internet under: http://www.siemens.com/motioncontrol Select the menu items "Support" → "Technical Documentation" → "Overview of Publications". The Internet version of DOConCD (DOConWEB) is available under: http://www.automation.siemens.com/doconweb...
Page 4 Preface Standard version This documentation only describes the functionality of the standard version. Extensions or changes made by the machine tool manufacturer are documented by the machine tool manufacturer. Other functions not described in this documentation might be executable in the control. This does not, however, represent an obligation to supply such functions with a new control or when servicing.
Page 5 Preface Technical information The following notation is used in this documentation: Signal/Data Notation Example NC/PLC interface ... NC/PLC interface signal: When the new gear step is engaged, the following NC/PLC signals interface signals are set by the PLC program: Signal data (signal name) DB31, ...
Page 6 The EC Declaration of Conformity for the EMC Directive can be found/obtained • in the internet: http://www.ad.siemens.de/csinfo under product/order no. 15257461 • with the relevant branch office of the A&D MC group of Siemens AG. Special functions Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 7: Ncu System Software For 840D Sl/840De Sl
840D sl/840Di sl/840D/840Di/810D Data lists Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 8 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 9 Table of contents Brief description ............................5 5-axis Transformation ........................5 3-axis and 4-axis transformation....................7 Orientation transformation with a swivelling linear axis..............8 Universal milling head........................10 Orientation axes ...........................11 Cartesian manual travel .......................12 Cartesian PTP travel........................12 Generic 5-axis transformation......................12 Online tool length offset .......................13 1.10 Activation via parts/program/softkey....................13 1.11...
Page 10 Table of contents 2.8.2 Orientation movements with axis limits..................63 2.8.3 Orientation compression ......................64 2.8.4 Orientation relative to the path ....................68 2.8.5 Programming of orientation polynominals................... 72 2.8.6 Tool orientation with 3-/4-/5-axis transformations ............... 75 2.8.7 Orientation vectors with 6-axis transformation................75 Orientation axes ..........................
Page 11 Brief description 5-axis Transformation Function The "5-Axis Transformation" machining package is designed for machining sculptured surfaces that have two rotary axes in addition to the three linear axes X, Y, and Z. This package thus allows an axially symmetrical tool (milling cutter, laser beam) to be oriented in any desired relation to the workpiece in the machining space.
Page 12 Brief description 1.1 5-axis Transformation Tool orientation Tool orientation can be specified in two ways: • Machine-related orientation The machine-related orientation is dependent on the machine kinematics. • Workpiece-related orientation The workpiece-related orientation is not dependent on the machine kinematics. It is programmed by means of: –...
Page 13 Brief description 1.2 3-axis and 4-axis transformation 3-axis and 4-axis transformation Function The 3- and 4-Axis transformations are distinguished by the following characteristics: Transformation Features 3-axis Transformation 2 linear axes 1 rotary axis 4-Axis transformation 3 linear axes 1 rotary axis Both types of transformation belong to the orientation transformations.
Page 14 Brief description 1.3 Orientation transformation with a swivelling linear axis. Figure 1-2 Schematic diagram of a 4-axis transformation with moveable workpiece Orientation transformation with a swivelling linear axis. Function The orientation transformation with swivelling linear axis is similar to the 5-axis transformation of Machine Type 3, though the 3rd linear axis is not always perpendicular to the plane defined by the other two linear axes.
Page 15 Brief description 1.3 Orientation transformation with a swivelling linear axis. Figure 1-3 Schematic diagram of a machine with swivelling linear axis Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 16 Brief description 1.4 Universal milling head Universal milling head Function A machine tool with a universal milling head has got at least 5 axes: • 3 linear axes – for linear movement [X, Y, Z] – move the machining point to any random position in the working area •...
Page 17 Brief description 1.5 Orientation axes Orientation axes Model for describing change in orientation There is no such simple correlation between axis motion and change in orientation in case of robots, hexapodes or nutator kinamatics, as in the case of conventional 5-axes machines. For this reason, the change in orientation is defined by a model that is created independently of the actual machine.
Page 18 Brief description 1.6 Cartesian manual travel Cartesian manual travel Function The "Cartesian Manual Operation" function can be used to set one of the following coordinate systems as reference system for JOG motion to be selected separately for translation and orientation as: •...
Page 19 Brief description 1.9 Online tool length offset Online tool length offset Function The system variable $AA_TOFF[ ] can be used to overlay the effective tool lengths in 3-D in runtime. For an active orientation transformation (TRAORI) or for an active tool carrier that can be oriented, these offsets are effective in the particular tool axes.
Page 20 Brief description 1.11 Orientation compression Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 21 Detailed description Note The transformations described below require that individual names are assigned to machine axes, channels and geometry axes when the transformation is active. Compare macchine data: MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name) MD20080 $MC_AXCONF_CHANAX_NAME_TAB (name of the channel axis in the channel) MD20060 $MC_AXCONF_GEOAX_NAME_TAB (name of the geometry axis in the channel) Besides this no unambiguous assignments are present.
Page 22 Detailed description 2.1 5-axis transformation The kinematic transformation requires information about the design (kinematics) of the machine, which are stored in machine data. The kinematic transformation does not act on positioning axes. 2.1.2 Machine types for 5-axis transformation Kinematics of machines for 5-axis transformation 5-axis machines are generally equipped with three linear and two rotary axes: the latter may be implemented as a two-axis swivel head, a two-axis rotary table or as a combination of single-axis rotary table and swivel head.
Page 23 Detailed description 2.1 5-axis transformation Figure 2-1 Machine types for 5-axis transformation Note Transformations that do not fulfill all the conditions mentioned here (3 and 4-axis transformations, orientation transformation with swivelling linear axes, universal milling head) are described in separate sub chapters. 2.1.3 Configuration of a machine for 5-axis transformation To ensure that the 5-axis transformation can convert the programmed values to axis...
Page 24 Detailed description 2.1 5-axis transformation Machine type The machine types have been designated above as types 1 to 3 and are stored in the following machine data as a two-digit number: MD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1) MD24480 $MC_TRAFO_TYPE_10 (definition of channel transformation 10) The following table contains a list of machine types, which are suitable for 5-axis transformation.
Page 25 Detailed description 2.1 5-axis transformation Geometry information Information concerning machine geometry is required so that the 5-axis transformation can calculate axis values: This information is stored in the machine data (in this case, for the first transformation in the channel): MD24500 $MC_TRAFO5_PART_OFFSET_1 (workpiece-oriented offset) •...
Page 26 Detailed description 2.1 5-axis transformation Figure 2-3 Schematic diagram of CA kinematics, moved tool Position vector in MCS $MC_TRAFO5_PART_OFFSET_n[0 ..2] Vector of programmed position in BCS Tool correction vector $MC_TRAFO5_BASE_TOOL_n[0 .. 2] $MC_TRAFO5_JOINT_OFFSET_n[0 .. 2] Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 27 Detailed description 2.1 5-axis transformation Figure 2-4 Schematic diagram of CB kinematics, moved workpiece Figure 2-5 Schematic diagram of AC kinematics, moved tool, moved workpiece Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 28 Detailed description 2.1 5-axis transformation Assignment of direction of rotation The sign interpretation setting for a rotary axis is stored in the sign machine data for 5-axis transformation. MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[n] (sign of rotary axis 1/2/3 for 5-axis transformation 1) MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_2[n] (sign of rotary axis 1/2/3 for 5-axis transformation 2) Transformation types Ten transformation types per channel can be configured in the following machine data:...
Page 29 Detailed description 2.1 5-axis transformation Programming The orientation of the tool can be programmed in a block directly by specifying the rotary axes or indirectly by specifying the Euler angle, RPY angle and direction vector. The following options are available: •...
Page 30 Detailed description 2.1 5-axis transformation Figure 2-7 Change in cutter orientation while machining inclined edges Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 31 Detailed description 2.1 5-axis transformation Figure 2-8 Change in orientation while machining inclined edges ORIMCS cosntitutes the basic setting The basic setting can be changed via the following machine data: MD20150 MC_GCODE_RESET_VALUES (RESET position of G groups) MD20150 $MC_GCODE_RESET_VALUES [24] = 1 ⇒ ORIWCS is basic setting MD20150 $MC_GCODE_RESET_VALUES [24] = 2 ⇒...
Page 32 Detailed description 2.1 5-axis transformation Alarm 17630 or 17620 is output for G74 and G75 if a transformation is active and the axes are involved in the transformation. This applies irrespective of orientation programming. If the start and end vectors are inverse parallel when ORIWKS is active, then no unique plane is defined for the orientation programming, resulting in the output of alarm 14120.
Page 33 Detailed description 2.1 5-axis transformation 2.1.5 Singular positions and handling Extreme velocity increase If the path runs in close vicinity to a pole (singularity), one or several axes may traverse at a very high velocity. Alarm 10910 "Irregular velocity run in a path axis" is then triggered. The programmed velocity is then reduced to a value, which does not exceed the maximum axis velocity.
Page 34 Detailed description 2.1 5-axis transformation $MC_TRAFO5_POLE_LIMIT This machine data identifies a limit angle for the 5th axis of the first MD24540 $MC_TRAFO5_NON_POLE_LIMIT_1 or the second MD24640 $MC_TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the following properties: With interpolation through the pole point, only the fifth axis moves; the fourth axis remains in its start position.
Page 35 Detailed description 2.2 3-axis and 4-axis transformations MD21108 $MC_POLE_ORI_MODE The following machine data can be used to set the response for large circle interpolation in pole position as follows: MD21108 $MC_POLE_ORI_MODE (behavior during large circle interpolation at pole position) Does not define the treatment of changes in orientation during large circle interpolation unless the starting orientation is equal to the pole orientation or approximates to it and the end orientation of the block is outside the tolerance circle defined in the following machine data.
Page 36 Detailed description 2.2 3-axis and 4-axis transformations Variants of 3-axis and 4-axis transformations workpiece Y - Z 32, 33 X - Z 34, 35 any * Note: on types 24 and 40 * In the case of transformation types 24 and 40, the axis of rotation and tool orientation can be set so that the change in orientation takes place at the outside of a taper and not in a plane.
Page 37 Detailed description 2.3 Transformation with swivelled linear axis Transformation with swivelled linear axis Applications Transformation with a swiveling linear axis can be used if the application is characterized by the kinematics described in Chapter "Orientation Transformation with Linear Swivel Axis" and only a small swivel range (<<±...
Page 38 Detailed description 2.3 Transformation with swivelled linear axis Definition of required values As an aid for defining the values for the above-mentioned machine data, the following two sketches show the basic interrelations between the vectors. Figure 2-10 Projections of the vectors to be set in machine data Meanings of vector designations: •...
Page 39 Detailed description 2.3 Transformation with swivelled linear axis Note For the previous diagram, it has been assumed that the machine has been traversed so that the tool holding flange is in line with table zero (marked by *). If this cannot be implemented for geometric reasons, the values for to must be corrected by the deviations.
Page 40 Detailed description 2.3 Transformation with swivelled linear axis Figure 2-11 Machine with swivelling linear axis in position zero The following conversion of geometry into machine data to be specified, is based on the example in Figure . Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 41 Detailed description 2.3 Transformation with swivelled linear axis Figure 2-12 Example of vector designation for MD-settings in Figure "Machine with Swivelling Linear Axis in Zero Position" Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 42 Detailed description 2.3 Transformation with swivelled linear axis Procedure for setting machine data Perform the following operation: • Calculate the x- and y-components for vector jo, listed in the figure below, "Example of Vector Designation for MD-settings" in Figure "Machine with Swivelling Linear Axis in Zero Position".
Page 43 Detailed description 2.4 Universal milling head Universal milling head 2.4.1 Fundamentals of universal milling head Note The following description of the universal milling head transformation has been formulated on the assumption that the reader has already read and understood the general 5-axis transformation described in Chapter "5-axis Transformation".
Page 44 Detailed description 2.4 Universal milling head Configuring the nutator angle φ The angle of the inclined axis can be configured in a machine data: $MC_TRAFO5_NUTATOR_AX_ANGLE_1: for the first orientation transformation $MC_TRAFO5_NUTATOR_AX_ANGLE_2: for the second orientation transformation The angle must lie within the range of 0 degrees to +89 degrees. Tool orientation Tool orientation at zero position can be specified as follows: •...
Page 45 Detailed description 2.4 Universal milling head Angle definition Figure 2-14 Position of axis A' Axis A' is positioned in the plane spanned by the rectangular axes of the designated axis sequence. If, for example, the axis sequence is CA', then axis A' is positioned in plane Z-X. The angle φ...
Page 46 Detailed description 2.4 Universal milling head Decimal Description Axis sequence 000: AB' 001: AC' 010: BA' 011: BC' 100: CA' 101: CB' Among the full range of options specified in the general concept above, the settings highlighted in gray in the following table are implemented in SW 3.1, the others in SW 3.2 and higher.
Page 47 Detailed description 2.5 Activation and application of 3-axis to 5-axis transformation Active machining plane Since tool orientation in position zero can be set in directions other than just the Z direction, the user must ensure the active machining level is set so that tool length compensation takes effect in the tool orientation direction.
Page 48 Detailed description 2.5 Activation and application of 3-axis to 5-axis transformation Switch-over A switch-over can be made from one active transformation to another transformation configured in the same channel. To do this the TRAORI(n) command must be entered again with a new value for n. RESET/end of program The behavior of the control system with regard to 3-axis/5-axis transformations after run-up, end of program or RESET, is determined by machine data:...
Page 49 Detailed description 2.6 Generic 5-axis transformation and variants Generic 5-axis transformation and variants 2.6.1 Functionality Scope of functions The scope of functions of generic 5-axis transformation covers implemented 5-axis transformations (see Chapter "5-axis Transformation") for perpendicular rotary axes as well as transformations for the universal milling head (one rotary axis parallel to a linear axis, the second rotary axis at any angle to it, see Chapter "Universal Milling Head").
Page 50 Detailed description 2.6 Generic 5-axis transformation and variants 2.6.2 Description of machine kinematics Machine types Like the existing 5-axis transformations, there are three different variants of generic 5-axis transformation: 1. Machine type: Rotatable tool Both rotary axes change the orientation of the tool. The orientation of the workpiece is fixed.
Page 51 Detailed description 2.6 Generic 5-axis transformation and variants Example: 1. A-axis is the rotary axis (parallel to the x direction): MD24570 $MC_TRAFO5_AXIS1_1[0] = 1.0 (direction first rotary axis) MD24570 $MC_TRAFO5_AXIS1_1[1] = 0.0 MD24570 $MC_TRAFO5_AXIS1_1[2] = 0.0 2. B-axis is the rotary axis (parallel to the y direction): MD24572 $MC_TRAFO5_AXIS2_1[0] = 0.0 (direction 2nd rotary axis) MD24572 $MC_TRAFO5_AXIS2_1[1] = 1.0 MD24572 $MC_TRAFO5_AXIS2_1[2] = 0,0...
Page 52 Detailed description 2.6 Generic 5-axis transformation and variants Transformation types Both variants of generic 3- or 4-axis transformation are described by the following transformation types: • 3- or 4-axis transformation with rotatable tool $MC_TRAFO_TYPE_n = 24 • 3- or 4-axis transformation with rotatable workpiece $MC_TRAFO_TYPE_n = 40 In conventional 3-axis or 4-axis transformations, the transformation type also defined the basic tool orientation in addition to the position of the rotary axis, which could then no longer...
Page 53 Detailed description 2.6 Generic 5-axis transformation and variants Comparison Besides the 3- and 4-axis transformations mentioned in Chapter "3- and 4-axis Transformations", the follwing differences should be noted: • Position of the rotary axis: – can be arbitrary – need not be parallel to a linear axis •...
Page 54 Detailed description 2.6 Generic 5-axis transformation and variants Table 2-3 Machine types for generic 5-axis transformation Machine type swivel-/ Tool Workpiece Tool/workpiece Type 3 or rotatable: orientable tool holder Kinematic type: T, P, M Transformation 72 from content of type: $TC_CARR23 Note The transformation only takes place if the orientable toolholder concerned is available and...
Page 55 Detailed description 2.6 Generic 5-axis transformation and variants Assignment for all types of transformation The assignments between the toolholder data for writing the linear offsets and the corresponding machine data for kinematic transformations are determined by the transformation type. The following assignment of all other parameters is identical for all three possible types of transformation: Assignment for all types of transformation together identical MD24100 $MC_TRAFO_TYPE_1 (definition of...
Page 56 Detailed description 2.6 Generic 5-axis transformation and variants Assignments for transformation type 24 Toolholder data assignments dependent on transformation type 24 Transformation type "T" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 24) MD24500 $MC_TRAFO5_PART_OFFSET_1[0] $TC_CARR1 (+$TC_TCARR41) (translation vector of 5-axis transformation 1) MD24500 $MC_TRAFO5_PART_OFFSET_1[1] $TC_CARR2 (+$TC_TCARR42) MD24500 $MC_TRAFO5_PART_OFFSET_1[2]...
Page 57 Detailed description 2.6 Generic 5-axis transformation and variants Assignments for transformation type 56 Toolholder data assignments dependent on transformation type 56 Transformation type "M" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 56) MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vector $TC_CARR1 (+$TC_TCARR41) of the kinematic offset of 5-axis transformation 1) MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1] $TC_CARR2 (+$TC_TCARR42) MD24560: TRAFO5_JOINT_OFFSET_1[2]...
Page 58 Detailed description 2.6 Generic 5-axis transformation and variants 2.6.5 Extension of the generic transformation to 6 axes Application With the maximum 3 linear axes and 2 rotary axes, the motion and direction of the tool in space can be completely described with the generic 5-axis transformation. Rotations of the tool around itself, as is important for a tool that is not rotation-symmetric or robots, require an additional rotary axis.
Page 59 Detailed description 2.6 Generic 5-axis transformation and variants Note The four specified transformation types only cover those kinematics in which the three linear axes form a rectangular Cartesian coordinate system, i.e. no kinematics are covered in which at least one rotary axis lies between two linear axes in the kinematic chain. Dedicated machine data exist for each general transformation or for each orientation transformation that are differentiated by the suffixes _1, _2 etc.
Page 60 Detailed description 2.6 Generic 5-axis transformation and variants Note Existing machine data blocks are compatible for transfer, without any changes having to be made in the machine data. The new machine data therefore do not have to be specified for a 3-/4-/5-axis transformation.
Page 61 Detailed description 2.6 Generic 5-axis transformation and variants The position of the orientation coordinate system of a standard tool depends on the active plane G17, G18, G19 according to the following table: Table 2-5 Position of the orientation coordinate system Direction of the orientation vector Direction of the orientation normal vector Note...
Page 62 Detailed description 2.6 Generic 5-axis transformation and variants 2.6.6 Cartesian manual travel with generic transformation Functionality The "Cartesian manual travel" function, as a reference system for JOG mode, allows axes to be set independently of each other in Cartesian coordinate systems: •...
Page 63 Detailed description 2.6 Generic 5-axis transformation and variants Tool orientation The tool can be aligned to the workpiece surface via an orientation movement. The motion of the orientation axes is triggered by the PLC via the VDI interface signals of the orientation axes.
Page 64 Detailed description 2.7 Restrictions for kinematics and interpolation For further explanations of orientation movements, see Chapter "Orientation" and Chapter "Orientation Axes". Note For further information about programming of rotations, see: References: /PGA/ Programming Manual, Work Preparation, Transformation (Programming of Tool Orientation) Restrictions for kinematics and interpolation Fewer than 6 axes Not all degrees of freedom are available for orientation.
Page 65 Detailed description 2.7 Restrictions for kinematics and interpolation Tool orientation using orientation vectors A much better method is to use orientation vectors to program tool orientation in space. Consider the features of polynomial interpolation of orientation vectors described in Chapter "Polynomial Interpolation of Orientation Vectors".
Page 66 Detailed description 2.7 Restrictions for kinematics and interpolation Figure 2-15 Generic 5-axis transformation; end point of orientation inside tolerance circle. End point within the circle If the end point is within the circle, the first axis comes to a standstill and the second axis moves until the difference between target and actual orientation is minimal.
Page 67 Detailed description 2.8 Orientation Orientation 2.8.1 Basic orientation Differences to the previous 5-axis transformations In the 5-axis transformations implemented to date, basic orientation of the tool was defined by the type of transformation. Generic 5-axis transformation can be used to enable any basic tool orientation, i.e. space orientation of the tool is arbitrary, with axes in their initial positions.
Page 68 Detailed description 2.8 Orientation Please note that if all three vector components are zero (because they have been set explicitly so or not specified at all), the basic orientation is not defined by data in the TRAORI(...) call, but by one of the methods described below. If a basic orientation is defined by the above method, it cannot be altered while a transformation is active.
Page 69 Detailed description 2.8 Orientation Examples: 1. Extreme example: A machine with rotatable tool has a C axis as its first rotary axis and an A axis as its second. If the basic orientation is defined in parallel to the A axis, the orientation can only be changed in the X-Y plane (when the C axis is rotating), i.e.
Page 70 Detailed description 2.8 Orientation The following machine data specifies the conditions under which the rotary axis positions may be modified: MD21180 $MC_ROT_AX_SWL_CHECK_MODE Value 0: No modification permitted (default, equivalent to previous behavior). Value 1: Modification is only permitted if axis interpolation is active (ORIAXES or ORIMKS). Value 2: Modification is always permitted, even if vector interpolation (large circle interpolation, conical interpolation, etc.) was active originally.
Page 71 Detailed description 2.8 Orientation Previous function The compressor is only active for linear blocks (G1). It is interrupted by any other type of NC instruction, e.g., an auxiliary function output, but not by parameter calculations. The blocks to be compressed can only contain the following elements: •...
Page 72 Detailed description 2.8 Orientation Rotation of the tool For six-axis machines you can program the tool rotation in addition to the tool orientation. The angle of rotation is programmed with the THETA identifier (THETA=<...>). NC blocks in which additional rotation is programmed, can only be compressed if the angle of rotation changes linearly, meaning that a polynomial with PO[THT]=(...) for the angle of rotation should not be programed.
Page 73 Detailed description 2.8 Orientation Contour accuracy The maximum deviations are not defined separately for each axis, instead the maximum geometric deviation of the contour (geometry axes) and of the tool orientation are checked. This is performed using the following setting data: 1.
Page 74 Detailed description 2.8 Orientation Activation The orientation compressor is activated by one of the G codes COMPON, COMPCURV and COMPCAD. Programming example For the compression of a circle, approximated by a polygon, please see Chapter "Example for Orientation Axes". 2.8.4 Orientation relative to the path Functionality Irrespective of certain technological applications, the previous programming of tool...
Page 75 Detailed description 2.8 Orientation Activate orientation relative to the path The extended function "Orientation relative to the path" is activated with the following machine data: MD21094 $MC_ORIPATH_MODE > 0 (setting for path relative orientation ORIPATH) The tool orientation relative to the path is activated in the part program by programming ORIPATH.
Page 76 Detailed description 2.8 Orientation Set orientation relative to the path The following machine data is used to set in which way the orientation relative to the path is to be interpolated. MD21094 $MC_ORIPATH_MODE (setting for path relative orientation ORIPATH) With ORIPATH the behavior of tool orientation interpolation relative to the path can be activated for various functions: Meaning of units activate proper orientation relative to the...
Page 77 Detailed description 2.8 Orientation Smoothing of the orientation jump ORIPATHS Smoothing of the oreintation jump is done within the setting data SD42670 $SC_ORIPATH_SMOOTH_DIST (path distance to smoothing orientation) of the specified path. The programmed reference of the orientation to the path tangent and normal vector is then no longer maintained within this distance.
Page 78 Detailed description 2.8 Orientation Path relative interpolation of the rotation ORIROTC With 6-axis transformations, in addition to the complete interpolation of the tool orientation relative to the path and the rotation of the tool, there is also the option that only the rotation of the tool relative to the path tangent is interpolated.
Page 79 Detailed description 2.8 Orientation Type 2 polynomials Orientation polynomials of type 2 are polynomials for coordinates PO[XH]: x coordinate of the reference point on the tool PO[YH]: y coordinate of the reference point on the tool PO[ZH]: z coordinate of the reference point on the tool Polynomials for angle of rotation and rotation vectors For 6-axis transformations, the rotation of the tool around itself can be programmed for tool orientation.
Page 80 Detailed description 2.8 Orientation Rotations of rotation vectors with ORIROTC The rotation vector is interpolated relative to the path tangent with an offset that can be programmed using the THETA angle. A polynomial up to the 5th degree can also be programmed with PO[THT]=(c2, c3, c4, c5) for the offset angle.
Page 81 Detailed description 2.8 Orientation Interrupts If an illegal polynomial is programmed, the following alarms are generated: Alarm 14136: Oreintation polynomial is generally not allowed. Alarm 14137: Polynomials PO[PHI] and PO[PSI] are not permitted. Alarm 14138: Polynomials PO[XH], PO[YH], PO[ZH] are not permitted. Alarm 14139: Polynomial for angle of rotation PO[THT] is not permitted.
Page 82 Detailed description 2.9 Orientation axes $VC_TOOLR_DIF Angle between actual value and setpoint of the direction of rotation vector in degrees $VC_TOOLR_STAT Calculation status of the actual value of the direction of rotation vector References: /PGA/ LHB System variables For further information about the programming of polynomials for axis movements with orientation vectors, see Chapter "Orientation vectors".
Page 83 Detailed description 2.9 Orientation axes Assignment to channel axes Machine data TRAFO5_ORIAX_ASSIGN_TAB_1[0..2] (ORI/channel assignment Transformation 1) are used to assign up to a total of 3 virtual orientation axes to the channel, which are set as input variables in machine data $MC_TRAFO_AXES_IN_n[4..6] (axis assignment for Transformation n).
Page 84 Detailed description 2.9 Orientation axes Axis traversal using traverse keys When using the traverse keys to move an axis continuously (momentary-trigger mode) or incrementally, it must be noted that only one orientation axis can be moved at a time. If more than one orientation axis is moved, alarm 20062 "Channel 1 axis 2 already active" is generated.
Page 85 Detailed description 2.9 Orientation axes 2.9.2 Programming for orientation transformation The values can only be programmed in conjunction with an orientation transformation. Programming of orientation Orientation axes are programmed by means of axis identifiers A2, B2 and C2. Euler and RPY values are distinguished on the basis of G-group 50: •...
Page 86 Detailed description 2.9 Orientation axes Note The four variants of orientation programming are mutually exclusive. If mixed values are programmed, alarm 14130 or alarm 14131 is generated. Exception: For 6-axis kinematics with a 3rd degree of freedom for orientation, C2 may also be programmed for variants 3 and 4.
Page 87 Detailed description 2.9 Orientation axes 2.9.3 Programmable offset for orientation axes How the programmable offset works The additional programmable offset for orientation axes acts in addition to the existing offset and is specified when transformation is activated. Once transformation has been activated, it is no longer possible to change this additive offset and no zero offset will be applied to the orientation axes in the event of an orientation transformation.
Page 88 Detailed description 2.9 Orientation axes Orientable tool holder with additive offset On an orientable tool holder, the offset for both rotary axes can be programmed with the system variables $TC_CARR24 and $TC_CARR25. This rotary axis offset can be transferred automatically from the zero offset effective at the time the orientable tool holder was activated.
Page 89 Detailed description 2.10 Orientation vectors 2.10 Orientation vectors 2.10.1 Polynomial interpolation of orientation vectors Polynomial programming for axis motion In the case of a change in orientation using rotary axis interpolation, linear interpolation normally takes place in the rotary axes. However, it is also possible to program the polynomials as usual for the rotary axes.
Page 90 Detailed description 2.10 Orientation vectors ("AXES"): For all path axes and supplementary axes ("VECT"): For orientation axes ("AXES", "VECT"): For path axes, supplementary axes and orientation axes (without argument): deactivates polynomial interpolation for all axis groups Polynomial interpolation is activated for all axis groups by default. Programming of orientation vectors An orientation vector can be programmed in each block.
Page 91 Detailed description 2.10 Orientation vectors PO[PSI]=(b The angle PHI is interpolated according to PSI(u) = b *u + b Length of the parameter interval where polynomials are defined. The interval always starts at 0. Theoretical value range for PL: 0,0001 ... 99999,9999. The PL value applies to the block that contains it.
Page 92 Detailed description 2.10 Orientation vectors Figure 2-17 Movement of the orientation vector in plan view The angle PSI can be used to generate movements of the orientation vector perpendicular to large circle interpolation plane (see previous figure) Maximum polynomials of the 5th degree permitted 5th Degree polynomials are the maximum possible for programming the angles PHI and PSI.
Page 93 Detailed description 2.10 Orientation vectors Boundary conditions Polynomial interpolation of orientation vectors is only possible for control variants in which the following is included in the functional scope: • both an orientation transformation • and a polynomial interpolation. 2.10.2 Rotations of orientation vector Functionality Changes in tool orientation are programmed by specifying an orientation vector in each block, which is to be reached at the end of the block.
Page 94 Detailed description 2.10 Orientation vectors Programming of orientation direction and rotation While the direction of rotation is already defined when you program the orientation with RPY angles, additional parameters are needed to specify the direction of rotation for the other orientations: 1.
Page 95 Detailed description 2.10 Orientation vectors Interpolation of the angle of rotation Higher degree coefficients can be omitted from the coefficient list (..., ..) if these are all equal to zero. In such cases, the end value of the angleand the constant and linear coefficient of the polynomial cannot be programmed directly.
Page 96 Detailed description 2.10 Orientation vectors This is different to ORIROTR, only if the change in orientation does not take place in one plane. This is the case if at least one polynomial was programmed for the "tilt angle" PSI for the orientation. An additional angle of rotation THETA can then be used to interpolate the rotation vector such that it always produces a specific angle referred to the change in orientation.
Page 97 Detailed description 2.10 Orientation vectors The other programming options must be excluded in this case, since the definition of an absolute direction of rotation conflicts with the interpretation of the angle of rotation in these cases. Possible programming combinations are monitored and an alarm is output if applicable.
Page 98 Detailed description 2.10 Orientation vectors • The opening angle of the cone is programmed degrees with the identifier (nutation angle). The value range of this angle is limited to the interval between 0 degrees and 180 degrees. The values 0 degrees and 180 degrees must not be programmed. If an angle is programmed outside the valid interval, an alarm is generated.
Page 99 Detailed description 2.10 Orientation vectors The identifiers have the following meanings: NUT = +... Traverse angle smaller than or equal to 180 degrees NUT = -... Traverse angle greater than or equal to 180 degrees A positive sign can be omitted when programming. Settings for intermediate orientation orientation interpolation on a cone with intermediate ORICONIO...
Page 100 Detailed description 2.10 Orientation vectors orientation interpolation on a cone with tangential ORICONTO orientation: Interpolation on a peripheral surface of the cone with tangential transition A further option for orientation interpolation is to describe the change in orientation through the path of a 2nd contact point on the tool. orientation interpolation with a second curve: Interpolation of ORICURVE orientation with specification of motion of two contact points...
Page 101 Detailed description 2.10 Orientation vectors Interpolation on the peripheral surface of a cone in the ORICONCCW counterclockwise direction. Specification of the end orientation andt cone direction or opening angle of the taper. Interpolation on a peripheral surface of a cone with ORICONIO specification of end orientation and an intermediate orientation.
Page 102 Detailed description 2.11 Online tool length offset 2.11 Online tool length offset Functionality Effective tool length can be changed in real time so that the length changes are also considered for changes in orientation of the tool. System variable $AA_TOFF[ ] applies tool length compensations in 3-D according to the three tool directions.
Page 103 Detailed description 2.11 Online tool length offset Note Changing the effective tool length using online tool length offset produces changes in the compensatory movements of the axes involved in the transformation in the event of changes in orientation. The resulting velocities can be higher or lower depending on machine kinematics and the current axis position.
Page 104 Detailed description 2.11 Online tool length offset Note For further information about programming plus programming examples, please see: References: /PGA/Chapter "Transformations" As long as online tool length offset is active, the VDI signal on the NCK → PLC interface in the following interface signal is set to 1: DB21, ...
Page 105 Detailed description 2.11 Online tool length offset Mode change Tool length compensation remains active even if the mode is changed and can be executed in any mode. If a tool length compensation is interpolated on account of $AA_TOFF[ ] during mode change, the mode change cannot take place until the interpolation of the tool length compensation has been completed.
Page 106 Detailed description 2.11 Online tool length offset Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 107 Boundary conditions No boundary conditions apply. Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 108 Boundary conditions Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 109 Examples Example of a 5-axis transformation CHANDATA(1) $MA_IS_ROT_AX[AX5] = TRUE $MA_SPIND_ASSIGN_TO_MACHAX[AX5] = 0 $MA_ROT_IS_MODULO[AX5]=0 ;----------------------------------------------------------------------------------------------------- ; general 5-axis transformation ; kinematics: 1. rotary axis is parallel to Z 2. rotary axis is parallel to X Movable tool ;----------------------------------------------------------------------------------------------------- $MC_TRAFO_TYPE_1 = 20 $MC_ORIENTATION_IS_EULER = TRUE $MC_TRAFO_AXES_IN_1[0] = 1 $MC_TRAFO_AXES_IN_1[1] = 2...
Page 110 Examples 4.1 Example of a 5-axis transformation $MC_TRAFO5_PART_OFFSET_1[1] = 0 $MC_TRAFO5_PART_OFFSET_1[2] = 0 $MC_TRAFO5_ROT_AX_OFFSET_1[0] = 0 $MC_TRAFO5_ROT_AX_OFFSET_1[1] = 0 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] = TRUE $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1] = TRUE $MC_TRAFO5_NON_POLE_LIMIT_1 = 2.0 $MC_TRAFO5_POLE_LIMIT_1 = 2.0 $MC_TRAFO5_BASE_TOOL_1[0] = 0.0 $MC_TRAFO5_BASE_TOOL_1[1] = 0.0 $MC_TRAFO5_BASE_TOOL_1[2] = 5,0 $MC_TRAFO5_JOINT_OFFSET_1[0] = 0.0 $MC_TRAFO5_JOINT_OFFSET_1[1] = 0.0 $MC_TRAFO5_JOINT_OFFSET_1[2] = 0.0...
Page 111 Examples 4.1 Example of a 5-axis transformation Orientation vector programming: N110 TRAORI(1) N120 ORIWKS N130 G1 G90 N140 a3 = 0 b3 = 0 c3 = 1 x0 N150 a3 = 0 b3 =-1 c3 = 0 N160 a3 = 1 b3 = 0 c3 = 0 N170 a3 = 1 b3 = 0 c3 = 1 N180 a3 = 0 b3 = 1 c3 = 0 N190 a3 = 0 b3 = 0 c3 = 1...
Page 112 Examples 4.2 Example of a 3-axis and 4-axis transformation Example of a 3-axis and 4-axis transformation 4.2.1 Example of a 3-axis transformation Example: For the machine schematically presented in Figure "Schematic Presentation of a 3-axis Transformation" (see Chapter "3- and 4-axis Transformation", Short Description), the 3-axis transformation can be projected in the following way: $MC_TRAFO_TYPE_n = 18 ;...
Page 113 Examples 4.3 Example of a universal milling head Example of a universal milling head General information The following two subsections show the main steps which need to be taken in order to activate a transformation for the universal milling head. Machine data ;...
Page 114 Examples 4.4 Example for orientation axes Example for orientation axes Example 1: 3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed axes. Rotation must be done in the following sequence: • firstly about the Z axis. •...
Page 115 Examples 4.4 Example for orientation axes Example 2: 3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed axes. Rotation must be done in the following sequence: • firstly about the X axis. • then about the Y axis and •...
Page 116 Examples 4.5 Examples for orientation vectors Examples for orientation vectors 4.5.1 Example for polynomial interpretation of orientation vectors Orientation vector in Z-X plane The orientation vector is programmed directly in the examples below. The resulting movements of the rotary axes depend on the particular kinematics of the machine. N10 TRAORI ;...
Page 117 Examples 4.5 Examples for orientation vectors 4.5.2 Example of rotations of orientation vector Rotations with angle of rotation THETA In the following example, the angle of rotation is interpolated in linear fashion from starting value 0 degrees to end value 90 degrees. The angle of rotation changes according to a parabola or a rotation can be executed without a change in orientation.
Page 118 Examples 4.6 Example of generic 5-axis transformation Example of generic 5-axis transformation The following example is based on a machine with rotatable tool on which the first rotary axis is a C axis and the second a B axis (CB kinematics, see Figure). The basic orientation defined in the machine data is the bisecting line between the X and Z axes.
Page 119 Examples 4.6 Example of generic 5-axis transformation G17 TCARR=1 TCOABS ; Basic orientation now is angle- N170 ; bisecting Y-Z A3=1 ; Orientation parallel to X N180 ; set → B-90 C-135 B3=1 C3=1 ; Orientation parallel to N190 ; basic orientation → B0 C0 TRAORI(,2.0, 3.0, 6.0) ;...
Page 120 Examples 4.6 Example of generic 5-axis transformation $TC_DPV5[2,2]= 0.5 ; Z component tool cutting edge orientation N150 $TC_DPVN3[2,2]= 0 : X component orientation normal vector N160 $TC_DPVN4[2,2]= 1 ; Y component orientation normal vector N170 $TC_DPVN5[2,2]= 0 ; Z component orientation normal vector N180 TRAORI() ;...
Page 121 Examples 4.7 Example: Compressor for Orientation Example: Compressor for Orientation Exercise In the example program below, a circle approached by a polygon definition is compressed. The tool orientation moves on the outside of the taper at the same time. Although the programmed orientation changes are executed one after the other, but in an unsteady way, the compressor generates a smooth motion of the orientation.
Page 122 Examples 4.7 Example: Compressor for Orientation Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 123 Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10620 EULER_ANGLE_NAME_TAB Name of Euler angles or names of orientation axes 10630 NORMAL_VECTOR_NAME_TAB Name of normal vectors 10640 DIR_VECTOR_NAME_TAB Name of direction vectors 10642 ROT_VECTOR_NAME_TAB Name of rotation vectors 10644 INTER_VECTOR_NAME_TAB Name of intermediate vector components...
Page 124 Data lists 5.1 Machine data Number Identifier: $MC_ Description 21106 CART_JOG_SYSTEM Coordinate system for Cartesian JOG 21108 POLE_ORI_MODE Behavior during large circle interpolation at pole position 21120 ORIAX_TURN_TAB_1[n] Assignment of rotation of orientation axes about the reference axes, definition 1 [n = 0..2] 21130 ORIAX_TURN_TAB_2[n] Assignment of rotation of orientation axes about the...
Page 125 Data lists 5.1 Machine data Number Identifier: $MC_ Description 24452 TRAFO_AXES_IN_7[n] Axis assignment for transformation 7 [axis index] 24454 TRAFO_GEOAX_ASSIGN_TAB_7[n] Assignment geometry axis to channel axis for transformation 7 [geometry no.] 24460 TRAFO_TYPE_8 Definition of transformation 8 in channel 24462 TRAFO_AXES_IN_8[n] Axis assignment for transformation 8 [axis index] 24464...
Page 126 Data lists 5.1 Machine data Number Identifier: $MC_ Description 24585 TRAFO5_ORIAX_ASSIGN_TAB_1[n] Assignment of orientation axes to channel axes for orientation transformation 1 [n = 0.. 2] 24590 TRAF5_ROT_OFFSET_FROM_FR_1 Offset of transf. rotary axes from WO 24600 TRAFO5_PART_OFFSET_2[n] Offset vector for 5-axis transformation 2 [n = 0.. 2] 24610 TRAFO5_ROT_AX_OFFSET_2[n] Position offset of rotary axis 1/2 for 5-axis...
Page 127 Data lists 5.2 Setting data Setting data 5.2.1 General setting data Number Identifier: $SN_ Description 41110 JOG_SET_VELO Geometry axes 41130 JOG_ROT_AX_SET_VELO Orientation axes 5.2.2 Channelspecific setting data Number Identifier: $SC_ Description 42475 COMPRESS_CONTOUR_TOL Max. contour deviation for compressor 42476 COMPRESS_ORI_TOL Max.
Page 128 Data lists 5.3 Signals Signals 5.3.1 Signals from channel DB number Byte.Bit Description 21, ... 29.4 Activate PTP traversal 21, ... 33.6 Transformation active 21, ... Number of active G function of G function group 25 21, ... 317.6 PTP traversal active 21, ...
Page 129 Index 2-axis swivel head, 59 Calculate rotary axis position, 63 Cartesian manual travel, 12 Change in orientation, 93 3-axis and 4-axis transformation, 7 3-axis and 4-axis transformations, 29 3-axis kinematics, 58 DB21, ... 3-axis to 5-axis transformation DBX318.2, 98 Call and application, 41 DBX318.3, 98 3-axis transformations, 45 DB21, …...
Page 130 Index MD24462, 77 MD24480, 18, 22 Kinematic transformation, 15 MD24482, 18 Kinematics MD24500, 19, 50, 51, 53 swivelling linear axis, 8 MD24510, 19, 49 Kinematics of machines, 16 MD24520, 22, 49 MD24530, 27 MD24540, 27, 59 MD24550, 50, 51, 53 Limit angle for the fifth axis, 28 MD24558, 51, 53 MD24560, 19, 50, 51, 53...
Page 131 Index Orientation transformation, 15 SD42970, 97 Programming, 79 SD42974, 48 Orientation transformation and orientable tool Selection of type of interpolation, 84 holders, 82 Singular positions, 27 Orientation vectors, 84 Singularities, 59 ORIMCS, 23 Start orientation, 91 ORIPLANE, 92, 94 Switch-over to axis interpolation, 64 ORIWCS, 23 swivelled linear axis Application, 31...
Page 132 Index Special functions: 3-Axis to 5-Axis Transformation (F2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 133 SINUMERIK 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Gantry Axes (G1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 134 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 135 Table of contents Brief description ............................5 Detailed description ........................... 7 "Gantry axes" function ........................7 Referencing and synchronization of gantry axes.................12 2.2.1 Introduction ..........................12 2.2.2 Automatic synchronization ......................18 2.2.3 Points to note ..........................19 Start-up of gantry axes.........................21 PLC interface signals for gantry axes ..................27 Miscellaneous points regarding gantry axes................29 Restrictions..............................
Page 136 Table of contents Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 137 Brief description Gantry axes Gantry axes are mechanically grouped machine axes. Because of this mechanical coupling, gantry axes are always traversed in unison. The control occurs through the "gantry axes" function. The machine axis that is directly traversed is called the leading axis. The machine axis that is traversed in conjunction with the leading axis is called the synchronized axis.
Page 138 Brief description Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 139 Detailed description "Gantry axes" function Application On large gantry-type milling machines, various axis units (e.g. gantry or crossbeam) are moved by a number of drives, which are mutually independent. Each drive has its own measuring system and thus constitutes a complete axis system. When these mechanically rigidly-coupled axes are traversed, both drives must be operated in absolute synchronism in order to prevent canting of mechanical components (resulting in power/torque transmission).
Page 140 Detailed description 2.1 "Gantry axes" function Terms The following terms are frequently used in this functional description: Gantry axes Gantry axes comprise at least one pair of axes, the leading axis and the synchronized axis. As these axes are mechanically coupled, they must always be traversed simultaneously by the NC.
Page 141 Detailed description 2.1 "Gantry axes" function Note Each axis in the gantry grouping must be set so that it can take over the function of the leading axis at any time, i.e. matching velocity, acceleration and dynamic response settings. The control performs a plausibility check on the axis definition. Components The "gantry axes"...
Page 142 Detailed description 2.1 "Gantry axes" function When below the warning limit, the message and interface signal will automatically be cancelled. When MD37110 = 0 the message will be disabled. Gantry trip limit Alarm 10653 "error limit exceeded" will be signaled when the machine's maximum permissible actual position values are exceeded: MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit) In order to prevent any damage to the machines, the gantry axes will be immediately shut...
Page 143 Detailed description 2.1 "Gantry axes" function Referencing and synchronization of gantry axes As the example "Gantry-type milling machine" shows, the forced coupling between gantry axes must remain intact in all operating modes as well as immediately after power ON. In cases where an incremental measuring system is being used for the leading or the synchronized axis, the reference point must be approached while maintaining the axis coupling immediately after machine power ON.
Page 144 Detailed description 2.2 Referencing and synchronization of gantry axes Referencing and synchronization of gantry axes 2.2.1 Introduction Misalignment after starting Immediately after the machine is switched on, the leading and synchronized axes may not be ideally positioned in relation to one another (e.g. misalignment of a gantry). Generally speaking, this misalignment is relatively small so that the gantry axes can still be referenced.
Page 145 Detailed description 2.2 Referencing and synchronization of gantry axes The appropriate synchronized axes traverse in synchronism with the leading axis. Interface signal "Referenced/synchronized" of the leading axis is output to indicate that the reference point has been reached. Section 2: Referencing of the synchronized axes As soon as the leading axis has approached its reference point, the synchronized axis is automatically referenced (as for reference point approach).
Page 146 Detailed description 2.2 Referencing and synchronization of gantry axes • Difference is higher than the gantry warning limit for at least one synchronized axis: IS "Gantry synchronization read to start" is set to "1" and the message "Wait for synchronization start of gantry grouping x" is output. The gantry synchronization process is not started automatically in this case, but must be started explicitly by the operator or from the PLC user program.
Page 147 Detailed description 2.2 Referencing and synchronization of gantry axes Figure 2-2 Flowchart for referencing and synchronization of gantry axes Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 148 Detailed description 2.2 Referencing and synchronization of gantry axes Synchronization process A synchronization process is always required in the following cases: • after the reference point approach of all axes included in a grouping, • if the axes become de-synchronized (s below). Operational sequence failure If the referencing process described above is interrupted as a result of disturbances or a RESET, proceed as follows:...
Page 149 Detailed description 2.2 Referencing and synchronization of gantry axes Loss of synchronization The synchronization of the gantry grouping is lost (IS "Gantry grouping is synchronized" → 0) • The gantry axes were in "Follow-up" mode • The reference position of a gantry axis is lost, e.g. during "Parking" (no measuring system active) •...
Page 150 Detailed description 2.2 Referencing and synchronization of gantry axes Referencing direction selection The zero mark leveling function of the slave axis can be defined via the machine data: MD37150 $MA_GANTRY_FUNCTION_MASK Bit 1 Value Meaning The zero mark leveling function of the slave axis analogous to the machine data: MD34010 $MA_REFP_CAM_DIR_IS_MINUS The zero mark leveling function of the master axis is the same as the slave axis During referencing, the reference point value of the leading axis is specified as the target...
Page 151 Detailed description 2.2 Referencing and synchronization of gantry axes Parameter rate dependence loads with machine data: MD36012 $MA_STOP_LIMIT_FACTOR (exact stop coarse/fine and standstill factor) Note The following interface signal blocks automatic synchronization in all modes except referencing mode: DB31, ... DBX29.5 (no automatic synchronization) Should the automatic synchronization be activated at this point, then the following interface signal must be reset: DB31, ...
Page 152 Detailed description 2.2 Referencing and synchronization of gantry axes Referencing from part program with G74 The referencing and synchronization process for gantry axes can also be initiated from the part program by means of command G74. In this case, only the axis name of the leading axis may be programmed.
Page 153 Detailed description 2.3 Start-up of gantry axes Monitoring functions effective Analogous to normal NC axes, the following monitoring functions do not take effect for gantry axes until the reference point is reached (IS "Referenced/Synchronized"): • Working area limits • Software limit switch •...
Page 154 Detailed description 2.3 Start-up of gantry axes Axis traversing direction As part of the start-up procedure, a check must be made to ensure that the direction of rotation of the motor corresponds to the desired traversing direction of the axis. Correct by means of axial machine data: MD32100 $MA_AX_MOTION_DIR (travel direction).
Page 155 Detailed description 2.3 Start-up of gantry axes Entering gantry trip limits For the monitoring of the actual position values of the synchronized axis in relation to the actual position of the leading axis, the limit values for termination, as well as for the leading and synchronized axes, should be entered corresponding to the specifications of the machine manufacturer: MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit)
Page 156 Detailed description 2.3 Start-up of gantry axes • MD32420 $MA_JOG_AND_POS_JERK_ENABLE (basic position of axial jerk limitation) • MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk) References: /FB1/ Function Manual, Basic Functions, Velocities, Setpoint-Actual Value Systems, Closed- Loop Control (G2) Dynamics matching The leading axis and the coupled axis must be capable of the same dynamic response to setpoint changes.
Page 157 Detailed description 2.3 Start-up of gantry axes This will prevent a warning message being output during traversing motion. In cases where an excessively high additional torque is acting on the drives due to misalignment between the leading and synchronized axes, the gantry grouping must be aligned before the axes are traversed.
Page 158 Detailed description 2.3 Start-up of gantry axes Function generator/measuring function The activation of the function generator and measuring function will be aborted on the synchronized axis with an error message. When an activation of the synchronized axis is absolutely necessary (e.g. to calibrate the machine), the leading and synchronized axes must be temporarily interchanged.
Page 159 Detailed description 2.4 PLC interface signals for gantry axes Start-up support for gantry groupings The start-up functions of the function generator and measuring are parameterized via the PI service. All parameterized axes commence traversing when the NC Start key on the MCP panel is pressed in JOG mode.
Page 160 Detailed description 2.4 PLC interface signals for gantry axes Table 2-3 Effect of interface signals from PLC to axis on leading and synchronized axes PLC interface signal DB31, ... DBX ... Effect on Leading axis Synchronized axis Axis/spindle disable On all axes in gantry No effect grouping Position measuring system 1/2...
Page 161 Detailed description 2.5 Miscellaneous points regarding gantry axes Miscellaneous points regarding gantry axes Manual travel It is not possible to traverse a synchronized axis directly by hand in JOG mode. Traverse commands entered via the traversing keys of the synchronized axis are ignored internally in the control.
Page 162 Detailed description 2.5 Miscellaneous points regarding gantry axes Axes of a gantry grouping must not be known in all channels. The check is not performed when powering up, but only when an attempt is made to replaced the master axis in the channel.
Page 163 Detailed description 2.5 Miscellaneous points regarding gantry axes • To allow "gantry axes" to traverse without a mechanical offset, the dynamic control response settings of the synchronized axes and the leading axis must be identical. In contrast, the "coupled motion" function permits axes with different dynamic control response characteristics to be coupled.
Page 164 Detailed description 2.5 Miscellaneous points regarding gantry axes Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 165 Restrictions No supplementary conditions apply. Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 166 Restrictions Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 167 Example Creating a gantry grouping Introduction The gantry grouping, the referencing of its axes, the orientation of possible offsets and, finally, the synchronization of the axes involved are complicated procedures. The individual steps involved in the process are explained below by an example constellation. Constellation Machine axis 1 = gantry leading axis, incremental measuring system Machine axis 3 = gantry synchronized axis, incremental measuring system...
Page 168 Example 4.2 Setting of NCK PLC interface Reference point machine data (for first encoder each) Axis 1 MD34000 $MA_REFP_CAM_IS_ACTIVE = TRUE MD34010 $MA_REFP_CAM_DIR_IS_MINUS = e.g. FALSE MD34020 $MA_REFP_VELO_SEARCH_CAM = MD34030 $MA_REFP_MAX_CAM_DIST = corresponds to max. distance traversed MD34040 $MA_REFP_VELO_SEARCH_MARKER = MD34050 $MA_REFP_SEARCH_MARKER_REVERSE = e.g.
Page 169 Example 4.2 Setting of NCK PLC interface The NCK sets the following as a confirmation in the axis block of axis 1: DB31, ... DBB101: The PLC user program sets the following for the axis data block of axis 3: DB31, ...
Page 170 Example 4.3 Commencing start-up Commencing start-up Referencing The following steps must be taken: • Select "REF" operating mode • Start referencing for axis 1 (master axis) • Wait until message "10654 Channel 1 Waiting for synchronization start" appears. At this point in time, the NCK has prepared axis 1 for synchronization and registers this to the interface signal: DB31, ...
Page 171 Example 4.3 Commencing start-up • Start referencing again for axis 1 (master axis) with the modified machine data • Wait until message "10654 Channel 1 Waiting for synchronization start" appears • At this point in time, the NCK has prepared axis 1 for synchronization and registers this to the interface signal: DB31, ...
Page 172 Example 4.4 Setting warning and trip limits Setting warning and trip limits As soon as the gantry grouping is set and synchronized, the following machine data must still be set to correspond: MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit) MD37120 $MA_GANTRY_POS_TOL_ERROR (gantry trip limit) Proceed as follows •...
Page 173 Example 4.4 Setting warning and trip limits MD37130 $MA_GANTRY_POS_TOL_REF (gantry trip limit for referencing) These should have the following scales of magnitude at the end of the customizing process: Note The same procedure must be followed when starting up a gantry grouping in which the coupled axes are driven by linear motors and associated measuring systems.
Page 174 Example 4.4 Setting warning and trip limits Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 175 Data lists Machine data 5.1.1 Axis/spindlespecific machine data Number Identifier: $MA_ Description 30300 IS_ROT_AX Rotary axis 32200 POSCTRL_GAIN factor 32400 AX_JERK_ENABLE Axial jerk limitation 32410 AX_JERK_TIME Time constant for axis jerk filter 32420 JOG_AND_POS_JERK_ENABLE Initial setting for axial jerk limitation 32430 JOG_AND_POS_MAX_JERK Axial jerk...
Page 176 Data lists 5.2 Signals Number Identifier: $MA_ Description 37130 GANTRY_POS_TOL_REF Gantry trip limit for referencing 37140 GANTRY_BREAK_UP Invalidate gantry axis grouping Signals 5.2.1 Signals from mode group DB number Byte.bit Description 11, ... Active machine function REF 5.2.2 Signals from channel DB number Byte.bit Description...
Page 177 Index DB 31, ... MD30300, 22 DBB101, 37, 38, 39 MD32100, 22 DBX1.4, 19, 28 MD32200, 23 DBX1.5, 19, 28 MD32400, 23 DBX1.6, 28 MD32410, 23 DBX101.2, 10, 27 MD32420, 24 DBX101.3, 9, 27 MD32430, 24 DBX101.4, 16, 27 MD32610, 23 DBX101.5, 11, 16, 18, 27 MD32620, 23 DBX101.6, 27...
Page 178 SINUMERIK 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Cycle Times (G3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 179 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 180 Table of contents Brief description ............................5 Detailed description ........................... 7 General Information About Cycle Times..................7 SINUMERIK 810D and 840D......................8 SINUMERIK 840Di with PROFIBUS DP..................9 2.3.1 Description of a DP cycle......................10 2.3.2 Clock cycles and position-control cycle offset ................12 Restrictions.............................. 17 Example..............................
Page 181 Table of contents Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 182 Brief description This description explains the relationships and machine data of the various system cycles of the NC: • Basic system clock cycle • Interpolator cycle • Position controller cycle 810D and 840D For SINUMERIK 840D and SINUMERIK 810D, the position control cycle and the interpolator cycle (IPO cycle) are derived from the system basic cycle, which is set in the machine data of the NC.
Page 183 Brief description Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 184 Detailed description General Information About Cycle Times Requirements The system clock cycle, position-control cycle and interpolator cycle are defined in the following machine data. MD10050 $MN_SYSCLOCK_CYCLE_TIME (system clock cycle) MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO (factor for position-control cycle) MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO (factor for the interpolation cycle) With MD10050, $MN_SYSCLOCK_CYCLE_TIME sets the system clock cycle for the system software in seconds.
Page 185 Detailed description 2.2 SINUMERIK 810D and 840D Default values for cycle times The default settings ensure that a maximum configuration of the system can power up reliably. The cycle times, e.g., for the NCU 573, can generally be set to lower values. The default cycle times are as follows: cycle 810D...
Page 186 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP Block cycle time The block cycle time is the sum of the block change time and block preparation time. It is at least as long as the cycle time for sending the position setpoints to the servos - in normal operation therefore as long as the interpolator cycle.
Page 187 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP 2.3.1 Description of a DP cycle Actual values At time T , the actual position values are read from all the equidistant drives (DP slaves). In the next DP cycle, the actual values are transferred to the DP master in the time T Position controller In time T where T...
Page 188 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP Key to Fig. above: • T MAPC: Master application cycle: NC position control cycle for SINUMERIK 840Di always applies for: T MAPC • T DP cycle time: DP cycle time • T Data exchange time: Total transfer time for all DP slaves •...
Page 189 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP 2.3.2 Clock cycles and position-control cycle offset Cycle times The NC derives the cycle times, system clock cycle, position-control cycle and interpolator cycle from the equidistant PROFIBUS-DP cycle set in the SIMATIC S7 project during configuration of the PROFIBUS.
Page 190 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP Figure 2-3 Position control cycle offset compared to PROFIBUS DP cycle Key to Fig. above: • TLag: Computing time requirements for the position controller • TDP: DP cycle time: DP cycle time •...
Page 191 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP Conditions and recommendations for MD10062 MD10062 $MN_POSCTRL_CYCLE_DELAY (position control cycle offset) The position controller cycle offset (T ) must be set such that the following conditions are fulfilled within a PROFIBUS-DP/system cycle: •...
Page 192 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP MD10059 MD10059 $MN_PROFIBUS_ALARM_MARKER (PROFIBUS alarm marker) Alarm requests in the event of a conflict during startup • In this machine data, alarm requests on the PROFIBUS level are stored even after reboot. If a conflict occurs during startup between the machine data –...
Page 193 Detailed description 2.3 SINUMERIK 840Di with PROFIBUS DP Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 194 Restrictions No supplementary conditions apply. Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 195 Restrictions Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 196 Example No examples are available. Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 197 Example Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 198 Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10050 SYSCLOCK_CYCLE_TIME Basic system clock cycle 10059 PPOFIBUS_ALARM_MARKER PROFIBUS alarm marker (internal only) 10060 POSCTRL_SYSCLOCK_TIME_RATIO Factor for position control clock cycle 10061 POSCTRL_CYCLE_TIME Position control cycle 10062 POSCTRL_CYCLE_DELAY Position control cycle offset 10070 IPO_SYSCLOCK_TIME_RATIO...
Page 199 Data lists 5.1 Machine data Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 200 Index IPO cycle, 9 Acceleration time constant, 8 Master application cycle, 11 Master Time, 11 MD10050, 7, 12, 15 MD10059, 15 Basic system clock cycle, 7 MD10060, 7, 9, 15 840Di, 12 MD10061, 12 Block cycle time, 9 MD10062, 12, 14 MD10070, 7, 12, 15 MD33000, 8 Cycle times|Default values, 8...
Page 201 Index Special functions: Cycle Times (G3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 202 Index Special functions: Gantry Axes (G1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 203 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Contour Tunnel Monitoring (K6) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 204 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 205 Table of contents Brief description ............................5 Contour tunnel monitoring......................5 Programmable contour accuracy ....................6 Detailed description ........................... 7 Contour tunnel monitoring......................7 Programmable contour accuracy ....................8 Restrictions.............................. 11 Examples..............................13 Programmable contour accuracy ....................13 Data lists..............................15 Machine data..........................15 5.1.1 Channelspecific machine data .....................15 5.1.2 Axis/spindlespecific machine data ....................15 Setting data ..........................15...
Page 206 Table of contents Special functions: Contour Tunnel Monitoring (K6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 207 Brief description Contour tunnel monitoring Function The absolute movement of the tool tip in space is monitored. The function operates channel specific. Model A round tunnel with a definable diameter is defined around the programmed path of a machining operation. Axis movements are stopped as an option if the path deviation of the tool tip is greater than the defined tunnel as the result of axis errors.
Page 208 Brief description 1.2 Programmable contour accuracy Figure 1-1 Position of the contour tunnel around the programmed path As long as the calculated actual position of the tool tip remains inside the sketched tunnel, motion continues in the normal way. If the calculated actual position violates the tunnel, an alarm is triggered (in the default setting) and the axes are stopped by "Ramp Stop".
Page 209 Detailed description Contour tunnel monitoring Aim of the monitoring function The aim of the monitoring function is to stop the movement of the axes if axis deviation causes the distance between the tool tip (actual value) and the programmed path (setpoint) to exceed a defined value (tunnel radius).
Page 210 Detailed description 2.2 Programmable contour accuracy Activating The monitoring will only become active if the following conditions are met: • The contour tunnel monitoring function is set. • MD21050 is higher than 0.0. • At least two geometry axes have been defined. Stopping Monitoring can be stopped by enabling the MD setting: MD21050 = 0.0.
Page 211 Detailed description 2.2 Programmable contour accuracy Function The "Programmable contour accuracy" function permits the user to specify a maximum error for the contour in the NC program, which may not be exceeded. The control calculates the factor (servo gain factor) for the axes concerned and limits the maximum path velocity so that the contour error resulting from the lag does not exceed the value specified.
Page 212 Detailed description 2.2 Programmable contour accuracy RESET/end of program On RESET/program end the response set in the following machine data for the G code group 39 will become effective: MD20110 $MC_RESET_MODE_MASK (Definition of control default settings after reset/TP end) MD20112 $MC_START_MODE_MASK (Definition of the control default settings in case of NC start) e.g.
Page 213 Restrictions Coupled motion If coupled motion between two geometry axes is programmed with contour tunnel monitoring, this always results in activation of the contour tunnel monitoring. In this case, the contour tunnel monitoring must be switched off before programming the coupled motion: MD21050 $MC_CONTOUR_TUNNEL_TOL = 0.0 Special functions: Contour Tunnel Monitoring (K6)
Page 214 Restrictions Special functions: Contour Tunnel Monitoring (K6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 215 Examples Programmable contour accuracy Extract from part program N10 X0 Y0 G0 ; Enabling of contour accuracy defined by MD N20 CPRECON ; Machine contour at 10 m/min in continuous-path mode N30 F10000 G1 G64 X100 ; Automatic limitation of feed in circle block N40 G3 Y20 J10 ;...
Page 216 Examples 4.1 Programmable contour accuracy Special functions: Contour Tunnel Monitoring (K6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 217 Data lists Machine data 5.1.1 Channelspecific machine data Number Identifier: $MC_ Description 20470 CPREC_WITH_FFW Programmed Contour accuracy 21050 CONTOUR_TUNNEL_TOL Response threshold for contour tunnel monitoring 21060 CONTOUR_TUNNEL_REACTION Reaction to response of contour tunnel monitoring 21070 CONTOUR_ASSIGN_FASTOUT Assignment of an analog output for output of the contour error 5.1.2 Axis/spindlespecific machine data...
Page 218 Data lists 5.2 Setting data Special functions: Contour Tunnel Monitoring (K6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 219 Index Activating, 8 Parameterization Active feedforward control, 9 Deceleration methods, 7 Aim of the monitoring function, 7 Tunnel size, 7 Analysis, 6 Programmable contour accuracy Analysis output, 8 Active feedforward control, 9 Application, 9 Minimum feed, 9 Programmable contour accuracy Activating, 9 Coupled motion, 11 Quality control, 6...
Page 220 Index Special functions: Contour Tunnel Monitoring (K6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 221 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Axis Couplings and ESR (M3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 222 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 223 Table of contents Brief description ............................7 Coupled motion ..........................7 1.1.1 Function ............................7 1.1.2 Preconditions ..........................8 Curve tables ...........................8 1.2.1 Function ............................8 1.2.2 Preconditions ..........................9 Master value coupling ........................9 1.3.1 Function ............................9 1.3.2 Preconditions ..........................9 Electronic gearbox (EG).......................10 1.4.1 Function ............................10 1.4.2 Preconditions ..........................11 Generic coupling ..........................12...
Page 224 Table of contents Master value coupling ......................... 49 2.3.1 General functionality ........................49 2.3.2 Programming a master value coupling ..................54 2.3.3 Behavior in AUTOMATIC, MDA and JOG modes............... 57 2.3.4 Effectiveness of PLC interface signals..................59 2.3.5 Special characteristics of the axis master value coupling function ..........59 Electronic gearbox (EG)......................
Page 225 Table of contents 2.6.2 Programmed dynamic limits.......................124 2.6.2.1 Programming (VELOLIMA, ACCLIMA)..................124 2.6.2.2 Examples ...........................127 2.6.2.3 System variables........................128 Extended stop and retract (ESR) ....................128 2.7.1 Extended stop and retract (ESR) ....................128 2.7.2 Reactions external to the control ....................130 2.7.3 Drive-independent reactions ......................131 2.7.4 NC-controlled extended stop .....................133 2.7.5...
Page 226 Table of contents Signals............................190 5.4.1 Signals to axis/spindle....................... 190 5.4.2 Signals from axis/spindle ......................191 Index............................Index-193 Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 227 Brief description Coupled motion 1.1.1 Function The "coupled motion" function enables the definition of simple axis links between a master axis and a slave axis, taking into consideration a coupling factor. Coupled motion has the following features: • Any axis of the NC can be defined as a master axis. •...
Page 228 Brief description 1.2 Curve tables 1.1.2 Preconditions Coupled motion function The coupled motion function forms part of the NCK software. Generic coupling The coupled motion functionality is also available in the generic coupling. However, for basic operation of generic coupling, the following limitations apply: •...
Page 229 Brief description 1.3 Master value coupling 1.2.2 Preconditions Memory configuration Static NC memory Memory space for curve tables in static NC memory is defined by machine data: 18400 $MN_MM_NUM_CURVE_TABS (number of curve tables) 18402 $MN_MM_NUM_CURVE_SEGMENTS (number of curve segments) 18403 $MN_MM_NUM_CURVE_SEG_LIN (number of linear curve segments) 18404 $MN_MM_NUM_CURVE_TABS (number of curve table polynomials) Dynamic NC memory Memory space for curve tables in dynamic NC memory is defined by machine data:...
Page 230 Brief description 1.4 Electronic gearbox (EG) Electronic gearbox (EG) 1.4.1 Function General The "electronic gear" function makes it possible to control the movement of a following axis, depending on up to five master axes. The relationship between each leading axis and the following axis is defined by the coupling factor.
Page 231 Brief description 1.4 Electronic gearbox (EG) Application Examples: • Machine tools for gear cutting • Gear trains for production machines 1.4.2 Preconditions The "Electronic Gearbox" option or the relevant option of generic coupling (refer to "Preconditions" for generic coupling) is a prerequisite for utilization of the function. Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 232 Brief description 1.5 Generic coupling Generic coupling 1.5.1 Function Function "Generic Coupling" is a general coupling function, combining all coupling characteristics of existing coupling types (coupled motion, master value coupling, electronic gearbox and synchronous spindle). The function allows flexible programming: •...
Page 233 Brief description 1.5 Generic coupling 1.5.2 Preconditions CP Versions Generic coupling is available in a basic version as part of the NCK software and as three optional versions CP-BASIC, CP-COMFORT and CP-EXPERT. This structure is based on the following considerations: •...
Page 234 Brief description 1.5 Generic coupling Table 1-2 Scaling of availability of coupling properties Type A Type B Type C Type D Maximum number of CPSETTYPE-related functionalities (per type) TRAIL - Coupled motion Maximum number of coupled motion groups with the following properties: →...
Page 235 Brief description 1.5 Generic coupling Type A Type B Type C Type D Maximum number of free generic couplings with the following properties: Default (in accordance with CPSETTYPE="CP") Maximum number of master values From part program and synchronous actions Cascading permitted BCS / MCS BCS / MCS Co-ordinate reference (default): CPFRS="BCS")
Page 236 Brief description 1.6 Extended stop and retract (ESR) Extended stop and retract (ESR) 1.6.1 Function The "Extended stop and retract" function (ESR) provides a means to react flexibly to specific error sources while preventing damage to the workpiece: • Extended stop/retract If possible, all axes involved in the electronic coupling are brought to a normal standstill.
Page 237 Detailed description Coupled motion 2.1.1 General functionality The "Coupled motion" function allows the definition of simple axis couplings. Coupling is performed from one leading axis to one or more following axes, the so-called coupled motion axes. A separate coupling factor can be specified for each coupled motion axis. Coupled axis grouping The leading axis and all the coupled motion axes assigned to it together form a coupled axis grouping.
Page 238 Detailed description 2.1 Coupled motion Figure 2-1 Application Example: Two-sided machining Multiple couplings Up to two leading axes can be assigned to one coupled motion axis. The traversing movement of the coupled motion axis then results from the sum of the traversing movements of the leading axes.
Page 239 Detailed description 2.1 Coupled motion Switch ON/OFF Coupled motion can be activated/deactivated via the part programs and synchronous actions. In this context please ensure that the switch on and switch off is undertaken with the same programming: • Switch on: Part program → Switch off: Part program •...
Page 240 Detailed description 2.1 Coupled motion Distance-to-go: Coupled motion axis The distance-to-go of a coupled motion axis refers to the total residual distance to be traversed from dependent and independent traversing. Delete distance-to-go: Coupled motion axis Delete distance-to-go for a coupled motion axis only results in aborting of the independent traversing movement of the leading axis.
Page 241 Detailed description 2.1 Coupled motion 2.1.2 Programming 2.1.2.1 Definition and switch on of a coupled axis grouping (TRAILON) Definition and switch on of a coupled axis grouping take place simultaneously with the TRAILON part program command. Programming Syntax: TRAILON(<coupled motion axis>, <leading axis>, [<coupling factor>]) Effective: modal Parameters:...
Page 242 Detailed description 2.1 Coupled motion 2.1.2.2 Switch off (TRAILON) Switch off of the coupling of a coupled-motion axis with a leading axis takes place through the TRAILOF part program command. Programming Syntax: TRAILON(<coupled motion axis>, <leading axis>) or (in abbreviated form): TRAILOF(<coupled-motion axis>) Effective: modal...
Page 243 Detailed description 2.1 Coupled motion 2.1.3 Effectiveness of PLC interface signals Independent coupled motion axis All the associated channel and axis specific interface signals of the coupled-motion axis are effective for the independent motion of a coupled-motion axis, e.g.: • DB21, ... DBX0.3 (Activate DRF) •...
Page 244 Detailed description 2.1 Coupled motion Tracking (DB31, ... DBX1.4) Activation of tracking for an axis is done via the PLC program by setting the following NC/PLC interface signals: DB31, ... DBX2.1 = 0 (control system enable) DB31, ... DBX1.4 == 1 (tracking mode) When activating tracking mode for a coupled axis grouping, the specified NC/PLC interface signals must be set simultaneously for all axes (master and slave axes) of the coupled axis group.
Page 245 Detailed description 2.1 Coupled motion 2.1.5 Dynamics limit The dynamics limit is dependent on the activation of the coupled axis grouping: • Part program If activation is performed in the part program, the dynamics of all coupled motion axes is taken into account so that no coupled motion axis is overloaded during traversing of the leading axis.
Page 246 Detailed description 2.2 Curve tables Curve tables 2.2.1 General functionality Curve tables A functional relation between a command variable "master value" and an abstract following value is described in the curve table. A following variable can be assigned uniquely to each master value within a defined master value range.
Page 247 Detailed description 2.2 Curve tables Selection of memory type While defining a curve table, it can be defined whether the curve table is created in the static or dynamic NC memory. Note Table definitions in the static NC memory are available even after control system run-up. Curve tables of the dynamic NC memory must be redefined after every control system run- 2.2.2 Memory organization...
Page 248 Detailed description 2.2 Curve tables Insufficient memory If a curve table cannot be created, because sufficient memory is not available, then the newly created table is deleted immediately after the alarm. If insufficient is available, then one or more table(s) that is/are no longer required can be deleted with CTABDEL or, alternatively, memory can be reconfigured via machine data.
Page 249 Detailed description 2.2 Curve tables 2.2.3 Commissioning 2.2.3.1 Memory configuration A defined storage space is available for the curve tables in the static and dynamic NC memory, which is defined through the following machine data: Static NC memory MD18400 $MN_MM_NUM_CURVE_TABS Defines the number of curve tables that can be stored in the static NC memory.
Page 250 Detailed description 2.2 Curve tables 2.2.3.2 Tool radius compensation MD20900 Tool radius compensation can produce segments for which the following axis or leading axis have no movement. A missing movement of the following axis does not normally represent any problem. As against this, a missing movement of the leading axis requests a specification as to how such discontinuities are to be handled, i.e., whether or not a curve table should be generated in these cases.
Page 251 Detailed description 2.2 Curve tables 2.2.4 Programming Definition The following modal language commands work with curve tables: (The parameters are explained at the end of the list of functions.) • Beginning of definition of a curve table: CTABDEF(following axis, leading axis, n, applim, memType) •...
Page 252 Detailed description 2.2 Curve tables Access to curve table segments • Read start value (following axis value) of a table segment CTABSSV(leading value, n, degrees, [following axis, leading axis]) • Read end value (following axis value) of a table segment CTABSEV(master value, n, degrees, [following axis, master axis]) Note If curve table functions such as CTAB(), CTABINV(), CTABSSV() etc., in synchronous...
Page 253 Detailed description 2.2 Curve tables Curve tables in the number range n to m. CTABUNLOCK(n, m) All curve tables, irrespective of memory type CTABUNLOCK() All curve tables in the specified memory type CTABUNLOCK(, , memType) Other commands for calculating and differentiating between curve tables for applications for diagnosing and optimizing the use of resources: •...
Page 254 Detailed description 2.2 Curve tables • Returns the memory in which curve table number n is stored. CTABMEMTYP(n) • Returns the table periodicity. CTABPERIOD(n) • Number of curve segments already used in memory memType. CTABSEG(memType, segType) • Number of curve segments used in curve table number n CTABSEGID(n, segType) •...
Page 255 Detailed description 2.2 Curve tables Parameter • Following axis: Identifier of axis via which the following axis is programmed in the definition. • Leading axis: Identifier of axis via which the leading axis is programmed. • n, m Numbers for curve tables. Curve table numbers can be freely assigned.
Page 256 Detailed description 2.2 Curve tables • segType Optional parameter for entry of segment type Possible values: segType "L" linear segments segType "P" Polynomial segments References: /PGA/ Programming Manual Work Preparation; Path Behavior Chapter Curve Tables (CTAB) Restrictions The following restrictions apply when programming: •...
Page 257 Detailed description 2.2 Curve tables Starting value The first motion command in the definition of a curve table defines the starting value for the leading and following value. All instructions that cause a preprocessing stop must be removed. Example 1 Without tool radius compensation, without memory type ;...
Page 258 Detailed description 2.2 Curve tables Note The value pairs between CTABDEF and CTABEND must be specified for precisely the axis identifiers that have been programmed in CTABDEF as the leading axis and following axis identifiers. In the case of programming errors, alarms or incorrect contours may be generated.
Page 259 Detailed description 2.2 Curve tables CTABINV When using the inversion function for the curve tables CTABINV, it must be noted that the following value mapped to the leading value may not be unique. Within a curve table, the following value can assume the same value for any number of master value positions.
Page 260 Detailed description 2.2 Curve tables Identifying the segment associated with master value X Example of reading the segment starting and end values for determining the curve segment associated with master value X = 30 using CTABSSV and CTABSEV: ; Beginning of the definition of start and N10 DEF REAL STARTPOS ;...
Page 261 Detailed description 2.2 Curve tables Reading values at start and end The values of the following axes and of the master axis at the start and end of a curve table can be read with the following calls: R10 =CTABTSV(n, degrees, F axis), following value at the beginning of the curve table R10 =CTABTEV(n, degrees, F axis), following value at the beginning of the curve table R10 =CTABTSP(n, degrees, F axis), following value at the beginning of the curve table R10 =CTABTEP(n, degrees, F axis), following value at the beginning of the curve table...
Page 262 Detailed description 2.2 Curve tables Figure 2-3 Determining the minimum and maximum values of the table 2.2.6 Activation/deactivation Activation The coupling of real axes to a curve table is activated through this command: LEADON (<Following axis>, <Leading axis>, <n>) with <n> =Number of the curve table Activation is possible: •...
Page 263 Detailed description 2.2 Curve tables Deactivation The switch off of the coupling to a curve table takes place through the following command: LEADON (<Following axis>, <Leading axis>) Deactivation is possible: • In the part program • in synchronized actions Note While programming LEADOF, the abbreviated form is also possible without specification of the leading axis.
Page 264 Detailed description 2.2 Curve tables 2.2.8 Behavior in AUTOMATIC, MDA and JOG modes Activation An activated curve table is functional in the AUTOMATIC, MDA and JOG modes. Basic setting after run-up No curve tables are active after run-up. 2.2.9 Effectiveness of PLC interface signals Dependent following axis With respect to the motion of a following axis that is dependent on the leading axis, only the following axis interface signals that effect termination of the motion (e.g.
Page 265 Detailed description 2.2 Curve tables 2.2.10 Diagnosing and optimizing utilization of resources The following functions allow parts programs to get information on the current utilization of curve tables, table segments and polynomials. One result of the diagnostic functions is that resources still available can be used dynamically with the functions, without necessarily having to increase memory usage.
Page 266 Detailed description 2.2 Curve tables If the sequence of curve tables in memory changes between consecutive calls of CTABID()CTABID(), e.g. due to the deletion of curve tables with CTABDEL(), the CTABID(p, ...) function can supply a different curve table with the same number. To prevent this from happening, the curve tables concerned can be locked, using the CTABLOCK(...) language command.
Page 267 Detailed description 2.2 Curve tables b) Curve table segments • Determine number of used curve segments of the type memType in the memory range. • CTABSEG(memType, segType) • If memType is not specified, the memory type specified in the following machine data: MD20905 $MC_CTAB_DEFAULT_MEMORY_TYPE Result: >= 0: Number of curve segments...
Page 268 Detailed description 2.2 Curve tables c) Polynomials • Determine the number of used polynomials of the memory type CTABPOL(memType) If memType is not specified, the memory type specified in the following machine data: MD20905 $MC_CTAB_DEFAULT_MEMORY_TYPE Result: >= 0: Number of polynomials already used in the memory type -2: Invalid memory type •...
Page 269 Detailed description 2.3 Master value coupling Master value coupling 2.3.1 General functionality Introduction Master value couplings are divided into axis and path master value couplings. In both cases, the axis and path positions are defined by the control system on the basis of master values (e.g.
Page 270 Detailed description 2.3 Master value coupling Virtual leading axis/simulated master value When switching over to master value coupling, the simulation can be programmed with the last actual value read, whereas the path of the actual value is generally outside the control of the NCU.
Page 271 Detailed description 2.3 Master value coupling If (x) is a periodic curve table and this is interpreted as oscillation, the offset and scaling can also be interpreted as follows: • SD43102 $SA_LEAD_OFFSET_IN_POS[Y] the oscillation phase is shifted • SD43104 $SA_LEAD_SCALE_IN_POS[Y] •...
Page 272 Detailed description 2.3 Master value coupling Figure 2-5 Master value coupling offset and scaling (with increment offset) Reaction to Stop All master value coupled following axes react to channel stop and MODE GROUP stop. Master value coupled following axes react to a stop due to end of program (M30, M02) if they have not been activated by static synchronous actions (IDS=...).
Page 273 Detailed description 2.3 Master value coupling Axial functions Actual value coupling causes a position offset between the leading and following axis. This is due to the deadtime in the position controller between the actual value of the leading axis and the following axis necessitated by the IPO cycle. By default, the position offset and following error are compensated by means of linear extrapolation of the master value by this deadtime.
Page 274 Detailed description 2.3 Master value coupling 2.3.2 Programming a master value coupling Definition and activation A master value coupling is defined and activated simultaneously with the modal language command for: • Axis master value coupling LEADON(FA, LA, CTABn) – FA=following axis, as GEO axis name, channel or machine axis name (X,Y,Z,...). –...
Page 275 Detailed description 2.3 Master value coupling Figure 2-6 Activating master value coupling Deactivation A master value coupling is deactivated with the model language command for: • Axis master value coupling LEADOF(FA, LA) – FA=following axis, as GEO axis name, channel or machine axis name (X,Y,Z,...). –...
Page 276 Detailed description 2.3 Master value coupling Coupling type Coupling type is defined by the following setting data: SD43100 $SA_LEAD_TYPE[LA] (type of master value) Switch-over between actual and setpoint value coupling is possible at any time, preferably in the idle phase. LA: Leading axis as GEO axis name, channel axis name or machine axis name (X,Y,Z,...) 0: Actual value coupling (this type of coupling must be used for external leading axes) 1: Setpoint coupling (default setting)
Page 277 Detailed description 2.3 Master value coupling Note If the following axis is not enabled for travel, it is stopped and is no longer synchronous. 2.3.3 Behavior in AUTOMATIC, MDA and JOG modes Efficiency A master value coupling is active depending on the settings in the part program and in the following machine data: MD20110 $MC_RESET_MODE_MASK (definition of initial control system settings after RESET/TP-End)
Page 278 Detailed description 2.3 Master value coupling MD20112 $MC_START_MODE_MASK=0H → Master value coupling remains valid after RESET and START • MD20110 $MC_RESET_MODE_MASK=2001H && MD20112 $MC_START_MODE_MASK=2000H → Master value coupling remains valid after RESET and is canceled with START. However, master value coupling activated via IDS=... remains valid. •...
Page 279 Detailed description 2.3 Master value coupling 2.3.4 Effectiveness of PLC interface signals Leading axis When a coupled axis group is active, the interface signals (IS) of the leading axis are applied to the appropriate following axis via axis coupling. i.e.: •...
Page 280 Detailed description 2.4 Electronic gearbox (EG) These functions have no effect on cyclic machines because they are performed without operator actions. Nor does it make sense to perform automatic (re-)positioning via the NC with external master values. Electronic gearbox (EG) Function With the aid of the "Electronic gearbox"...
Page 281 Detailed description 2.4 Electronic gearbox (EG) Caution Knowledge of the control technology and measurements with servo trace are an absolute prerequisite for using this function. References: /IAD/. Commissioning Guide, /FB1/ Function Manual, Basic Functions; Speeds, Setpoint/Actual Value Systems, Closed-Loop Control System (G2) Coupling type The following axis motion can be derived from either of the following: •...
Page 282 Detailed description 2.4 Electronic gearbox (EG) Number of EG axis groups Several EG axis groups can be defined at the same time. The maximum possible number of EG axis groupings is set in the following machine data: MD11660 $MN_NUM_EG The maximum permissible number of EG axis groups is 31. Note The option must be enabled.
Page 283 Detailed description 2.4 Electronic gearbox (EG) Synchronous positions To start up the EG axis group, an approach to defined positions for the following axis can first be requested. Synchronous positions are specified with: EGONSYN (see below for details) EGONSYNE (extended EGONSYN call). Synchronization If a gear is started with EGON(), EGONSYN() or EGONSYNE() see below, the actual position of the following axis is only identical to the setpoint position defined by the rule of...
Page 284 Detailed description 2.4 Electronic gearbox (EG) Synchronization for EGONSYN 1. With EGONSYN(), the positions of the leading axes and the synchronization position for the following axis are specified by the command. • The control then traverses the following axis with just the right acceleration and velocity to the specified synchronization position so that the following axis is in position with the leading axes at its synchronization position.
Page 285 Detailed description 2.4 Electronic gearbox (EG) Synchronous monitoring The synchronism of the gearbox is monitored in each interpolator cycle on the basis of the actual values of the following and leading axes. For this purpose, the actual values of the axes are computed according to the rule of motion of the coupling.
Page 286 Detailed description 2.4 Electronic gearbox (EG) Difference in synchronism for EG cascades Deviation in synchronism for EG cascades is the deviation of the actual position of the following axis from setpoint position that results fro the rule of motion for the real axes involved.
Page 287 Detailed description 2.4 Electronic gearbox (EG) Further monitoring signals Machine data MD37550 $MA_EG_VEL_WARNING allows a percentage of the speeds and accelerations to be specified in the following machine data MD32000 $MA_MAX_AX_VELO and MD32300 $MA_MAX_AX_ACCEL, with reference to the following axis, which results in the generation of the following interface signals: IS "Speed warning threshold"...
Page 288 Detailed description 2.4 Electronic gearbox (EG) 2.4.1 Performance Overview of EG (Summary) An EG has: • a maximum of 5 lead axes • 1 Following axis • a maximum of 5 assigned curve tables or • a maximum of 5 assigned coupling factors (Z/N) or •...
Page 289 Detailed description 2.4 Electronic gearbox (EG) Reference system The calculations are made in the basic co-ordinate system BCS. Synchronous actions Synchronous actions (see Literature: /FBSY/) are not supported. Block search EG commands are ignored in the case of block search. Mode change In the case of a mode change: •...
Page 290 Detailed description 2.4 Electronic gearbox (EG) Power-up conditions of EG The EG may be powered up: • at the current axis positions (EGON) or • at the synchronized positions to be specified (EGONSYN) • at synchronized positions to be specified with details of an approach mode (EGONSYNE) Block change behavior In the EG activation commands (EGON, EGONSYN, EGONSYNE), it can be specified for which condition (with respect to synchronism) the next block of the parts program is to be...
Page 291 Detailed description 2.4 Electronic gearbox (EG) Definition of an EG axis group An EG axis group is defined through the input of the following axis and at least one, but not more than five, leading axis, each with the relevant coupling type: EGDEF(following axis, leading axis1, coupling type1, leading axis2, coupling type 2,...) The coupling type does not need to be the same for all leading axes and must be programmed separately for each individual leading axis.
Page 292 Detailed description 2.4 Electronic gearbox (EG) 2.4.3 Activating an EG axis group Without synchronization The EG axis group is activated without synchronization selectionwith: EGON(FA, block change mode, LA1, Z1, N1, LA2 , Z2, N2,..LA5, Z5, N5.) The coupling is activated immediately. With: FA: Following axis Depending on block change mode, the next block will be activated:...
Page 293 Detailed description 2.4 Electronic gearbox (EG) Zi: Counter for coupling factor of leading axis i Ni: Denominator for coupling factor of leading axis i Note The parameters indexed with i must be programmed for at least one leading axis, but for no more than five.
Page 294 Detailed description 2.4 Electronic gearbox (EG) "ACN": AbsoluteCo-ordinateNegative, Absolute measurement specification, rotary axis traverses in negative rotation direction "ACP": AbsoluteCo-ordinatePositive, Absolute measurement specification, rotary axis traverses in positive rotation direction "DCT": DirectCo-ordinateTime-optimized, Absolute measurement specification, rotary axis traverses time-optimized to programmed synchronized position "DCP": DirectCo-ordinatePath-optimized, Absolute measurement specification, rotary axis traverses path-optimized to programmed synchronized position : Axis identifier of the leading axis i...
Page 295 Detailed description 2.4 Electronic gearbox (EG) Approach response for moving FA The following axis moves at almost maximum velocity in the positive direction when the coupling is activated by EGONSYNE. The programmed synchronized position of the following axis is 110, the current position 150. This produces the two alternative synchronized positions 110 and 182 (see table above).
Page 296 Detailed description 2.4 Electronic gearbox (EG) With synchronization The syntax specified above applies with the following different meanings. If a curve table is used for one of the leading axes then: : the denominator of the coupling factor for linear coupling must be set to 0. (Denominator 0 would be illegal for linear couplings).
Page 297 Detailed description 2.4 Electronic gearbox (EG) Variant 3 EGOFC(following spindle) The electronic gear is deactivated. The following spindle continues to traverse at the speed/velocity that applied at the instant of deactivation. This call triggers a preprocessing stop. Note Call for following spindles available. For EGOFC a spindle identifier must be programmed. 2.4.5 Deleting an EG axis group An EG axis grouping must be switched off, as described in Chapter "Switching off a EG Axis...
Page 298 Detailed description 2.4 Electronic gearbox (EG) 2.4.7 Response to POWER ON, RESET, operating mode change, block search No coupling is active after POWER ON. The status of active couplings is not affected by RESET or operating mode switchover. More detailed information on special states can be found under "Performance Overview of the Electronic Gearbox".
Page 299 Detailed description 2.4 Electronic gearbox (EG) name Type Access Preprocessing Meaning, value Cond. Index stop Parts Sync Parts Sync program act. program act. $AA_EG_ REAL Denominator of coupl. fact. KF Axis identifier DENOM[a,b] KF = numerator/denominator a: Following axis (from SW 5.2) preset: 1 b: Leading axis Denominator must be positive.
Page 300 Detailed description 2.5 Generic coupling Generic coupling 2.5.1 Basics 2.5.1.1 Coupling modules Coupling module With the aid of a coupling module, the motion of one axis, (→ following axis), can be interpolated depending on other (→ leading) axes. Coupling rule The relationships between leading axis/values and a following axis are defined by a coupling rule (coupling factor or curve table).
Page 301 Detailed description 2.5 Generic coupling Setpoint or actual value of the 1st leading axis/value Setpoint or actual value of the 2nd leading axis/value SynPosLA Synchronized position of the 1st leading axis/value SynPosLA Synchronized position of the 2nd leading axis/value Coupling factor of the 1st leading axis/value Coupling factor of the 2nd leading axis/value The following axis position results from the overlay (summation) of the dependent motion components (FA...
Page 302 Detailed description 2.5 Generic coupling Example: The properties set with the existing coupling call TRAILON(X,Y,2)(following axis, leading axis and coupling factor) are defined in the generic coupling with the following keywords: CPON=(X1) CPLA[X1]=(X2) CPLNUM[X1,X2]=2 Switch on coupling to following axis X1. CPON=(X1) Define axis X2 as leading axis.
Page 303 Detailed description 2.5 Generic coupling Keyword Coupling characteristics / meaning Default setting (CPSETTYPE="CP") CPLCTID Number of curve table Not set CPLSETVAL Coupling reference CMDPOS CPFRS Co-ordinate reference system CPBC Block change criterion CPFPOS + CPON Synchronized position of the following axis when Not set switching on CPLPOS + CPON...
Page 304 Detailed description 2.5 Generic coupling 2.5.1.3 System variables System variables The current state of a coupling characteristic set with a keyword, can be read and written to with the relevant system variable. Note When writing in the parts program, PREPROCESSING STOP is generated. Notation The names of system variables are normally derived from the relevant keywords and a corresponding prefix.
Page 305 Detailed description 2.5 Generic coupling System variable list A list of all system variables which can be used in a generic coupling is contained in the data lists to Partial Manual M3. For a detailed description of system variables, refer to: Literature: /PGA1/ List Manual System Variables 2.5.2...
Page 306 Detailed description 2.5 Generic coupling 2.5.2.2 Delete coupling module (CPDEL) A coupling module created with CPDEF can be deleted with CPDEL. Programming Syntax: CPDEL= (<following axis/spindle>) Identifiers: Coupling Delete Functionality: Deletion of a coupling module. All leading axis modules are deleted with the coupling module and reserved memory is released.
Page 307 Detailed description 2.5 Generic coupling 2.5.2.3 Defining leading axes (CPLDEF or CPDEF+CPLA) The leading axes/spindles defined for a coupling can be programmed/created with the keyword CPLDEF or with the keyword CPLA in conjunction with CPDEF. Programming with CPLDEF Syntax: CPLDEF[FAx]= (<leading axis/spindle>) Identifiers: Coupling Lead Axis Definition Functionality:...
Page 308 Detailed description 2.5 Generic coupling Boundary conditions • CPLDEF is only allowed in blocks without CPDEF/CPON/CPOF/CPDEL. (This limitation applies to the case where the keywords refer to the same coupling module.) • The maximum number of leading axis modules per coupling module is limited (see topic "Preconditions"...
Page 309 Detailed description 2.5 Generic coupling Programming with CPLA and CPDEL Syntax: CPLA[FAx]= (<leading axis/spindle>) Identifiers: Coupling Lead Axis Functionality: Deleting a leading axis/spindle: The leading axis/spindle module will be deleted and the corresponding memory will be released. If the coupling module does not have a leading axis/spindle any more, the coupling module will be deleted and the memory will be released.
Page 310 Detailed description 2.5 Generic coupling 2.5.3 Switching coupling on/off 2.5.3.1 Switching on a coupling module (CPON) A defined coupling module is switched on with the switch command CPON. Coupling characteristics like coupling reference can be programmed together with the switch on command (see topic "Programming Coupling Characteristics").
Page 311 Detailed description 2.5 Generic coupling 2.5.3.2 Switch off coupling module (CPOF) An activated coupling can be deactivated with the CPOF switching command. The deactivation, i.e. the switching off of the coupling to the leading axis, is performed in accordance with the set switch-off properties (see CPFMOF) Programming Syntax: CPOF= (<Following axis / spindle>)
Page 312 Detailed description 2.5 Generic coupling 2.5.3.3 Switching on leading axes of a coupling module (CPLON) CPLON activates the coupling of a leading axis to a following axis. If several leading axes are defined for a coupling module, they can be activated and deactivated separately with CPLON. Programming Syntax: CPLON[FAx]= (<leading axis/spindle>)
Page 313 Detailed description 2.5 Generic coupling 2.5.3.4 Switching off leading axes of a coupling module (CPLOF) CPLOF deactivates the coupling of a leading axis to a following axis. If several leading axes are defined for a coupling module, they can be deactivated separately with CPLOF. Programming Syntax: CPLOF[FAx]= (<leading axis/spindle>)
Page 314 Detailed description 2.5 Generic coupling 2.5.3.5 Implicit creation and deletion of coupling modules Switch-on commands may also be used to create coupling modules (without prior definition with CPDEF). Programming example ; Creates a coupling module for following axis X2 with CPON=(X2) CPLA[X2]=(X1) leading axis X1 and activates the coupling module.
Page 315 Detailed description 2.5 Generic coupling 2.5.4 Programming coupling characteristics 2.5.4.1 Coupling rule (CPLNUM, CPLDEN, CPLCTID) The functional relationship between the leading value and the following value is specified by a coupling rule for each leading axis. This functional relationship can be defined linear via a coupling factor or non-linear via a curve table.
Page 316 Detailed description 2.5 Generic coupling Denominator of the coupling factor Syntax: CPLDEN[FAx,LAx]= <value> Identifiers: Coupling Lead Denominator Functionality: Defines the denominator of the coupling factor for the coupling rule of the following axis/spindle FAx to the leading axis/spindle LAx. Value: Type: REAL Range of to +2...
Page 317 Detailed description 2.5 Generic coupling Example: ; The leading axis specific coupling component of the coupling CPLCTID[X2,X1]=5 of the following axis X2 to the leading axis X1 is calculated with curve table No. 5. Boundary conditions • A coupling factor of zero (CPLNUM=0) is a permissible value. In this case, the leading axis/spindle does not provide a path component for the following axis/spindle, however, it remains a part of the coupling.
Page 318 Detailed description 2.5 Generic coupling Programming Syntax: CPLSETVAL[FAx,LAx]= <value> Identifiers: Coupling Lead Set Value Functionality: Defines tapping of the leading axis/spindle LAx and the reaction point on the following axis/spindle FAx. Coupling STRING reference: Range of values: "CMDPOS" Commanded Position Setpoint value coupling "CMDVEL"...
Page 319 Detailed description 2.5 Generic coupling 2.5.4.3 Co-ordinate reference (CPFRS): The co-ordinate reference of the following axis/spindle specifies in which co-ordinate reference system the coupling component resulting from the coupling is applied. in the base co-ordinate system or in the machine co-ordinate system. It is further specified which co-ordinate reference the leading values of the leading axis spindle must have.
Page 320 Detailed description 2.5 Generic coupling 2.5.4.4 Block change behavior (CPBC) The block change criterion can be used to specify under which conditions the block change with activated coupling is to be permitted in the processing of the part program. The status of the coupling influences the block change behavior.
Page 321 Detailed description 2.5 Generic coupling Programming with WATC Syntax: WAITC(FAx1,BC) Identifiers: Wait for Coupling Condition Functionality: Defines block change criterion with active coupling. Parameter: Designates the following axis and therefore the coupling module. Defines the desired block change criterion. FAx: Type: STRING Range of values: Axes of the channel...
Page 322 Detailed description 2.5 Generic coupling 2.5.4.5 Synchronized position of the following axis when switching on (CPFPOS+CPON) When switching on the coupling (CPON) approach of the following axis can be programmed for a specified synchronized position. The synchronized position takes immediate effect at switch on. The total position, resulting from the synchronized position and the coupling rule, is approached according to the specified synchronization mode (CPFMSON), taking into account the dynamic response limits.
Page 323 Detailed description 2.5 Generic coupling Part program section (Example) ; Activation of coupling to following axis X2. 100 is taken CPON=(X2) CPFPOS[X2]=100 as synchronized position of the following axis. ; Following axis X2 is traversed to position 123. G00 X2=123 ;...
Page 324 Detailed description 2.5 Generic coupling Part program section (Example) ; Activation of coupling to following axis CPON=(X2) CPFPOS[X2]=100 CPLPOS[X2,X1]=200 X2. 100 is taken as synchronized position of following axis and 200 for leading axis X1. ; Leading axis X1 is traversed to N20 X1=280 F1000 position 280.
Page 325 Detailed description 2.5 Generic coupling "ACN" Absolute Co-ordinate For rotary axes only! Negative The rotary axis traverses towards the synchronized position in the negative axis direction. Synchronization is effected immediately. "ACP" Absolute Coordinate For rotary axes only! Positive The rotary axis traverses to the synchronized position in the positive axis direction.
Page 326 Detailed description 2.5 Generic coupling 2.5.4.8 Behavior of the following axis at switch-on (CPFMON) The behavior of the following axis/spindle during switch-on of the coupling can be programmed with the keyword CPFMON. Programming Syntax: CPFMON[FAx]= "<block change criterion>" Identifiers: Coupling Following Mode On Functionality: Defines the behavior of the following axis/spindle during switch-on of the coupling.
Page 327 Detailed description 2.5 Generic coupling 2.5.4.9 Behavior of the following axis at switch-off (CPFMOF) The behavior of the following axis/spindle during complete switch-off of an active coupling can be programmed with the keyword CPFMOF. Programming Syntax: CPFMOF[FAx]= "<switch-off behavior>" Identifiers: Coupling Following Mode Off Functionality: Defines the behavior of the following axis/spindle during complete...
Page 328 Detailed description 2.5 Generic coupling 2.5.4.10 Position of the following axis when switching off (CPFPOS+CPOF) When switching off a coupling (CPOF) traversing to a certain position can be requested for the following axis. Programming Syntax: CPOF=(FAx) CPFPOS[FAx]= <value> Functionality: Defines the switch-off position of the following axis FAx. Value: Type: REAL Range of...
Page 329 Detailed description 2.5 Generic coupling 2.5.4.11 Condition at RESET (CPMRESET) With RESET, the coupling can be activated, deactivated or the current status can be retained. The behavior can be set separately for each coupling module. Programming Syntax: CPMRESET[FAx]= "<Reset behavior>" Identifiers: Coupling Mode RESET Functionality:...
Page 330 Detailed description 2.5 Generic coupling Example: ; On RESET the coupling to following axis X2 is deactivated and CPMRESET[X2]="DEL" then deleted. Boundary conditions • The coupling characteristics set with CPMRESET is retained until the coupling module is deleted with (CPDEL). •...
Page 331 Detailed description 2.5 Generic coupling Example: ; At parts program start, coupling to following axis X2 is CPMSTART[X2]="ON" switched on. Boundary conditions • The coupling characteristics set with CPMSTART are retained until the coupling module is deleted with (CPDEL). • If no coupling characteristics are set with CPMSTART or with set coupling type (CPSETTYPE), behavior at parts program start is determined by the following machine data: MD20112 $MN_START_MODE_MASK...
Page 332 Detailed description 2.5 Generic coupling 2.5.5 Coupling cascading Coupling cascades The coupling modules can be connected in series. The following axis/spindle of a coupling module then becomes the leading axis/spindle of another coupling module. This results in a coupling cascade. Multiple coupling cascades in series is also possible.
Page 333 Detailed description 2.5 Generic coupling 2.5.6 Compatibility 2.5.6.1 Adaptive cycles Adaptive cycles The provision of adaptive cycles as fixed component of the NCK software ensures a syntactic and functional compatibility to coupling calls of existing coupling types (coupled motion, master value coupling, electronic gearbox and synchronous spindle). This means that as long as the manufacturer/user does not need new coupling characteristics, it is not necessary to modify present coupling calls and any dependent application components (e.g.
Page 334 Detailed description 2.5 Generic coupling Memory location Adaptive cycles are stored in the directory "CST". User specific adaptive cycles If necessary (functional completion) the user can copy an adaptive cycle to the directory "CMA" or "CUS" and apply changes there. When reading adaptive cycles, the sequence CUS →...
Page 335 Detailed description 2.5 Generic coupling 2.5.6.2 Coupling types (CPSETTYPE) Coupling types If presetting of coupling types (coupled motion, master value coupling, electronic gearbox and synchronized spindle) is required, when creating the coupling module (CPON/CPLON oder CPDEF/CPLDEF), the keyword CPSETTYPE needs to be used also. Programming Syntax: CPSETTYPE[FAx]= <value>...
Page 336 Detailed description 2.5 Generic coupling Default settings Presettings of programmable coupling characteristics for various coupling types can be found in the following table: Keyword Coupled motion Master value Electronic gear Synchronous (TRAIL) coupling ( (EG) spindle LEAD) (COUP) CPDEF CPDEL CPLDEF CPLDEL CPON...
Page 337 Detailed description 2.5 Generic coupling Additional properties Value ranges or availability of additional properties of a set coupling type (CPSETTYPE) can be found in the following table: Default Coupled motion Master value Electronic gear Synchronous (CP) (TRAIL) coupling ( (EG) spindle LEAD) (COUP)
Page 338 Detailed description 2.5 Generic coupling Boundary conditions • CPSETTYPE can be programmed in synchronous actions. • If the coupling type (CPSETTYPE) is set, certain coupling characteristics are preset and cannot be changed. Subsequent change attempts with keywords cause an error and are rejected with an alarm: CPSETTYPE= TRAIL...
Page 339 Detailed description 2.5 Generic coupling CPSETTYPE= TRAIL LEAD COUP Following axis type Alarm 14092 with axis 2.5.6.3 Projected coupling (CPRES) If the coupling type "Synchronous spindle" is set, (see CPSETTYPE), the coupling properties contained in machine data can be activated instead of the programmed coupling properties. References: /FB2/ Function Manual, Extension Functions;...
Page 340 Detailed description 2.5 Generic coupling Boundary conditions • CPRES is only allowed when the coupling type "Synchronous spindle" (CPSETTYPE="COUP") is set. • Application of CPRES to an already active coupling results in a new synchronization. • Applying CPRES to an undefined coupling module does not result in any action. 2.5.7 Cross-channel coupling, axis replacement The following and leading axes must be known to the calling channel.
Page 341 Detailed description 2.5 Generic coupling Modulo reduced rotary axes as leading axes With modulo reduced rotary axes as leading axes, the input variable is not reduced during the reduction of the leading axis. The non-reduced position is still taken as the input variable, i.e.
Page 342 Detailed description 2.5 Generic coupling Figure 2-10 Example: Modulo reduced rotary axis to linear axis (...) Position indication for X, A Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 343 Detailed description 2.5 Generic coupling 2.5.9 Behavior during POWER ON, ... Power on No coupling is active at power ON. Coupling modules are not available. RESET The behavior on RESET can be set separately for each coupling module (see CPMRESET). The coupling can be activated, deactivated or the current state can be retained.
Page 344 Detailed description 2.6 Dynamic response of following axis Dynamic response of following axis 2.6.1 Parameterized dynamic limits The dynamics of the following axis is limited by the following MD values: MD32000 $MA_MAX_AX_VELO (maximum axis velocity) MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration) 2.6.2 Programmed dynamic limits 2.6.2.1...
Page 345 Detailed description 2.6 Dynamic response of following axis Programming in synchronized actions The possibility of programming VELOLIMA[FA] and ACCLIMA[FA]in synchronized actions depends on the coupling type:. Coupling type Part program Synchronized actions Tangential correction Coupled motion Master value coupling Electronic gearbox Synchronous spindle Generic coupling Synchronization between following and leading axes...
Page 346 Detailed description 2.6 Dynamic response of following axis Acceleration mode Only BRISKAis available for the following axis, i.e., abrupt axis acceleration. Acceleration modes SOFTA and DRIVEAare not available for the following axes described. Furthermore, it is also possible to configure the positions controller as a PI controller. Caution This option can only be used in conjunction with servo trace and with the appropriate technical knowledge of the control.
Page 347 Detailed description 2.6 Dynamic response of following axis 2.6.2.2 Examples Electronic gearbox Axis 4 is coupled to X via an electronic gearbox coupling. The acceleration capability of the following axis is limited to 70% of maximum acceleration. The maximum permissible velocity is limited to 50% of maximum velocity.
Page 348 Detailed description 2.7 Extended stop and retract (ESR) 2.6.2.3 System variables For geometry axis, channel axis, machine axis and spindle axis, the following readable system variables are available in the part program and synchronous actions: Identifier Data type Description Unit Preprocessing $PA_ACCLIMA[n] Acceleration offset set with ACCLIMA[Ax]...
Page 349 Detailed description 2.7 Extended stop and retract (ESR) Solution concept sources The hazard conditions in the control system are checked cyclically (malfuntion ) and linked (synchronous actions). Actions are triggered when reasons for initiating a separation of the tool and the workpiece are detected under the supplementary conditions for temporary upholding of the axis coupling in the electronic gear.
Page 350 Detailed description 2.7 Extended stop and retract (ESR) Interplay of NC-controlled reactions with ... NC-controlled reactions are triggered via channel-specific system variable $AC_ESR_TRIGGER. (not to be mistaken for NC-global system variables for drive- independent retraction $AN_ESR_TRIGGER). stop $AC_ESR_TRIGGER enables a smooth interpolatory on the path or contour.
Page 351 Detailed description 2.7 Extended stop and retract (ESR) 2.7.3 Drive-independent reactions Independent drive reactions are defined axially, that is, if activated each drive processes its stop and retract request independently. There is no interpolatory coupling of axes or coupling adhering to the path on stop or retract (only for control management). Axis reference is performed under time control.
Page 352 Detailed description 2.7 Extended stop and retract (ESR) Drive-independent stop ESR_REACTION = 12 Independent drive stop is • configured (MD37500 $MA_ESR_REACTION=12), • Enabled ($AA_ESR_ENABLE) and • started: System variable $AN_ESR_TRIGGER. Note For drive-independent reactions, the behavior can be determined individually for each axis. Example An example of how the drive-independent reaction can be used, can be found in Chapter "Examples, "ESR".
Page 353 Detailed description 2.7 Extended stop and retract (ESR) 2.7.4 NC-controlled extended stop Response The schedule for extended stop is defined by the following two machine data: MD21380 $MC_ESR_DELAY_TIME1 MD21381 $MC_ESR_DELAY_TIME2 This axis continues interpolating as programmed for the time duration set in the following machine data: MD21380 $MC_ESR_DELAY_TIME1 After the time delay specified in the following machine data has lapsed, controlled braking...
Page 354 Detailed description 2.7 Extended stop and retract (ESR) Times T1 and T2 The times T1 and T2 are parameterized via the machine data: MD21380 $MC_ESR_DELAY_TIME1. MD21381 $MC_ESR_DELAY_TIME2 The timing for NC-controlled extended stop can be taken from the figure below. Figure 2-11 Parameterizable/programmable control-driven shutdown Note...
Page 355 Detailed description 2.7 Extended stop and retract (ESR) Note A following axis of the electronic gearbox follows the leading axis during both phases of the extended stop according to the motion rule, i.e. no independent braking is possible on transition from machine data phase MD 21380 $MC_DELAY_TIME1 to machine data phase MD21381 $MC_ESR_DELAY_TIME2.
Page 356 Detailed description 2.7 Extended stop and retract (ESR) The extended retraction (i.e. LIFTFAST/LFPOS initiated through $AC_ESR_TRIGGER ) cannot be interrupted and can only be terminated prematurely via an EMERGENCY STOP. Speed and acceleration limits for the axes involved in the retraction are monitored during the retraction motion.
Page 357 Detailed description 2.7 Extended stop and retract (ESR) Reactions to stop and axis enable signals Stop characteristics for the retracting movement in response to "Axial feed stop" and "Feed disable" signals are defined with the following channel-specific machine data: MD21204 $MC_LIFTFAST_STOP_COND Bit0: Axial VDI signal feed halt DB31 DBB4.3 =0 Stop of retraction motion with axial feed halt =1 no stop of retraction motion with axial feed halt...
Page 358 Detailed description 2.7 Extended stop and retract (ESR) POLFMLIN The language command POLFMLIN([ axis name1], [axis name2], ..) allows selection of the axes that are to travel on activation of fast lift with POLF, to defined positions in linear reference. A variable parameter list can be used to select any number of axes for lift fast; however, all axes must be located in the same co-ordinate system, (i.e.
Page 359 Detailed description 2.7 Extended stop and retract (ESR) POLFMASK / POLFMLIN interactions The last data entered for a specific axis in one of the two instructions applies. For example: ; linear retraction N200 POLFLIN(X, Y, Z) ; for axes X, Y and Z activated ;...
Page 360 Detailed description 2.7 Extended stop and retract (ESR) General sources General sources (NC-external/global or mode group/channel-specific): • Digital inputs (e.g. on NCU module or terminal box) or the control-internal digital output image that can be read back ($A_IN, $A_OUT) • Channel status ($AC_STAT) •...
Page 361 Detailed description 2.7 Extended stop and retract (ESR) 2.7.7 Logic gating functions: Source and reaction linking The flexible logic operation possibilities of the static synchronized actions can be used to trigger specific reactions based on sources. Linking ofall relevant sources with the aid of static synchronous actionsis the responsibility of the user/machine manufacturer.
Page 362 Detailed description 2.7 Extended stop and retract (ESR) $AC_ESR_TRIGGER (NC-controlled) • NC controlled shutdown is activated by corresponding parameterizing of the following machine data by setting the control signal "$AC_ESR_TRIGGER": MD37500 $MA_ESR_REACTION = 22 Prerequisite: Enable. • NC controlled retraction is activated by corresponding parameterizing of the following machine data andPOLF and POLFMASK in the parts program by setting the control signal "$AC_ESR_TRIGGER": MD37500 $MA_ESR_REACTION = 21...
Page 363 Detailed description 2.7 Extended stop and retract (ESR) Figure 2-12 Voltage level of SIMODRIVE 611D DC link The drive and DC link pulses are deleted at specific voltage levels. This automatically causes the drives to coast down. If this behavior is not desired, the user can use a resistor module to divert the surplus energy.
Page 364 Detailed description 2.7 Extended stop and retract (ESR) Figure 2-13 DC link voltage monitoring SIMODRIVE 611D Communication/ control failure When the NC sign-of-life monitoring responds, a communication/control failure is detected on the drive bus and a drive-independent ESR is performed if appropriately configured. Note Measuring of the intermediate circuit voltage is activated by default, by changing the preset value from 600 V to 0 V.
Page 365 Detailed description 2.7 Extended stop and retract (ESR) 2.7.10 Generator operation/DC link backup DC link backup Temporary intermediate circuit voltage dips can be compensated for by projecting drive MD and appropriately programming the system variable $AA_ESR_ENABLE via static synchronous actions. The bridged time depends on the energy stored by the generator that is used for intermediate circuit backup, as well as on the energy requirements for maintaining the current motions (intermediate circuit backup and monitoring for generator speed limit).
Page 366 Detailed description 2.7 Extended stop and retract (ESR) When the value falls below the intermediate circuit voltage lower limit, the axis/spindle concerned switches from position or speed-controlled operation to generator operation. By braking the drive (default speed setpoint = 0), regenerative feedback to the DC link takes place.
Page 367 Detailed description 2.7 Extended stop and retract (ESR) Figure 2-15 Drive-independent stop SIMODRIVE 611D Responses The speed setpoint currently active as the error occurred will continue to be output for time period T1. This is an attempt to maintain the motion that was active before the failure, until the physical contact is annulled or the retraction movement initiated in other drives is completed.
Page 368 Detailed description 2.7 Extended stop and retract (ESR) Measuring system For the drive there is no reference to the NC geometry system. On the NC side, the unit system of the motor measuring system is only known if it is used as a position measuring system.
Page 369 Detailed description 2.7 Extended stop and retract (ESR) 2.7.13 Configuring aids for ESR Voltage failure The following hardware and software components are required: • Hardware components – SINUMERIK 840D with, e.g. NCU 573 and HMI Advanced – SIMODRIVE 611D with servo drive controls 6SN1 118-0DG... or 6SN1 118-0DH... –...
Page 370 Detailed description 2.7 Extended stop and retract (ESR) Example: C= 6000µF (see Table, 1st row) - 20% = 4800 µF =550V (MD1634) = 350V (assumption) results in: E = 1/2 * 4800µF *((550V) - (350V) ) = 432Ws This energy is available under load for a period of = E / P * η...
Page 371 Detailed description 2.7 Extended stop and retract (ESR) Energy balance When configuring emergency retraction, it is always necessary to establish an energy balance to find out whether an additional capacitor module or a generator axis/spindle (with correspondingly dimensioned centrifugal mass) is required. Stopping as energy supply Changes to rotational speed setpoints of the projected shutdown or retraction axes/spindles follow after about the third interpolation act.
Page 372 Detailed description 2.7 Extended stop and retract (ESR) Generator operation Generator operation is possible in the event that the intermediate circuit power is insufficient for safe retraction (for a period of at least 3 interpolator cycles). The mechanical power of a spindle/axis is used and the energy is optimally fed back to the DC link.
Page 373 Detailed description 2.7 Extended stop and retract (ESR) 2.7.14 Control system response POWER OFF/POWER ON If the retraction logic is stored in motion synchronous actions, it is not yet active on POWER ON. Static synchronous actions that are required to be active immediately after POWER ON must be activated within an ASUB started by the PLC.
Page 374 Detailed description 2.7 Extended stop and retract (ESR) Alarm behavior • Errors in an axis outside the EG axis grouping: This axis switches off "normally". Stop and retract continue "undisturbed" or are triggered by this type of error. • Error in a leading axis (LA): selective switchover to actual value linkage already during stop, otherwise as previously.
Page 375 Detailed description 2.7 Extended stop and retract (ESR) 2.7.15 Boundary conditions Operational performance of the components The "drives, motors, transmitters" axis/spindle components participating in "Extended stop and retract" must be operational. If one of these components fails, the full scope of the described reaction no longer applies.
Page 376 Detailed description 2.7 Extended stop and retract (ESR) Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 377 Boundary conditions Coupled motion Control system dynamics It is recommended to align the position control parameters of the leading axis and the coupled motion axis within a coupled axis group. Note Alignment of the position control parameters of the leading axis and the coupled motion axis can be performed via a parameter set changeover.
Page 378 Boundary conditions 3.2 Curve tables Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 379 Examples Coupled motion Application Example: Two-sided machining Example 1 Example of an NC part program for the axis constellation shown in Fig.: ; Activation of 1st coupled axis group TRAILON(V,Y,1) ; Activation of 2nd coupled axis group TRAILON(W,Z,-1) ; Infeed Z and W axes in opposite axial directions G0 Z10 ;...
Page 380 Examples 4.1 Coupled motion Example 2 The dependent and independent movement components of a coupled motion axis are added together for the coupled motion. The dependent component can be regarded as a co- ordinate offset with reference to the coupled motion axis. N01 G90 G0 X100 U100 ;...
Page 381 Examples 4.2 Curve tables Curve tables Definition of a curve table with linear sets %_N_TAB_1_NOTPERI_MPF ;$PATH=/_N_WKS_DIR/_N_KURVENTABELLEN_WPD ; Def.TAB1 0-100mm Kue1/1 notperio. ; FA=Y LA=X Curve No..=1 Not N10 CTABDEF(YGEO,XGEO,1,0) period. ; Start values N1000 XGEO=0 YGEO=0 N1010 XGEO=100 YGEO=100 CTABEND Definition of a curve table with polynomial sets %_N_TAB_1_NOTPERI_MPF ;$PATH=/_N_WKS_DIR/_N_KURVENTABELLEN_WPD...
Page 382 Examples 4.2 Curve tables Definition of a periodic curve table Table No: 2 Master value range: 0 - 360 The following axis traverses from N70 to N90, a movement from 0 to 45 and back to 0. N10 DEF REAL DEPPOS N20 DEF REAL GRADIENT N30 CTABDEF(Y,X,2,1) N40 G1 X=0 Y=0...
Page 383 Examples 4.3 Electronic gear for gear hobbing Electronic gear for gear hobbing 4.3.1 Example of linear couplings Use of axes The following diagram shows the configuration of a typical gear hobbing machine. The machine comprises five numerically closed loop controlled axes and an open loop controlled main spindle.
Page 384 Examples 4.3 Electronic gear for gear hobbing In this case, the workpiece table axis (C) is the following axis which is influenced by three master drives. The setpoint of the following axis is calculated cyclically with the following logic equation: * (z ) + v * (u...
Page 385 Examples 4.3 Electronic gear for gear hobbing Workpiece/tool parameter The values z and u are workpiece or tool dependent and are specified by the NC operator or the parts program. Differential constants Differential constants u and u make allowance for the angle of workpiece teeth and for cutter geometry.
Page 386 Examples 4.3 Electronic gear for gear hobbing Figure 4-2 Extended example with non-linear machine fault compensation and non-linear components on the tooth geometry Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 387 Examples 4.3 Electronic gear for gear hobbing The following section of a part program is intended to illustrate the general concept; supplementary curve tables and gear wheel/machine parameters are still to be added. Components to be added are marked with <...> . Stated parameters may also have to be modified, e.g.
Page 388 Examples 4.3 Electronic gear for gear hobbing Z, <SynPosC99_Z>, ; Switch-on of leading axis Z 10, 1) ; "&" character means: command continued in next line, no LF nor comment permissible in program ; 2nd gear stage EGDEF(C, C99, 1, Z, 1) ;...
Page 389 Examples 4.3 Electronic gear for gear hobbing System variables In accordance with the above definitions, the following values are entered in the associated system variables by the control. Options of access to these system variables are described in SW 7.1 and higher: References: /PGA1/, List Manual, System Variables The system variables listed below are only used for explanatory purposes!
Page 390 Examples 4.3 Electronic gear for gear hobbing $AA_EG_TYPE[C99, Z] = 1 ; Setpoint value coupling $AA_EG_NUMERA[C99, Z] = R1 * π ; numerator for coupling factor $AA_EG_DENOM[C99, Z] = 1 ; denominator for coupling factor $AA_EG_TYPE[C99, B] = 1 ; Setpoint value coupling $AA_EG_NUMERA[C99, B] = 10 ;...
Page 391 Examples 4.3 Electronic gear for gear hobbing Machine data Extract from MD: ; ************** Channel 1 CHANDATA(1) ; ************** Axis 1, "X" $MC_AXCONF_GEOAX_NAME_TAB[0] = "X" $MC_AXCONF_CHANAX_NAME_TAB[0] = "X" $MC_AXCONF_MACHAX_USED[0]=1 $MN_AXCONF_MACHAX_NAME_TAB[0] = "X1" $MA_SPIND_ASSIGN_TO_MACHAX[AX1] = 0 $MA_IS_ROT_AX[AX1] = FALSE ; *************** Axis 2, "Y" $MC_AXCONF_GEOAX_NAME_TAB[1]="Y"...
Page 392 Examples 4.3 Electronic gear for gear hobbing $MN_AXCONF_MACHAX_NAME_TAB[4] = "B1" $MA_SPIND_ASSIGN_TO_MACHAX[AX5] = 1 $MA_IS_ROT_AX[AX5] = TRUE $MA_ROT_IS_MODULO[AX5] = TRUE ; ************** Axis 6, "C" $MC_AXCONF_CHANAX_NAME_TAB[5] = "C" $MC_AXCONF_MACHAX_USED[5]=6 $MN_AXCONF_MACHAX_NAME_TAB[5] = "C1" $MA_SPIND_ASSIGN_TO_MACHAX[AX6] = 0 $MA_IS_ROT_AX[AX6] = TRUE $MA_ROT_IS_MODULO[AX6] = TRUE ;...
Page 393 Examples 4.4 Generic coupling Generic coupling 4.4.1 Programming examples Direct switch on/off with one leading axis A coupling module is created and activated with following axis X2 and leading axis X1. The coupling factor is 2. CPON=(X2) CPLA[X2]=(X1) CPLNUM[X2,X1]=2 ; The coupling is deactivated and the created coupling CPOF=(X2) module is deleted with CPOF.
Page 394 Examples 4.4 Generic coupling Selective switch-on/off with three leading axes A coupling module is created and activated with following axis X2 and leading axes X1, Z and A. N10 CPDEF=(X2) CPLA[X2]=(X1) CPLA[X2]=(Z) CPLA[X2]=(A) ; All leading axes become active, i.e. all N20 CPON=(X2) contribute a position component according to the coupling rule (coupling component) to axis...
Page 395 Examples 4.4 Generic coupling 4.4.2 Adapt adaptive cycle Target Coupled motion in the machine co-ordinate system must be possible with the existing coupling command TRAILON. The adaptive cycle for TRAILON is supplemented with the coupling characteristic "Co-ordinate reference" (CPFRS). Procedure 1.
Page 396 Examples 4.5 ESR 4.5.1 Use of drive-independent reaction Example configuration • Axis A (spindle) is to operate as generator drive, • in the event of an error, axis X must retract by 10 mm at maximum speed, and • axes Y and Z must stop after a 100 ms delay to give the retraction axis time to cancel the mechanical coupling.
Page 397 Examples 4.5 ESR 6. Formulate trigger condition as static synchronous action(s), e.g.: – dependent on intervention of generator axis: IDS=01 WHENEVER $AA_ESR_STAT[A]>0 DO $AN_ESR_TRIGGER=1 – and/or dependent on alarms that trigger follow-up mode (bit13=2000H): IDS=02 WHENEVER ($AC_ALARM_STAT B_AND 'H2000')>0 DO $AN_ESR_TRIGGER=1 –...
Page 398 Examples 4.5 ESR Parameterization Parameterization or programming required for the example: $MC_ASUP_START_MASK = 7 ; MD11602 ; Function assignment $MA_ESR_REACTION[X]=21 ; MD37500 $MA_ESR_REACTION[Y]=22 $MA_ESR_REACTION[Z]=22 $MA_ESR_REACTION[A]=10 ; Drive configuration for drive independent reactions $MD_RETRACT_SPEED[X]=400000H ; MD1639, ; maximum speed $MD_RETRACT_TIME[X]=10 ; MD1638, ms/maximum emergency retraction time. $MD_GEN_STOP_DELAY[Y]=100 ;...
Page 399 Examples 4.5 ESR Synchronized actions Formulate trigger condition as static synchronous action(s), e.g.: ; dependent on intervention of generator axis: IDS=01 WHENEVER $AA_ESR_STAT[A]>0 DO $AC_ESR_TRIGGER=1 ; and/or dependent on alarms that trigger tracking mode ; activate (Bit13=2000H): IDS=02 WHENEVER ($AC_ALARM_STAT B_AND 'H2000')>0 DO $AC_ESR_TRIGGER=1 ;...
Page 400 Examples 4.5 ESR 4.5.4 Lift fast via a fast input with ASUB Activating Activation via a fast input with ASUB SETINT (1) PRIO=1 ABHEB_Y LIFTFAST ; ASUP activation by fast lift ; with fast entry 1 ; select retraction mode LFPOS ;...
Page 401 Examples 4.5 ESR 4.5.5 Lift fast with several axes Parameterization with several axes and incremental programming $AA_ESR_ENABLE[X1]=1 Activation by ESR $AA_ESR_ENABLE[Z]=1 $AA_ESR_ENABLE[A1]=1 ; select lift-off mode for fast lift-off LFPOS ; program lift-off position for machine axis X1 and POLF[X1]=IC(3.0) POLF[A1]=-4.0 ;...
Page 402 Examples 4.5 ESR 4.5.6 Lift fast with linear relation of axes Retraction in linear relation Example for an activation via a fast input with ASUB: $AA_ESR_ENABLE[X] = 1 Activation by ESR $AA_ESR_ENABLE[Y]=1 $AA_ESR_ENABLE[Z]=1 ; select retraction mode LFPOS ; retraction position for X and Y POLF[X]=19.5 POLF[Y]=33.3 ;...
Page 403 Examples 4.5 ESR Retraction in linear relation and independent Example for parameterization with several axes and incremental programming: $AA_ESR_ENABLE[X1]=1 Activation by ESR $AA_ESR_ENABLE[Y]=1 $AA_ESR_ENABLE[A1]=1) ; select retraction mode LFPOS Lift-off position for POLF[X]=IC(3.0) POLF[A1]=-4.0 ; axis X and A1 ; programming retraction position for Z POLF[Y]=100 X0 Y0 A0 G0 POLFMLIN(X, Y)
Page 404 Examples 4.5 ESR Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 405 Data lists Machine data 5.1.1 NC-specific machine data Number Identifier: $MN_ Description 11410 SUPPRESS_ALARM_MASK Mask for supporting special alarm outputs 11660 NUM_EG Number of possible electronic gears 11750 NCK_LEAD_FUNCTION_MASK Functions for master value coupling 11752 NCK_TRAIL_FUNCTION_MASK couple motion functions 18400 MM_NUM_CURVE_TABS Number of curve tables (SRAM) 18402...
Page 406 Data lists 5.1 Machine data 5.1.2 Channelspecific machine data Number Identifier: $MC_ Description 20110 RESET_MODE_MASK Definition of control basic setting after run-up and RESET/part program end 20112 START_MODE_MASK Definition of control basic setting after run-up and RESET 20900 CTAB_ENABLE_NO_LEADMOTION Curve tables with jump of following axis 20905 CTAB_DEFAULT_MEMORY_TYPE Default memory type for curve tables...
Page 407 Data lists 5.2 Setting data Setting data 5.2.1 Channelspecific setting data Number Identifier: $SC_ Description 43100 LEAD_TYPE Definition of master value type 43102 LEAD_OFFSET_IN_POS Master value offset 43104 LEAD_SCALE_IN_POS Master value scaling 43106 LEAD_OFFSET_OUT_POS Curve table offset 43108 LEAD_SCALE_OUT_POS Curve table scaling System variables Electronic gear (EG) and master value coupling Identifier...
Page 408 Data lists 5.3 System variables Generic coupling Identifier Description $AA_ACCLIMA Main run acceleration correction set with ACCLIMA $AA_COUP_ACT Coupling type of a following axis/spindle $AA_COUP_CORR Compensation value for synchronous spindle coupling $AA_COUP_OFFS Setpoint position offset $AA_CPACTFA Name of active following axis $AA_CPACTLA Name of active leading axis $AA_CPBC...
Page 409 Data lists 5.3 System variables Identifier Description $AA_JERKLIMA Main run jerk correction set with JERKLIMA $AA_LEAD_SP Simulated master value - position with LEAD $AA_LEAD_SV Simulated master value - speed with LEAD $AA_LEAD_P_TURN Current leading value - position component lost as a result of modulo reduction. $AA_LEAD_P Current leading value - position (modulo reduced) $AA_LEAD_V...
Page 410 Data lists 5.4 Signals Extended stop and retract (ESR) Identifier Description $A_DBB Read/write data byte (8 bits) from/to PLC $A_IN Digital input NC $A_OUT Digital output NC $AA_ESR_ENABLE[axis] 1 = (axial) enable of reaction(s) of "Extended stop and retract" $AA_ESR_STAT[axis] (axial) status feedback signals from "Extended stop and retract"...
Page 411 Data lists 5.4 Signals 5.4.2 Signals from axis/spindle DB number Byte.bit name 31, ... 83.1 Limiting of differential speed 31, ... 83.5 Spindle in setpoint range, differential speed 31, ... 83.6 Speed limit exceeded, total speed 31, ... 83.7 Actual direction of rotation clockwise, total speed 31, ...
Page 412 Data lists 5.4 Signals Special functions: Axis Couplings and ESR (M3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 413 Index Distance-to-go, 20 Dynamics limit, 24 Interface signals, 22 Programming, 21 $AA_COUP_ACT, 23, 24 Switch ON/OFF, 19 Coupled motion axis as leading axis, 18 coupling Switch off, 84 18400, 8 Coupling factor, 87 18402, 9 Counter, 88 18403, 9 Denominator, 88 18404, 9 Coupling module, 75 18406, 9...
Page 414 Index CPSETTYPE, 104 DBX99.0, 23 Curve segment, 25 DBX99.1, 23 Curve tables, 8, 89 DBX99.3, 62 Activation, 39 DBX99.4, 60, 61 Behavior in operating modes, 41 DB31, ... DBX1.4, 23 Deactivation, 40 DC Link Delete, 27 Backup, 136 Insufficient memory, 26 Energy balance, 137 Interface signals, 41 DC link backup, 131...
Page 415 Index MD1635 $MD_GEN_AXIS_MIN_SPEED, 133 MD1637, 158, 159 Hardware requirements, 14 MD1637 $MD_GEN_STOP_DELAY, 133 MD1638, 158, 159 MD1638 $MD_RETRACT_TIME, 134 MD1639, 158, 159 Independent coupled motion axis, 18 MD1639 $MD_RETRACT_SPEED, 134 Interface to axis exchange, 49 MD18400, 27 Interpolation, 55 MD18402, 27 Introduction, 45 MD18403, 28 MD18404, 28...
Page 416 Index Generic coupling, 14 SD43106, 47 Modulo leading axis, 41 SD43108, 47 Spindles in master value coupling, 49 Starting value, 35 Status of coupling, 24, 55 Stop and retract, 116 NC-controlled extended stop, 120 Stopping, 14 NC-controlled retraction, 122 Synchronization, 113 Following axis, 10 Synchronization difference, 60 Synchronization mode, 96...
Page 417 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Setpoint Exchange (S9) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 418 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 419 Table of contents Brief description ............................5 Detailed description ........................... 7 Function ............................7 Interface signals...........................10 Interrupts ............................12 Position control loop........................12 Reference points..........................12 Differences in comparison with the technology card ..............13 Restrictions.............................. 15 Examples..............................17 Data lists..............................19 Machine data..........................19 5.1.1 Axis/spindlespecific machine data ....................19 Index...............................Index-21 Special functions: Setpoint Exchange (S9)
Page 420 Table of contents Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 421 Brief description Function The "Setpoint exchange" function is used in applications in which the same motor is used to traverse different machine axes. Operating conditions The function described below replaces the "Setpoint exchange" technology card function (TE5) for systems with NCK SW ≧ 7.1. An option is required for the function.
Page 422 Brief description Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 423 Detailed description Function The "setpoint exchange" function is required in applications in which a single motor needs to drive a number of axes/spindles such as, for example, on milling machines with special millheads. The spindle motor is operated as both a tool drive and a millhead orienting mechanism.
Page 424 Detailed description 2.1 Function Configuration Setpoint exchange enables a number of axes to use the same drive. The same setpoint channel on this drive is assigned a number of times to define the axes participating in setpoint exchange. For this, the following machine data must be pre-assigned with the same logical drive number for every axis: MD30110 $MA_CTRLOUT_MODULE_NR (setpoint assignment: module number) Note...
Page 425 Detailed description 2.1 Function Activating The setpoint is exchanged and the corresponding interface signals are evaluated in the PLC user program. Note An existing PLC user program may need to be modified due to changes in the meaning of interface signals in comparison with the technology card solution. Only one of the machine axes with the appropriate logical drive number may have control via the setpoint channel of the drive at any one time.
Page 426 Detailed description 2.2 Interface signals Interface signals Axisspecific signals Despite assignment of an individual drive to several axes, the use NC/PLC interface signals remains unchanged. This requires explicit access coordination in the PLC user program. As the same drive is being used, the same status signals from DB31, ... DBB92-95 are displayed in all axes involved in the exchange.
Page 427 Detailed description 2.2 Interface signals Figure 2-4 PLC-controlled sequence of a setpoint exchange between AX1 → AX2 Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 428 Detailed description 2.3 Interrupts Interrupts Drive alarms are only displayed for axes with drive control Position control loop During setpoint exchange, the drive train and therefore the position control loop are isolated. In order to avoid instabilities, exchange only takes place at standstill and once all servo enables have been deleted.
Page 429 Detailed description 2.6 Differences in comparison with the technology card Figure 2-5 Setpoint exchange in conjunction with single-encoder safety integrated system Differences in comparison with the technology card The setpoint exchange implemented in NCK SW 7.1 and higher differs from the compile cycles solution described in TE5 as follows.
Page 430 Detailed description 2.6 Differences in comparison with the technology card Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 431 Restrictions Availability Setpoint exchange is available in SW 7.1 and higher. MD30100 Setpoint exchange is only possible in conjunction with 611D and PROFIBUS drives with: MD30100 $MA_CTRLOUT_SEGMENT_NR=1. 5 or 6. All other settings generate alarm 26018. "Parking" operating status The "parking" operating state can only be exited using the axis with the drive checking function.
Page 432 Restrictions Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 433 Examples No examples are available. Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 434 Examples Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 435 Data lists Machine data 5.1.1 Axis/spindlespecific machine data Number Identifier: $MA_ Description 30130 CTRLOUT_TYPE Output type of setpoint 30200 NUM_ENCS Number of encoders 30220 ENC_MODULE_NR Actual-value assignment: Drive number / measurement circuit number 30230 ENC_INPUT_NR Actual-value assignment: Input on drive module/measuring circuit module Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 436 Data lists 5.1 Machine data Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 437 Index MD30110, 8 MD30230, 8 MD30100, 15 Special functions: Setpoint Exchange (S9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 438 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Tangential Control (T3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 439 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 440 Table of contents Brief description ............................5 Detailed description ........................... 7 Characteristics of tangential follow-up control ................7 Using tangential follow-up control ....................9 2.2.1 Assignment between leading axes and following axis..............10 2.2.2 Activation of follow-up control ......................11 2.2.3 Switching on corner response......................12 2.2.4 Termination of follow-up control....................12 2.2.5...
Page 441 Table of contents Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 442 Brief description Tangential control The tangential control function belongs to the category of NC functions with coupled axes. It is characterized by the following features: • There are two leading axes which are moved independently by means of normal traversing instructions (leading axes). In addition there is a following axis whose position is determined as a function of the status of these leading axes (position, tangent).
Page 443 Brief description Canceling of follow-up grouping The definition of a follow-up grouping can be canceled in order to track new leading axes with the following axis. Applications The tangential control function can be used for example for the following applications: •...
Page 444 Detailed description Characteristics of tangential follow-up control Task specification Follow-up control for the rotary axis must be implemented so that the axis is always positioned at a specified angle on the programmed path of the two leading axes. Figure 2-1 Tangential control, offset angle of zero degrees to path tangent In the diagram, X and Y are the leading axes in which the path is programmed;...
Page 445 Detailed description 2.1 Characteristics of tangential follow-up control Response on follow-up A difference must made between the following cases: • Without intermediate block (TLIFT) The path velocity of the leading axes is reduced to such an extent that the following axis reaches its target position synchronously with the other axes.
Page 446 Detailed description 2.2 Using tangential follow-up control Using tangential follow-up control Activating The following axis can only be aligned if: • The assignment between the leading and following axes is declared to the system (TANG) • Follow-up control is activated explicitly (TANGON) •...
Page 447 Detailed description 2.2 Using tangential follow-up control Cross-channel block search The cross-channel block search in Program Test mode (SERUPRO "Serch-Run by Program test") can be used to stimulate tangential follow-up axes. More information on cross-channel block search SERUPRO: References: /FB1/Function Manual, Basic Functions; Mode Group, Channel, Program Operation, (K1), Section: Program test 2.2.1 Assignment between leading axes and following axis...
Page 448 Detailed description 2.2 Using tangential follow-up control 2.2.2 Activation of follow-up control Programming The programming is carried out using the pre-defined sub-program TANGON. When the tangential control is activated, the name of the following axis which must be made to follow is transferred to the control.
Page 449 Detailed description 2.2 Using tangential follow-up control 2.2.3 Switching on corner response After axis assignment with TANG(), the TLIFT() instruction must be written if the corner response is to be contained in an intermediate block. TLIFT (C) The control reads the following machine data for the tangential following axis C: MD37400 $MA_EPS_TLIFT_TANG_STEP (Tangent angle for corner recognition) If the tangential angle jump exceeds the angle (absolute value) of the angle set in the MD, the control recognizes a "corner"...
Page 450 Detailed description 2.2 Using tangential follow-up control Note The assignment between 2 master axes and a slave axis programmed with TANG( ... ) is not canceled by TANGOF. Refer to section "Canceling the definition of a follow-up axis assignment". 2.2.5 Switching off intermediate block generation In order to stop generating the intermediate block at corners during program execution with active tangential follow-up control, the TANG() block must be repeated without following...
Page 451 Detailed description 2.2 Using tangential follow-up control Example for geometry axis switchover If the definition of the follow-up axis assignment is not canceled, an attempt to execute a geometry axis switchover is suppressed and an alarm is output. N10 GEOAX(2,Y1) N20 TANG(A, X, Y) N30 TANGON(A, 90) N40 G2 F8000 X0 Y0 I0 J50...
Page 452 Detailed description 2.3 Limit angle Limit angle Description of problem When the axis moves backwards and forwards along the path, the tangent turns abruptly through 180 degrees at the path reversal point. This response is not generally desirable for this type of machining operation (e.g. grinding of a contour). It is far better for the reverse motion to be executed at the same offset angle (negative) as the forward motion.
Page 453 Detailed description 2.3 Limit angle Activation If the current offset angle is outside the active working area limit for the following axis, an attempt is made to return to within the permissible working area by means of the negative offset angle. This response corresponds to that shown in the lower diagram of the above Fig. Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 454 Restrictions Availability The "Tangential control" function is an option and available for • SINUMERIK 840D mit NCU 572/573 The special response at path corners, controlled by TLIFT () is available. Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 455 Restrictions Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 456 Examples Positioning of workpiece Figure 4-1 Tangential positioning of a workpiece on a bandsaw Positioning of tool Figure 4-2 Positioning of a dressing tool on a grinding wheel Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 457 Examples Example Corner in area TANG(A,X,Y,1.0,"B") TLIFT(A) G1 G641 X0 Y0 Z0 A0 TANGON(A,0) N4 X10 N5 Z10 N6 Y10 Here, a corner is hidden in the area between N4 and N6. N6 causes a tangent jump. That is why there is no rounding between N5 and N6 and an intermediate block is inserted. In the case of a hidden corner in area, an intermediate block is inserted before the block that has caused the tangent jump.
Page 458 Data lists Machine data 5.1.1 Axis/spindlespecific machine data Number Identifier: $MA_ Description 37400 EPS_TLIFT_TANG_STEP Tangential angle for corner recognition 37402 TANG_OFFSET Default angle for tangential follow-up control System variables Identifier Description $AC_TLIFT_BLOCK Current block is an intermediate block generated by TLIFT Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 459 Data lists 5.2 System variables Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 460 Index Corner, 5 MD37400, 5, 11 Corner in area, 18 MD37402, 10 Intermediate block, 5 Tangential control, 5 Applications, 5 TANGON, 11 Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 461 Index Special functions: Tangential Control (T3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 462: Installation And Activation Of
840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Installation and Activation of Loadable Compile Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 463 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 464 Table of contents Brief description ............................5 Brief description (840Di) ........................5 Brief description (840Di) ........................7 Detailed description ........................... 9 Loadable compile cycles 840D/840D sl..................9 2.1.1 Loading a compile cycle with HMI Advanced ................10 2.1.2 Loading a compile cycle with HMI Embedded ................11 2.1.3 Loading a compile cycle from an external computer with WinSCP3 ...........12 2.1.4...
Page 465 Table of contents Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 466 This section describes how technology functions are installed and activated in the form of loadable compile cycles. The description applies to all of the following technology functions available from Siemens: • 1D/3D clearance control in position control cycle Order no.: 6FC5 251-0AC05-0AA0 Compile cycle: CCCLC.ELF...
Page 467 Brief description 1.1 Brief description (840Di) as well as to user-specific technology functions. The following technology functions are not available in the form of compile cycles: • Analog axis The compile cycle is now available as a hardware solution. • Speed/torque coupling The compile cycle is a generally-available function from SW 6.4 and higher.
Page 468 Brief description 1.2 Brief description (840Di) Brief description (840Di) The description of how to load and activate compile cycles in conjunction with the SINUMERIK 840Di can be found in: References: /HBI/ SINUMERIK 840Di Manual; NC Startup with HMI Advanced, "Loadable Compile Cycles" section Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 469 Brief description 1.2 Brief description (840Di) Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 470 Compile cycles are functional expansions of the NCK system software that can be created by the machine manufacturer and/or by Siemens and then imported in the control later. As part of the open NCK system architecture, compile cycles have comprehensive access to data and functions of the NCK system level via defined software interfaces.
Page 471 (extension .ELF for executable and linking format), please contact your regional Siemens sales partner. Note Compile cycles created by Siemens are options that require explicit activation and licensing. References: Ordering information in Catalog NC 60/61 2.1.1 Loading a compile cycle with HMI Advanced...
Page 472 Detailed description 2.1 Loadable compile cycles 840D/840D sl 2.1.2 Loading a compile cycle with HMI Embedded Requirement To transfer the compile cycle to the control, the following requirements must be met: A storage medium (e.g. USB FlashDrive), which stores the compile cycle, is connected to the PCU.
Page 473 Detailed description 2.1 Loadable compile cycles 840D/840D sl 2.1.3 Loading a compile cycle from an external computer with WinSCP3 Requirement To transfer the compile cycle to the control, the following requirements must be met: • The external computer (programming device/PC) which the compile cycle is loaded onto is linked to the PCU via a network (TCP/IP).
Page 474 Detailed description 2.1 Loadable compile cycles 840D/840D sl Interface version Each interface version is displayed under: • Interface version of the NCK system software HMI Advanced: Diagnosis > Service Display > Version > NCU Version Display (excerpt) ------------------------------------------- CC Interface Version: 1st digit 2nd digit @NCKOPI .
Page 475 Detailed description 2.1 Loadable compile cycles 840D/840D sl Dependencies The following dependencies exist between the interface versions of a compile cycle and the NCK system software: • 1st digit of the interface version number The 1st digit of the interface version number of a compile cycle and the NCK system software must be the same .
Page 476 Detailed description 2.1 Loadable compile cycles 840D/840D sl 2.1.6 Activating the technological functions in the NCK Option The corresponding option must be enable before activating a technology function as described below. If the option data has not been set, the following alarm appears every time the NCK boots and the technology function will not be activated: Bit number Alarm 7202 "XXX_ELF_option_bit_missing: <...
Page 477 The following alarms should be added to the alarm texts of the technology functions: 075999 0 0 "Channel %1 Sentence %2 Call parameter is invalid" Proceed as follows 1. Please copy the "oem_alarms_deu.ts" file from the "/siemens/sinumerik/hmi/lng" directory to the "/oem/sinumerik/hmi/lng" directory. 2. Rename the file ("xxx_deu.ts").
Page 478 9. Restart HMI sl. Further information about creating alarm text files with HMI sl can be taken from: Literature: /IAM/ SINUMERIK 840D sl Commissioning Manual; Chapter: Configuring user alarm texts 2.1.8.2 Creating alarm texts with HMI Advanced The following alarms should be added to the alarm texts of the technology functions: 075999 0 0 "Channel %1 Sentence %2 Call parameter is invalid"...
Page 479 4. Restart HMI Embedded. For more information about creating alarm texts with HMI Embedded, please refer to: Literature: /IAM/ SINUMERIK 840D sl/840Di sl/840D/840Di/810D Commissioning CNC Part 2 (HMI); Commissioning HMI Embedded (IM2), Chapter: Creating In-House Texts Concept for 840Di/840Di sl...
Page 480 Boundary conditions Transition to newer NCK versions (840D) In order to be able to use technology functions from an existing archive in conjunction with newer NCK versions (NCK 06.03.23 and later), the archive must first be updated before being loaded in the NC. Requirements The following requirements must be met in order to update an archive: •...
Page 481 Boundary conditions 3.1 Transition to newer NCK versions (840D) 3.1.1 Create backup archive Standard Creating an archive to backup user data as a default action is described in: References: /IAD/ Startup Manual 840D/SIMODRIVE 611D: "Data Backup" section Optimized Data backup with optimization of the static NC memory usage is only necessary if an archive for an NCK Version 6.3.xx is being used and the static NC memory usage needs to be optimized.
Page 482 Boundary conditions 3.1 Transition to newer NCK versions (840D) 3.1.3 Loading compile cycles See sections: "Loading a compile cycle with HMI Advanced" "Loading a compile cycle with HMI Embedded" "Loading a compile cycle from an external computer with WinSCP3" 3.1.4 NCU RESET When the NCK is rebooted after an NCU reset, the compile cycles are loaded onto the NCK system software.
Page 483 Boundary conditions 3.1 Transition to newer NCK versions (840D) 3.1.7 Convert archive The archive created in the standard procedure or together with optimization of the static NC memory usage (see "Create backup archive" section) has to be converted. The arc4elf.exe program is required for this purpose (available from E-Support).
Page 484 Examples No examples are available. Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 485 Examples Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 486 Data lists Machine data 5.1.1 NC-specific machine data Number Identifier: $MN_ Description 60900 + i CC_ACTIV_IN_CHAN_XXXX[n] n = 0: Activating the technology function in NC channels with: with: i = 0, 1, XXXX = function code n = 1: 2, 3, ... n = 0 or 1 Additional functions within the technology function Special functions: Installation and Activation of Loadable Compile Cycles (TE01)
Page 487 Data lists 5.1 Machine data Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 488 Index Alarm texts, 15 Interface versions, 11 Compile cycle SW version, 13 Interface versions, 11 Loading from an external computer, 11 Loading with HMI Advanced, 10 Loading with HMI Embedded, 10 Technology functions, activation, 14 Software version, 13 SW version, 13 Compile cycles, loadable, 9 Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 489 Index Special functions: Installation and Activation of Loadable Compile Cycles (TE01) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 490 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Simulation of Compile Cycles (TE02) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 491 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 492 Table of contents Brief description ............................5 Function ............................5 Requirements..........................5 Detailed description ........................... 7 OEM transformations ........................7 Boundary conditions ..........................9 Examples..............................11 Data lists..............................13 Index...............................Index-15 Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 493 Table of contents Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 494 Brief description Function If part programs, which use compile cycles, are simulated on the SINUMERIK user interface (e.g. HMI Advanced) simulation is aborted and corresponding error messages are issued. The reason is that compile cycle support has not yet been implemented on the HMI. The measures described below show how to set up the simulation runtime environment to enable the simulation of part programs, which use compile cycles, without error messages.
Page 495 Brief description 1.2 Requirements Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 496 Detailed description OEM transformations When using OEM transformations, the simulation runtime environment has to be set. Proceed as follows installation path 1. Create a new directory: "< >/OEM" in addition to the standard directory: installation path "< >/MMC2" in the directory structure of the HMI application on the computer on which the HMI application (e.g.
Page 497 Detailed description 2.1 OEM transformations 3. In the "OEM" directory, create the file "DPSIM.INI" with the following contents: [PRELOAD] CYCLES=1 CYCLEINTERFACE=0 4. Close the HMI application. 5. Launch the HMI application. 6. In the directory for the manufacturer cycles, create the file "TRAORI.SPF" with the following contents: PROC TRAORI(INT II) 7.
Page 498 Boundary conditions No boundary conditions apply. Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 499 Boundary conditions Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 500 Examples No examples are available. Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 501 Examples Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 502 Data lists No signals or machine data are required for this function. Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 503 Data lists Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 504 Index OEM transformations Requirements, 5 Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 505 Index Special functions: Simulation of Compile Cycles (TE02) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 506 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Clearance Control (TE1) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 507 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 508 Table of contents Brief description ............................5 Detailed description ........................... 7 Function description........................7 Clearance control.........................10 2.2.1 Control dynamics .........................10 2.2.2 Velocity feedforward control......................12 2.2.3 Control loop structure........................14 2.2.4 Compensation vector ........................15 Technological features of clearance control ................18 Sensor collision monitoring ......................19 Startup............................20 2.5.1 Activating the technological function....................20...
Page 509 Table of contents Data lists..............................55 Machine data..........................55 5.1.1 Drive-specific machine data (840D).................... 55 5.1.2 Drive-specific machine data (840Di) ................... 55 5.1.3 NC-specific machine data ......................55 5.1.4 Channelspecific machine data ....................56 5.1.5 Axis/spindlespecific machine data ....................57 Signals............................
Page 510 Brief description Function Description The "clearance control" technological function is used to maintain a one-dimensional (1D) or three-dimensional (3D) clearance required for technological reasons during a defined machining process. The clearance to be maintained may be e.g. the distance of a tool from the workpiece surface to be machined.
Page 511 Brief description Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 512 Detailed description Function description Laser cutting technology is used as an example for the detailed description of the "clearance control" functionality . Laser cutting During laser cutting, a divergent parallel laser beam is directed across a fiber-optic cable or via a mirror to a light-collecting lens mounted on the laser machining head. The collecting lens focuses the laser beam at its focal point.
Page 513 Detailed description 2.1 Function description Figure 2-1 System components for clearance control with SINUMERIK 840D System overview (840Di) An overview of the system components required for clearance control in conjunction with SINUMERIK 840Di is provided in the following diagram. Figure 2-2 System components for clearance control with SINUMERIK 840Di Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 514 Detailed description 2.1 Function description 1D/ 3D machining Clearance control can be used for 1D and 3D machining with up to five interpolatory axes. • 1D machining In the case of 1D machining, clearance control is only applied to one axis, e.g. axis Z, as shown in the example machine configuration in the system overview for each SINUMERIK system (see "System components for clearance control with SINUMERIK 840D"...
Page 515 Detailed description 2.2 Clearance control Clearance control 2.2.1 Control dynamics Closed-loop control gain Kv The dynamic response of the closed control loop (sensor - open-loop control - axis) is determined by the maximum closed-loop control gain Kv. The closed-loop control gain Kv is defined as: Clearance control characteristics Clearance control is based on the two characteristics shown in the following diagram: •...
Page 516 Detailed description 2.2 Clearance control • The clearance sensor measures the actual distance from the workpiece surface and returns as its output variable a voltage in [V], which is almost directly proportional to the distance. • The clearance control function uses the parameterized voltage/velocity characteristic from the voltage provided by the clearance sensor to calculate a compensatory velocity for the clearance-controlled axes that is appropriate for the clearance.
Page 517 Detailed description 2.2 Clearance control (840Di) SINUMERIK 840Di with I/O modules and drives connected via PROFIBUS-DP produces a deadtime T dead = 2 * position controller cycle + 2 * speed controller cycle + conversion time + channel dead cycle time + 2 * "PROFIBUS-DP cycle" + To •...
Page 518 Detailed description 2.2 Clearance control Optimizing the control response If the control response of the axis is too rigid due to the velocity feedforward control, the control response can be optimized with the following axis-specific NC machine data: • MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter). •...
Page 519 Detailed description 2.2 Clearance control 2.2.3 Control loop structure The figures below provide an overview of how the clearance control function is embedded in the control loop structure of the NC position controller and the internal structure of the function. Figure 2-4 Control structure, position controller with clearance control (principle) Special functions: Clearance Control (TE1)
Page 520 Detailed description 2.2 Clearance control Figure 2-5 Control structure, clearance control (principle) 2.2.4 Compensation vector Standard compensation vector The compensation vector of the clearance control and the tool orientation vector are normally identical. Consequently, the compensation movement of the clearance control is normally always in the direction of the tool orientation.
Page 521 Detailed description 2.2 Clearance control Note In all the figures in this chapter, the traversing movement of the machining head needed in order to machine the workpiece is in the direction of the Y coordinate, i.e. perpendicular to the drawing plane. As long as the tool orientation, and hence the compensation vector, is perpendicular to the workpiece surface, no disadvantage for the machining process results from the compensation movements of the clearance control.
Page 522 Detailed description 2.2 Clearance control Figure 2-8 Programmable compensation vector Changes in orientation Based on the above observations, a different behavior also results when the orientation of the machining head is changed while the clearance control is active. In the following diagram the normal case is shown on the left (compensation vector == tool orientation vector);...
Page 523 Detailed description 2.3 Technological features of clearance control The meaning of the individual positions of the machining head is as follows: 1. Programmed position of the machining head 2. Actual position of the machining head with clearance control active before the orientation change 3.
Page 524 Detailed description 2.4 Sensor collision monitoring • Control options via the PLC interface The following signals are available at the PLC interface: Status signals: – Closed-loop control active – Overlaying movement at standstill – Lower limit reached – Upper limit reached. Control signals: –...
Page 525 Detailed description 2.5 Startup Startup Compile cycle Before starting up the technological function, make sure that the corresponding compile cycle has been loaded and activated. References: FB3/ Function Manual, Special Functions, Installation of Compile Cycles (TE01) /HBI/SINUMERIK 840Di Manual, NC Installation and Start-Up with HMI Advanced, Loadable Compile Cycles chapter 2.5.1 Activating the technological function...
Page 526 Detailed description 2.5 Startup 2.5.3 Parameter settings for input signals (840D) The following input signals must be parameterized in the machine data: • Clearance sensor input voltage – 1 analog input • "Sensor collision" input signal (optional) – 1 digital input Analog input The following machine data must be parameterized for the analog input: •...
Page 527 Detailed description 2.5 Startup 2.5.4 Parameter settings for input signals (840Di) The following input signals must be parameterized in the machine data: • Clearance sensor input voltage – 1 analog input • "Sensor collision" input signal (optional) – 1 digital input Analog input The following machine data must be parameterized for the analog input: •...
Page 528 Detailed description 2.5 Startup 2.5.5 Parameters of the programmable compensation vector Reference coordinate system The programmable compensation vector specifies the direction in which the compensation movement of the clearance control takes place. The compensation vector always refers to the basic coordinate system (machine coordinate system). The start coordinates [Xa, Ya, Za] of the compensation vector coincide with the origin of the basic coordinate system and are thus always [0, 0, 0].
Page 529 Detailed description 2.5 Startup • Coordinate X = channel axis corresponding to bit a • Coordinate Y = channel axis corresponding to bit b • Coordinate Z = channel axis corresponding to bit c with a < b < c Current difference angle The difference angle is the angle between the tool orientation vector and the compensation vector.
Page 530 Detailed description 2.5 Startup Input signals The clearance sensor input signals parameterized above: • 840D: "Parameter settings for input signals (840D)" chapter • 840Di: "Parameter settings for input signals (840Di)" chapter are declared to the clearance control function via the following machine data: •...
Page 531 Detailed description 2.5 Startup 2.5.7 Starting up clearance control Clearance sensor Connect the clearance sensor outputs to the I/O modules activated via machine data: • MD10362 $MN_HW_ASSIGN_ANA_FASTIN (I/O address of the I/O module) (hardware assignment for the fast analog NCK inputs) •...
Page 532 Detailed description 2.5 Startup Note Before the clearance control function is activated for the first time, check that the entire working range enabled for clearance control is collision-free: • MD62505 $MC_CLC_SENSOR_LOWER_LIMIT (lower clearance control motion limit) • MD62506 $MC_CLC_SENSOR_UPPER_LIMIT (upper clearance control motion limit) An incorrect control direction can be corrected using one of the following methods: •...
Page 533 Detailed description 2.6 Programming Programming 2.6.1 Activating and deactivating clearance control (CLC) Syntax Mode CLC( Mode • Format: Integer • Range of values: -1, 0, 1, 2, 3 CLC(...) is a procedure call and must therefore be programmed in a dedicated part program block.
Page 534 Detailed description 2.6 Programming RESET response CLC(0) is executed implicitly on a reset (NC RESET or end of program). Parameterizable RESET response The reset response of a 1D clearance control function can be determined via the channel- specific NCK OEM machine data: •...
Page 535 Detailed description 2.6 Programming Sensor collision monitoring A digital input for an additional collision signal can be configured by the sensor using the following machine data: MD62504 $MC_CLC_SENSOR_TOUCHED_INPUT (assignment of the input signal for the "sensor collision" signal) This collision monitor can be activated and deactivated block-synchronously through alternate programming of CLC(1)/CLC(2).
Page 536 Detailed description 2.6 Programming Compensation vector Actual position of the direction axes If the clearance control is activated with a programmable compensation vector at a position of 0 on all 3 direction axes, a compensation vector cannot be calculated from this information.
Page 537 Detailed description 2.6 Programming Figure 2-11 Interpolation of the compensation vector The compensation vector must be oriented by programming the direction axes at [1, 0, 0] before part program block N100. In part program block N100, the end position of the compensation vector is oriented by programming the direction axes at [0, 0, -1].
Page 538 Detailed description 2.6 Programming Consequently, if the compensation vector changes due to the workpiece contour, the interpolation of the direction axes is included in the path interpolation of the geometry axes. In order to minimize the impact of the direction axes on the path interpolation, it is recommended to configure the dynamic response of the direction axes at least equal to or greater (by a factor of approx.
Page 539 Detailed description 2.6 Programming 2.6.2 Closed-loop control gain (CLC_GAIN) Syntax Factor CLC_GAIN = Factor • Format: Real • Range of values: y 0.0 CLC_GAIN is an NC address and can therefore be written together with other instructions in a part program block. When a negative factor is programmed, the absolute value is used without an alarm output.
Page 540 Detailed description 2.6 Programming Response to CLC_GAIN=0.0 If the closed-loop control gain for clearance control is deactivated with CLC_GAIN=0.0, the CLC position offset present at the time of deactivation is retained and is not changed. This can be used for example when laser-cutting sheet steel to "skip over" sections of sheet that are not to be machined without foundering.
Page 541 Detailed description 2.6 Programming 2.6.3 Limiting the control range (CLC_LIM) Syntax lower limit upper limit CLC_LIM( Lower limit upper limit Format and value range as machine data: • MD62505 $MC_CLC_SENSOR_LOWER_LIMIT[n] (lower clearance control motion limit) • MD62506 $MC_CLC_SENSOR_UPPER_LIMIT[n] (upper clearance control motion limit) CLC_LIM(...) is a procedure call and must therefore be programmed in a dedicated part program block.
Page 542 Detailed description 2.6 Programming Reset Within a part program, a modified control range limit can be reset by explicitly programming CLC_LIM without a "CLC_LIM( )" argument. This reapplies the limits from the following machine data: • MD62505 $MC_CLC_SENSOR_LOWER_LIMIT[0] (lower clearance control motion limit) •...
Page 543 Detailed description 2.6 Programming Functionality Parameterizable digital outputs (system variable $A_OUT) can be used for direction- dependent disabling of the traversing motion (manipulated variable) induced via clearance control. As long as e.g. the negative traversing direction is disabled, the clearance-controlled axes will only travel in a positive direction due to the sensor signal.
Page 544 Detailed description 2.6 Programming Effect: • $A_OUT[3] = 0 → Negative traversing direction disabled • $A_OUT[3] = 1 → Negative traversing direction enabled • $A_OUT[4] = 0 → Positive traversing direction disabled • $A_OUT[4] = 1 → Positive traversing direction enabled 2.6.5 Voltage offset, can be set on a block-specific basis (CLC_VOFF) Syntax...
Page 545 Detailed description 2.6 Programming 2.6.6 Voltage offset definable by synchronized action Syntax number oltage offset $A_OUTA[ ] = V Number Number of the parameterized analog output (see below: Parameterization) • Format: Integer • Range of values: 1, 2, . . .max. number of analog outputs oltage offset As with voltage offset with CLC_VOFF (see "Voltage offset, can be set on a block-specific basis (CLC_VOFF)"...
Page 546 Detailed description 2.6 Programming 2.6.7 Selection of the active sensor characteristic (CLC_SEL) Syntax characteristic number CLC_SEL( Characteristic number • Format: Integer • Range of values: 1, 2 CLC_SEL(...) is a procedure call and must therefore be programmed in a dedicated part program block.
Page 547 Detailed description 2.7 Function -specific display data Function-specific display data The "clearance control" technological function provides specific display data for supporting start-up and for service purposes. Possible applications Application options for display data include for example: • Determination of form variances and transient control errors via the variables for the maximum and minimum position offset/sensor voltage.
Page 548 Detailed description 2.7 Function -specific display data HMI Advanced Proceed as follows to create and display the GUD variables in HMI Advanced. 1. Setting the password Enter the password for protection level 1: (machine manufacturer). 2. Activate the "definitions" display. Operating area switchover >...
Page 549 Detailed description 2.7 Function -specific display data 3. Activate the SGUD.DEF file. The GUD variables for clearance control are now displayed under: Operating area switchover > Parameters > User data > Channel spec. user data SINUMERIK NCK The new GUD variables, which are already being displayed, will only be detected by the clearance control function and supplied with up-to-date values following an NCK POWER ON RESET.
Page 550 Detailed description 2.8 Function-specific alarm texts OPI variable Proceed as follows to define the OPI variables. 1. Create the CLC-specific definition file: CLC.NSK Note: We recommend that you create the file in the \OEM directory rather than in the \MMC2 directory so that it is not overwritten when a new software version is installed.
Page 551 Detailed description 2.8 Function-specific alarm texts Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 552 Boundary conditions I/O modules For A/D conversion, the analog output current of the clearance sensor must be connected to NC via an I/O module with analog input to the NC. 3.1.1 I/O modules (840D) The analog I/O module (DMP compact module) is connected to the drive bus via an NCU terminal block.
Page 553 Boundary conditions 3.1 I/O modules I/O module connection A description of how the I/O modules are connected appears in: References: /PHD/ SINUMERIK 840D NCU Configuration Manual, Terminal Block, NCU Terminal Block section (6FC5 211-0AA00-0AA0) /PHD/ SINUMERIK 840D NCU Configuration Manual, DMP Compact Module, 1E NC Analog section (6FC5 211-0AA10-0AA0) 3.1.2 I/O modules (840Di)
Page 554 Boundary conditions 3.2 Function-specific boundary conditions 3.1.3 External smoothing filters If an external filter is to be interconnected to smooth the output voltage of the clearance sensor before the A/D conversion of the output voltage by the I/O module, please ensure that the resulting time constant is small in relation to the NC position controller cycle.
Page 555 Boundary conditions 3.2 Function-specific boundary conditions Disabling digital/ analog inputs Neither the analog input for the input voltage of the clearance sensor nor the digital input used by the clearance control in the context of the "Lift fast with position controller cycle" special function can be controlled (disabled) via the PLC: DB10, DBB0 (Disable digital NCK inputs) DB10, DBB146 (Disable analog NCK inputs)
Page 556 Boundary conditions 3.2 Function-specific boundary conditions Computing time requirements The additional computing time required for the "clearance control" technological function must be taken into account on control systems in which the cycle times set for the interpolator and position controller cycle have been substantially optimized in comparison with the default setting: The additional computing time required comes into effect when clearance control is activated in the part program (CLC(x)).
Page 557 Boundary conditions 3.2 Function-specific boundary conditions Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 558 Examples No examples are available. Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 559 Examples Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 560 Data lists Machine data 5.1.1 Drive-specific machine data (840D) Drive machine data (SIMODRIVE 611D) Number Identifier: $MD_ Description 1502 SPEED_FILTER_1_TIME [n] Time constant for setpoint speed filter 1 1503 SPEED_FILTER_2_TIME [n] Time constant for setpoint speed filter 2 5.1.2 Drive-specific machine data (840Di) Drive parameter (SIMODRIVE 611D;...
Page 561 Data lists 5.1 Machine data Number Identifier: $MN_ Description 10384 HW_CLOCKED_MODULE_MASK Synchronous processing of the individual external input/ output modules. Terminal block: 0...3 10712 NC_USER_CODE_CONF_NAME_TAB List of renamed NC identifiers 5.1.4 Channelspecific machine data Number Identifier: $MC_ Description 28090 MM_NUM_CC_BLOCK_ELEMENTS Number of compile cycle block elements (DRAM) 28100 MM_NUM_CC_BLOCK_USER_MEM...
Page 562 Data lists 5.2 Signals Number Identifier: $MC_ Description 62529 CLC_PROG_ORI_MAX_ANGLE Programmed orientation vector: Maximum difference angle 62530 CLC_PROG_ORI Programmed orientation vector: Index of the $AC_PARAM variables for the output of the current difference angle 5.1.5 Axis/spindlespecific machine data Number Identifier: $MA_ Description 32070 CORR_VELO...
Page 563 Data lists 5.2 Signals Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 564 Index MD10380, 20 MD10384, 20 MD10712, 23 MD1502, 12 Clearance control, 9 MD1503, 12 Boundary conditions, 43 MD28090, 19 Collision monitoring, 18 MD28100, 19 Compensation vector, 14 MD30132, 46 Control dynamics, 9 MD32000, 22 Control loop structure, 13 MD32200, 22 Detailed description, 7 MD32230, 22 Programming, 26...
Page 565 Index Special functions: Clearance Control (TE1) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 566 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Analog Axis (TE2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 567 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 568 Table of contents Brief description ............................5 Detailed description ........................... 7 General information ........................7 Hardware configuration........................8 Configuration..........................9 Setpoint ............................10 Actual value..........................12 Boundary conditions ..........................13 Effectiveness of machine data .....................13 Displaying setpoints in NCK GUD....................13 Function-specific alarm texts .......................14 Examples..............................15 General start-up of a compile cycle function................15 Startup of analog axis ........................16 Example of how to configure an analog axis ................17...
Page 569 Table of contents Special functions: Analog Axis (TE2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 570 Brief description 840D The "analog axis" function was supplied as a compile cycle up to SW 6. This function can now be implemented with the aid of the hydraulics module. It is therefore no longer available as a compile cycle. 840Di On the 840Di, the "analog axis"...
Page 571 Brief description Special functions: Analog Axis (TE2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 572 Detailed description General information The "analog axis" function can be used to control up to 8 available NC axes via a +/- 10 V speed interface with an analog drive (e.g.: SIMODRIVE 611A) . The function is designed for individual motors on a machine that cannot be controlled by digital drive systems such as, for example, large spindle motors or single motors for tool changers.
Page 573 Detailed description 2.2 Hardware configuration Actual position value The actual position value of the axis is detected by a signal generator. An unassigned measured-value input for the direct measuring system of an active digital drive is used as the measurement input. Caution The different dynamic responses of the drives (following error, drift) in an interpolation group that has analog and digital axes must be borne in mind.
Page 574 Detailed description 2.3 Configuration Required hardware All hardware components required are listed below: • NCU terminal block (6FC5211-0AA00-0AA0) • DMP output module (6FC5111-0CA05-0AA0) for each analog axis • Cable for setpoint from DMP output module to analog drive. • Analog drive amplifier e.g. SIMODRIVE 611A •...
Page 575 Detailed description 2.4 Setpoint Machine data for configuring the analog module The following system machine data is relevant in ensuring correct output of the speed setpoint via the analog module: • MD10364 $MN_HW_ASSIGN_ANA_FASTOUT (for each analog module) The analog module is activated on specification of its physical address. •...
Page 576 Detailed description 2.4 Setpoint Normalize setpoint The following axial machine data is used to normalize and limit the output voltage: MD32250 $MA_RATED_OUTVAL and MD32260 $MA_RATED_VELO The maximum motor speed is entered in MD32260 $MA_RATED_VELO in rev/min. The percentage in MD32260 $MA_RATED_VELO specifies the voltage at maximum motor speed with respect to +/- 10 V.
Page 577 Detailed description 2.5 Actual value Actual value Actual value in hardware The actual position value of the analog axis is acquired by a signal generator. An unassigned measured-value input for the direct measuring system on an active digital drive (SIMODRIVE 611D) is used as the measured-value input.
Page 578 Boundary conditions NCU 572.2 The "analog axis" function can be utilized on NCU 572.2 hardware only on condition that is has been specifically enabled for the customer. SINUMERIK 840Di The operation of analog axes via the PROFIBUS DP of the SINUMERIK 840Di will be available soon.
Page 579 Boundary conditions 3.3 Function-specific alarm texts Please proceed as follows: 1. Create an INITIAL.INI back-up file. 2. Write a text file on an external PC containing the following lines: %_N_SGUD_DEF ;$PATH=/_N_DEF_DIR DEF NCK REAL ANALOG_AXIS_VOLTAGE[n] n = Number of analog axes 3.
Page 580 Examples General start-up of a compile cycle function Requirement • HMI software version must be 3.5 or higher. • An NCK technology card with the "analog axis" function must be available. Saving SRAM contents The first step for installing a compile cycle function is replacing the original card slotted into the NCU with the technology card.
Page 581 Examples 4.2 Startup of analog axis Insert the PC card • Switch off control system • Insert the PC card with the new firmware (technology card) in the PCMCIA slot of the NCU. • Then proceed as follows: 1. Turn switch S3 on the front panel of the NCU to 1 2.
Page 582 Examples 4.3 Example of how to configure an analog axis Analog output Start up the DMP module for the analog setpoint with the following machine data: MD10362 $MN_HW_ASSIGN_NUM_INPUTS Interrupts Record the alarm texts in the corresponding language-specific text files. Set up the "ANALOG_AXIS_VOLTAGE" GUD for monitoring the voltage output if required. Analog axis Declare the axis as an analog axis with the following machine data and set the axial machine data for the setpoint output and actual value input for the analog axis.
Page 583 Examples 4.3 Example of how to configure an analog axis Setpoints 30100 $MA_CTRLOUT_SEGMENT_NR = 1 Bus segment 840D 30110 $MA_CTRLOUT_MODULE _NR= 6 Non-assigned module (need not actually exist) 30120 $MA_CTRLOUT_NR = 1 Always 1 for 840D 30130 $MA_CTRLOUT_TYPE = 0 Simulated setpoint 32250 $MA_RATED_OUTVAL = 80 80% rated voltage at max.
Page 584 Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10310 FASTIO_ANA_NUM_OUTPUTS Number of active NCK outputs 10364 HW_ASSIGN_ANA_FASTOUT Hardware assignment of external analog NCK outputs: 0...7 10380 HW_UPDATE_RATE_FASTIO Update cycle of synchronously clocked external NCK input/output modules 10384 HW_CLOCKED_MODULE_MASK Synchronous processing of the individual external...
Page 585 Data lists 5.1 Machine data Special functions: Analog Axis (TE2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 586 Index MD10362, 16 MD10364, 9 MD10380, 10 MD10384, 9 Analog axis MD30100, 10 Boundary conditions, 13 MD30110, 10 Hardware configuration, 8 MD30120, 10 MD30130, 10 MD30200, 12 MD30210, 12 DB31- 48, DBX1.5, 12 MD30220, 12 MD30230, 12 MD30240, 12 MD32250, 10, 13 MD32260, 10, 13 Example MD36700, 11, 13...
Page 587 Index Special functions: Analog Axis (TE2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 588 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Speed/Torque Coupling, Master-Slave (TE3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 589 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 590 Table of contents Brief description ............................5 Detailed description ........................... 7 Speed/torque coupling, master-slave (SW 6 and higher)..............7 2.1.1 General information ........................7 2.1.2 Coupling diagram...........................9 2.1.3 Configuring a coupling .........................10 2.1.4 Torque compensatory controller ....................11 2.1.5 Tension torque ..........................12 2.1.6 Activating a coupling ........................13 2.1.7 Response on activation/deactivation ...................14...
Page 591 Table of contents Data lists..............................49 Machine data..........................49 5.1.1 Axis/spindlespecific machine data ....................49 System variables......................... 50 Signals............................51 5.3.1 Signals to axis/spindle......................... 51 5.3.2 Signals from axis/spindle ......................51 Index.............................. Index-53 Special functions: Speed/Torque Coupling, Master-Slave (TE3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 592 Brief description SW 6 and higher The speed/torque coupling function (master-slave) is used for mechanically-coupled axes that are driven by two separate motors. A further application is the compensation of gears and backlash in the gear tooth flank due to mutual tension in the drives. Speed/torque coupling (master-slave) is a speed setpoint coupling between a master and a slave axis, involving a torque compensatory controller for even torque distribution.
Page 593 Brief description SW 6.4 and higher The function of the speed/torque coupling has been expanded to include the following options: • Coupling/decoupling of rotating, speed/controlled spindles • Dynamic configuration of couplings A separate machine data has been provided for reversing the direction of the slave axis in coupled state.
Page 594 Detailed description Speed/torque coupling, master-slave (SW 6 and higher) 2.1.1 General information Speed/torque coupling (master-slave) is a speed setpoint coupling between a master and a slave axis, involving a torque compensatory controller for even torque distribution. This function is mainly used for boosting the power of mechanically-coupled drives. Other application: Compensation of gears and backlash in the gear tooth flank due to mutual tension in the drives.
Page 595 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Figure 2-2 Slides (linear motor) for temporary coupling Each slave axis has exactly one master axis. Conversely, a master axis can also belong to several slaves; this is done by configuring several master-slave relationships using the same master axis.
Page 596 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) 2.1.2 Coupling diagram If the coupling is closed, the slave axis is traversed only with the load-side setpoint speed of the master axis. It is therefore only speed-controlled, not position-controlled. No positional deviation control is implemented between master and slave axes.
Page 597 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) 2.1.3 Configuring a coupling Static A master-slave coupling is configured only in the slave axis. This must be assigned permanently to one of the channels. Each slave axis is assigned one master axis for speed setpoint coupling and one for torque compensatory control.
Page 598 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Unlike static assignment, the master axis for torque compensatory control always corresponds to the speed setpoint coupling. A plausibility check is not carried out until the coupling is closed. In the event of multiple assignment, Alarm 26031 is issued.
Page 599 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Activation/deactivation via the PLC SW 6.4 and higher The torque compensatory controller can be switched on and off directly via the PLC interface signal DB31, ... DBX24.4. For this, the following machine data must be set: MD37255 $MA_MS_TORQUE_CTRL_ACTIVATION=1 The activated status can be read back in DB31, ...
Page 600 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) 2.1.6 Activating a coupling The type of activation for a master-slave coupling is defined in the following machine data: MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE Depending on the machine configuration, a distinction is made between a permanent and a temporary master-slave coupling.
Page 601 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Control system response The control system response on POWER ON, mode changes, RESET, block searches and Repos is as follows: • A master-slave coupling activated via PLC or MASLON instruction is retained after a mode change, RESET or end of part program.
Page 602 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Activation during motion The coupling procedure at different speeds is divided into two phases. Phase 1 Closure of the coupling is requested with interface signal IS "Master/slave on" (DB31, ... DBX24.7).
Page 603 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Figure 2-8 Coupling procedure between two spindles with different speeds Deactivation during motion An active coupling is disconnected using the MASLOF instruction. This instruction is executed directly for spindles in speed control mode. The slave spindles that are rotating at this point in time retain their last speed until a new speed is programmed.
Page 604 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Coupling characteristics (SW 6.5 and higher) For spindles in speed control mode, the coupling characteristics of the MASLON, MASLOF, MASLOFS, MASLDEL instructions and the PLC with NST "Master/Slave ON" (DB31, ... DBX24.7) is defined explicitly via the following machine data: MD37263 $MA_MS_SPIND_COUPLING_MODE MD37263 = 0...
Page 605 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) With IS (DB31, ... DBX24.4), the torque compensatory controller is activated by the PLC. The status of the torque compensatory controller can be read from IS "Master/slave comp. contr. active" (DB31, ... DBX96.4). Note If the coupling is closed, the slave axis operates in speed control mode;...
Page 606 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Dynamic stiffness control The Kv factor of the master axis is copied to the slave axis for an existing coupling and is thus also active in the slave drive. This is an attempt to achieve the same control response in the drive of the master and slave axis as far as possible.
Page 607 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Weight counterbalance The additional torque for the electronic weight counterbalance MD32460 $MA_TORQUE_OFFSET is computed in the slave axis irrespective of the coupling status. Gear stage change with active master-slave coupling An automatic gear stage change in a coupled slave spindle is not possible and can only be implemented indirectly using the master spindle.
Page 608 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Example for cyclic coupling sequence (position=3/container=CT1) ; S3 master for AUX MASLDEF(AUX,SPI(3)) ; Coupling in for AUX MASLON(AUX) ; Machining ... M3=3 S3=4000 ; Clear configuration and; MASLDEL(AUX) Uncoupling ; Container rotation AXCTSWE(CT1) Figure 2-9 Coupling between container spindle S3 and auxiliary motor AUX (prior to rotation)
Page 609 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Hardware and software limit switches Crossing of hardware and software limit switches is detected in coupled axes; in the coupled state, the software limit switch is generally crossed on slave axes. The alarm is output on the slave axis, while braking is initiated via the master axis.
Page 610 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) Example 1 for PROGEVENT.SPF: ; Block search active N10 IF $P_PROG_EVENT==5 ; The coupling state has N20 IF (($P_SEARCH_MASLC[Y]<>0) ; changed during block search AND ($AA_MASL_STAT[Y]<>0)) ; current state is "closed". ;...
Page 611 Detailed description 2.1 Speed/torque coupling, master-slave (SW 6 and higher) 2.1.11 Compatibility of SW 6.4 with earlier versions Implicit preprocessor stop The implicit preprocessor stop is omitted for MASLON, MASLOF. For spindles in speed control mode, the time at which the coupling is closed or disconnected changes.
Page 612 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Speed/torque coupling (up to SW 5.x) 2.2.1 General information The speed/torque coupling (master-slave) function is required for configurations in which two drives are mechanically coupled to one axis. With this type of axis, a torque controller must ensure that each motor produces exactly the same torque, otherwise the two motors would work in opposition.
Page 613 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) 2.2.2 Control structure The control structure of a master-slave coupling is shown in the following figure For a better overview, only one master/one slave coupling is illustrated. Figure 2-11 Control structure 2.2.3 Configuring a coupling Defining a coupling...
Page 614 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Several couplings A master can be assigned to each slave axis to produce several couplings. In a simple case, the couplings are mutually independent, i.e. each axis is involved in only one coupling. An example of this is a gantry axis with a master-slave coupling on each side.
Page 615 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) MD63570 $MA_MS_TORQUE_CTRL_MODE = 1 (connecting the torque controller output) Both torque controllers now attempt to match the torque of the slave axis to the torque of the master axis, without adding speed setpoints to the master axis. Axis in the channel When the coupling is active, the motion of the slave axis is not displayed in the automatic basic display and the actual value is frozen.
Page 616 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Different motor speeds The master and slave axis can have different gear reduction ratios between the motors and the mechanical coupling. With these types of axes, the master and slave rotate at different speeds.
Page 617 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) P controller The P controller calculates a speed setpoint nset by multiplying the torque difference Mdiff by a gain factor Kp. The resulting speed setpoint is added to the master and slave axes. nset = Mdiff * Kp The P gain Kp of the torque compensatory controller has the dimension [(mm/min)/Nm].
Page 618 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Connection of the torque control output An addtional MD63570 $MA_MS_TORQUE_CTRL_MODE can be used to connect the output of the torque controller freely to the master and slave axes. In most cases, the output value is applied to the master and slave.
Page 619 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Figure 2-14 Tension torque PT1 filter The tension torque is applied to the torque control via a PT1 filter. The PT1 filter ensures a continuous increase or decrease of the tension torque when the tension torque value is changed.
Page 620 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) 2.2.5 Presetting the drive machine data P component in the speed controller If axes are put into operation individually in a master-slave coupling, whereby an individual axis takes the full load, the P component in the speed controller must then be halved in the two axes.
Page 621 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Activating and deactivating a master-slave coupling via PLC signal A coupling is activated or deactivated via an axis-specific PLC signal "to axis". Only the signal to the slave axis is relevant here. The signal resides in the technologies area. DB3x.DBB24.7 "Activate master-slave coupling"...
Page 622 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) 2.2.7 System response when a coupling is active PLC signal: Traversing the slave axis If a slave axis is traversed via the master axis when the coupling is active, the following PLC signals are output depending on the travel state: DB3x.DBB60.6 "Exact stop fine"...
Page 623 Detailed description 2.2 Speed/torque coupling (up to SW 5.x) Reaction to errors In the event of error conditions for alarms with alarm reaction "Follow-up in master and/or slave", each axis is decelerated to 0 speed. The master-slave coupling is deactivated. For avoiding mechanical tensions, the following machine data and drive machine data for master and slave axes must be set to the same values.
Page 624 Constraints NCU 572.2 The Master/Slave for Drives function can be utilized on NCU 572.2 hardware only on condition that is has been specifically enabled for the customer. SINUMERIK 840Di The compile cycles function of the SINUMERIK 840D are currently available only on request for the SINUMERIK 840Di.
Page 625 Constraints 3.1 Speed /torque coupling (SW 6 and higher) Speed/torque coupling (SW 6 and higher) option The speed/torque coupling function is an option and not available in every control variant. The master-slave function requires the master and slave axes to be operated on the same NCU.
Page 626 Constraints 3.2 Speed/torque coupling (up to SW 5.x) Speed/torque coupling (up to SW 5.x) 3.2.1 Axis replacement An axis replacement can be performend considering the following restrictions: For activating or deactivating a coupling, the channels of the master and slave axes must be in "RESET"...
Page 627 Constraints 3.2 Speed/torque coupling (up to SW 5.x) 3.2.4 Displaying torque values and controller output in NCK GUD To support installation, the current axial torque values in [Nm] and the speed setpoints in [mm/min] or [rpm] of the P controller and the I controller of a torque controller can be displayed on the operator panel front in the "Parameter - user data"...
Page 628 Constraints 3.2 Speed/torque coupling (up to SW 5.x) 3.2.5 Servo Trace To support installation, the current torque values and the torque controller output can be displayed on the MMC in the Servo Trace function. Caution The existing Servo Trace function has been expanded for master and slave. The operation of the "Servo Trace"...
Page 629 Constraints 3.2 Speed/torque coupling (up to SW 5.x) No further machine data need be set to activate a measurement. Up to 4 signals can be recorded in one measurement. The associated machine axis is selected in the axis selection for the torque values; for the controller output, the machine axis of the slave axis of this control is selected.
Page 630 Constraints 3.2 Speed/torque coupling (up to SW 5.x) 3.2.6 Controller data to analog output Controller data output to an analog output can be activated using the following machine data: MD63595 $MA_TRACE_MODE Bit0 (Trace setting) Then the following data is output to analog output at the terminal block: •...
Page 631 Constraints 3.2 Speed/torque coupling (up to SW 5.x) Special functions: Speed/Torque Coupling, Master-Slave (TE3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 632 Examples Speed/torque coupling 4.1.1 Master-slave coupling between AX1=Master and AX2=Slave. Configuration Master-slave coupling between AX1=Master and AX2=Slave. 1. Machine axis number of master axis for speed setpoint coupling MD37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD[AX2] = 1 2. Master axis with torque distribution identical to master axis with speed setpoint coupling MD37252 $MA_MS_ASSIGN_MASTER_TORQUE_CTR[AX2] = 0 3.
Page 633 Examples 4.1 Speed/torque coupling 4.1.2 Close coupling via the PLC This application allows you to close or separate a master-slave coupling between the machine axes AX1=Master axis and AX2=Slave axis during operation. Preconditions • One configured master axis MD37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD ≠ 0 •...
Page 634 Examples 4.1 Speed/torque coupling 4.1.3 Close/separate coupling via part program This application allows you to close or separate a master-slave coupling between the machine axes AX1=Master axis and AX2=Slave via the part program. Preconditions • A configured master axis MD37250 0 0. •...
Page 635 Examples 4.1 Speed/torque coupling 4.1.4 Release the mechanical brake This application allows implementation of a brake control for machine axes AX1=Master axis and AX2=Slave axis in a master-slave coupling. Preconditions • Master-slave coupling is configured. • Axes are stationary. • No servo enable signals. Typical sequence of operations Action Effect/comment...
Page 636 Data lists Machine data 5.1.1 Axis/spindlespecific machine data SW 6 and higher Number Identifier: $MA_ Description 37250 MS_ASSIGN_MASTER_SPEED_CMD Machine axis number of master axis for speed setpoint coupling 37252 MS_ASSIGN_MASTER_TORQUE_CTR Master axis number for torque control 37254 MS_TORQUE_CTRL_MODE Connection of torque control output 37255 MS_TORQUE_CTRL_ACTIVATION Activate torque compensatory control...
Page 637 Data lists 5.2 System variables Up to SW 5.x Number Identifier: $MA_ Description 34110 REFP_CYC_NR NC Start is possible without referencing of axis R1 36620 SERVO_DISABLE_DELAY_TIME Cutout delay servo enable A2 36610 AX_ENERGY_STOP_TIME Duration of braking slope A3 63550 MS_ASSIGN_MASTER_SPEED_CMD Master axis for speed setpoint coupling 63555 MS_ASSIGN_MASTER_TORQUE_CTRL...
Page 638 Data lists 5.3 Signals Signals 5.3.1 Signals to axis/spindle DB number Byte.bit Description 31, ... 24.4 Activate torque compensatory controller 31, ... 24.7 Activate master-slave coupling 5.3.2 Signals from axis/spindle DB number Byte.bit Description 31, ... 96.2 Differential speed "Fine" 31, ...
Page 639 Data lists 5.3 Signals Special functions: Speed/Torque Coupling, Master-Slave (TE3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 640 Index Axis replacement, 32 Hardware and software limit switches Master-slave, speed coupling, 21 Block search Master-slave, speed coupling, 21 I component, 31 Controller output, 30 Master channel, 32 Master-slave coupling, 33 MD10364, 43 MD20070, 27 MD30132, 37 DB31, ... MD37262, 21, 46 DBX24.7, 47 MD63570, 26 DBX61.5, 47...
Page 641 Index Special functions: Speed/Torque Coupling, Master-Slave (TE3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 642: Handling Transformation
840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Handling Transformation Package (TE4) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 643 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 644 Table of contents Brief description ............................5 Brief description ..........................5 Detailed description ........................... 7 Kinematic transformation .......................7 Definition of terms ..........................8 2.2.1 Units and directions ........................8 2.2.2 Definition of positions and orientations using frames ..............8 2.2.3 Definition of a joint .........................9 Configuration of a kinematic transformation ................10 2.3.1 General machine data........................11...
Page 645 Table of contents Data lists..............................67 Machine data..........................67 5.1.1 General machine data......................... 67 5.1.2 Channelspecific machine data ....................67 5.1.3 Channel-specific machine data for compile cycles ..............67 Signals............................69 5.2.1 Signals from channel........................69 Index.............................. Index-71 Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 646 Brief description Brief description Functionality The handling transformation package has been designed for use on manipulators and robots. The package is a type of modular system, which enables the customer to configure the transformation for his machine by setting machine data (provided that the relevant kinematics are included in the handling transformation package).
Page 647 Brief description 1.1 Brief description Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 648 Detailed description Kinematic transformation Task of a transformation The purpose of a transformation is to transform movements in the tool tip, which are programmed in a Cartesian coordinate system, into machine axis positions. Fields of application The handling transformation package described here has been designed to cover the largest possible number of kinematic transformations implemented solely via parameter settings in machine data.
Page 649 Detailed description 2.2 Definition of terms Definition of terms 2.2.1 Units and directions Lengths and angles In the transformation machine data, all lengths are specified in millimeters or inches and, unless otherwise stated, all angles in degrees at intervals of [ -180°, 180° ]. Direction of rotation In the case of angles, arrows in the drawings always indicate the mathematically positive direction of rotation.
Page 650 Detailed description 2.2 Definition of terms • Angle A: 1. rotation about the Z axis of the initial system • B angle: 2. Rotation through the rotated Y axis • C angle: 3. rotation about the twice rotated X axis The RPY angles are assigned to machine data as follows: •...
Page 651 Detailed description 2.3 Configuration of a kinematic transformation Figure 2-2 Joint identifying letters Configuration of a kinematic transformation Meaning In order to ensure that the kinematic transformation can convert the programmed values into axis motions, it must have access to some information about the mechanical construction of the machine.
Page 652 Detailed description 2.3 Configuration of a kinematic transformation 2.3.1 General machine data MD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1) The value 4099 must be entered in this data for the handling transformation package. MD24110 $MC_TRAFO_AXES_IN_1 (axis assignment for transformation) The axis assignment at the transformation input defines which transformation axis is mapped internally onto a channel axis.
Page 653 Detailed description 2.3 Configuration of a kinematic transformation All axes in the mode group are made to follow, the alarms can only be reset by a POWER ON operation. As shown in Fig. "Closed kinematic loop illustrated by the example of a robot", the kinematic transformation effects a conversion of the tool operating point (tool coordinate system: XWZ, YWZ, ZWZ), that is specified in relation to the basic coordinate system (BCS = robot coordinate system: XRO, YRO, ZRO), in machine axis values (MCS positions: A1, A2, A3,...
Page 654 Detailed description 2.3 Configuration of a kinematic transformation MD62612, MD62613 The frame T_IRO_RO links the base center point of the machine (BCS = RO) with the first internal coordinate system (IRO) determined by the transformation. MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal coordinate system (rotation component), n = 0...2) MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal coordinate system (position component), n = 0...2)
Page 655 Detailed description 2.3 Configuration of a kinematic transformation MD62604 The hand type is specified in machine data: MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier) The term wrist axes generally refers to axes four to six. MD62610, MD62611 Frame T_FL_WP links the last hand coordinate system with the flange coordinate system. MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange coordinate system (position component), n = 0...2) MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange coordinate...
Page 656 Detailed description 2.3 Configuration of a kinematic transformation Figure 2-4 Overview of basic axis configuration Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 657 Detailed description 2.3 Configuration of a kinematic transformation The handling transformation package contains the following basic axis kinematics: • SS: Gantry (3 linear axes, rectangular) • CC: SCARA (1 linear axis, 2 rotary axes (in parallel)) • SC: SCARA (2 linear axes, 1 rotary axis (swivel axis)) •...
Page 658 Detailed description 2.3 Configuration of a kinematic transformation These data are special types of frame which describe the relative positions of the coordinate systems in the hand. For this purpose, the machine data corresponds to certain frame components (see Subsection "Definition of positions and orientations using frames"): •...
Page 659 Detailed description 2.3 Configuration of a kinematic transformation Figure 2-7 Beveled hand with elbow Table 2-2 Configuring data for a beveled hand with elbow (5-axis Machine data Value MD62604 $MC_TRAFO6_WRIST_AXES MD62614 $MC_TRAFO6_DHPAR4_5A [a4, 0.0] MD62615 $MC_TRAFO6_DHPAR4_5D [0.0, d5] MD62616 $MC_TRAFO6_DHPAR4_5ALPHA [α4, 0.0] Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 660 Detailed description 2.3 Configuration of a kinematic transformation Figure 2-8 Link frames T_IRO_RO Frame T_IRO_RO provides the link between the base center point coordinate system (RO) defined by the user and the internal robot coordinate system (IRO). The internal robot coordinate system is predefined in the handling transformation package for each basic axis type and included in the kinematic diagrams for the basic axis arrangements.
Page 661 Detailed description 2.3 Configuration of a kinematic transformation T_X3_P3 Frame T_X3_P3 describes the method used to attach the hand to the basic axes. Frame T_X3_P3 is used to link the coordinate system of the last basic axis (p3_q3_r3 coordinate system) with the coordinate system of the first wrist axis (x3_y3_z3 coordinate system). The p3_q3_r3 coordinate system is included in the kinematic diagrams for the basic axis arrangements.
Page 662 Detailed description 2.3 Configuration of a kinematic transformation Changing the axis sequence MD62620 Note With certain types of kinematics, it is possible to transpose axes without changing the behavior of the kinematic transformation. Machine data: MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes) The axes on the machine are numbered consecutively from 1 to 5 and must be entered in the internal sequence in machine data: MD62620 $MC_TRAFO6_AXIS_SEQ[0] ...[4]...
Page 663 Detailed description 2.3 Configuration of a kinematic transformation Figure 2-9 Rearrangement of axes Example 2 This example involves a SCARA kinematic transformation as illustrated in Fig. "Rearrangement of axes (example 2)", in which the axes can be freely transposed. Kinematic 1 is directly included in the handling transformation package. It corresponds to a CC kinematic.
Page 664 Detailed description 2.3 Configuration of a kinematic transformation Adapting the zero points of the axes MD62617 The mathematical zero points of axes are preset in the handling transformation package. However, the mathematical zero point does not always correspond to the mechanical zero point (calibration point) of axes.
Page 665 Detailed description 2.3 Configuration of a kinematic transformation Axis types MD62601 Which axis type is handled is specified in machine data: MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation [axis no.]: 0...5) The transformation package distinguishes between the following axis types: • Linear axis •...
Page 666 Detailed description 2.4 Descriptions of kinematics MD62632 The acceleration rates for individual directions of orientation for axis traversal with G00 can be preset in machine data: MD62632 $MC_TRAFO6_ACCORI[i] (orientation angle acceleration rates [no.]: 0...2) Index i = 0 : A bracket Index i = 1 : B bracket Index i = 2 : C angle Descriptions of kinematics...
Page 667 Detailed description 2.4 Descriptions of kinematics 7. Compare the directions of rotation of axes with the directions defined in the handling transformation package and correct in machine data: MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions of rotation) 8. Enter the mechanical zero offset in machine data: MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero points) 9.
Page 668 Detailed description 2.4 Descriptions of kinematics 3-axis CC kinematics Figure 2-12 3-axis CC kinematics Table 2-4 Configuration data for 3-axis CC kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 1, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [2, 1, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]...
Page 669 Detailed description 2.4 Descriptions of kinematics 3-axis SC kinematics Figure 2-13 3-axis SC kinematics Table 2-5 Configuration data for 3-axis SC kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [1, 1, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]...
Page 670 Detailed description 2.4 Descriptions of kinematics 3-axis CS kinematic Figure 2-14 3-axis CS kinematic Table 2-6 Configuration data for 3-axis CS kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 1, 1, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]...
Page 671 Detailed description 2.4 Descriptions of kinematics Articulated-arm kinematics 3-axis NR kinematics Figure 2-15 3-axis NR kinematics Table 2-7 Configuration data 3-axis NR kinematic Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR...
Page 672 Detailed description 2.4 Descriptions of kinematics 3-axis RR kinematics Figure 2-16 3-axis RR kinematics Table 2-8 Configuration data for 3-axis RR kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 1, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]...
Page 673 Detailed description 2.4 Descriptions of kinematics 3-axis NN kinematics Figure 2-17 3-axis NN kinematics Table 2-9 Configuration data for 3-axis NN kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]...
Page 674 Detailed description 2.4 Descriptions of kinematics 2.4.2 4-axis kinematics 4-axis kinematics usually imply 3 translational degrees of freedom and one degree of freedom for orientation. Restrictions The following restrictions apply to 4-axis kinematics: The frame T_FL_WP is subject to the following condition: •...
Page 675 Detailed description 2.4 Descriptions of kinematics MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero points) 10. Enter the basic axis lengths in the machine data: MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B) 11. Define frame T_IRO_RO and enter the offset in the machine data: MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal system (position component)) Enter the rotation in the machine data:...
Page 676 Detailed description 2.4 Descriptions of kinematics SCARA kinematics 4-axis CC kinematics Figure 2-18 4-axis CC kinematics Table 2-10 Configuration data for 4-axis CC kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62606 $MC_TRAFO6_A4PAR MD62601 $MC_TRAFO6_AXES_TYPE [3, 1, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [2, 1, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR)
Page 677 Detailed description 2.4 Descriptions of kinematics Machine data Value MD62608 $MC_TRAFO6_TX3P3_POS [300.0, 0.0, -200.0] MD62609 $MC_TRAFO6_TX3P3_RPY [-90.0, 90.0, 0.0] MD62610 $MC_TRAFO6_TFLWP_POS [0.0, 0.0, 200.0] MD62611 $MC_TRAFO6_TFLWP_RPY [0.0, -90.0, 0.0] 4-axis SC kinematics Figure 2-19 4-axis SC kinematics Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 678 Detailed description 2.4 Descriptions of kinematics Table 2-11 Configuration data for 4-axis SC kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62606 $MC_TRAFO6_A4PAR MD62601 $MC_TRAFO6_AXES_TYPE [1, 1, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1] MD62617 $MC_TRAFO6_MAMES...
Page 679 Detailed description 2.4 Descriptions of kinematics Table 2-12 Configuration data for 4-axis CS kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62606 $MC_TRAFO6_A4PAR MD62601 $MC_TRAFO6_AXES_TYPE [3, 1, 1, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1] MD62617 $MC_TRAFO6_MAMES...
Page 680 Detailed description 2.4 Descriptions of kinematics Table 2-13 Configuration data 4-axis NR kinematic Machine data Value MD62600 $MC_TRAFO6_ KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62606 $MC_TRAFO6_A4PAR MD62601 $MC_TRAFO6_AXES_TYPE [3, 3, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1] MD62617 $MC_TRAFO6_MAMES...
Page 681 Detailed description 2.4 Descriptions of kinematics Configuration The procedure for configuring a 5-axis kinematic is as follows: 1. Enter "Standard" kinematic category in machine data: MD62600 $MC_TRAFO6_KINCLASS (kinematic category) 2. Set the number of axes for transformation in the machine data: MD62605 $MC_TRAFO6_NUM_AXES = 5 (number of transformed axes) 3.
Page 682 Detailed description 2.4 Descriptions of kinematics 12. Specification of frame T_X3_P3 to attach hand. The offset is entered in machine data: MD62608 $MC_TRAFO6_TX3P3_POS (attachment of hand (position component)) The rotation is entered in the machine data: MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of hand (rotation component)) 13.
Page 683 Detailed description 2.4 Descriptions of kinematics SCARA kinematics 5-axis CC kinematics Figure 2-22 5-axis CC kinematics Table 2-14 Configuration data for 5-axis CC kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62606 $MC_TRAFO6_A4PAR MD62601 $MC_TRAFO6 _AXES_TYPE [3, 1, 3, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [2, 1, 3, 4, 5, 6]...
Page 684 Detailed description 2.4 Descriptions of kinematics Machine data Value MD62608 $MC_TRAFO6_TX3P3_POS [300.0, 0.0, -200.0] MD62609 $MC_TRAFO6_TX3P3_RPY [0.0, 0.0, -90.0] MD62610 $MC_TRAFO6_TFLWP_POS [200.0, 0.0, 0.0] MD62611 $MC_TRAFO6_TFLWP_RPY [0.0, 0.0, 0.0] MD62614 $MC_TRAFO6_DHPAR4_5A [200.0, 0.0] MD62615 $MC_TRAFO6_DHPAR4_5D [0.0, 0.0] MD62616 $MC_TRAFO6_DHPAR4_5ALPHA [-90.0, 0.0] 5-axis NR kinematics Figure 2-23 5-axis NR kinematics...
Page 685 Detailed description 2.4 Descriptions of kinematics Machine data Value MD62608 $MC_TRAFO6_TX3P3_POS [500.0, 0.0, 0.0] MD62609 $MC_TRAFO6_TX3P3_RPY [0.0, 90.0, 0.0] MD62610 $MC_TRAFO6_TFLWP_POS [0.0, -300.0, 0.0] MD62611 $MC_TRAFO6_TFLWP_RPY [-90.0, 0.0, 0.0] MD62614 $MC_TRAFO6_DHPAR4_5A [0.0, 0.0] MD62615 $MC_TRAFO6_DHPAR4_5D [0.0, 0.0] MD62616 $MC_TRAFO6_DHPAR4_5ALPHA [-90.0, 0.0] 2.4.4 6-axis kinematics 6-axis kinematics usually imply 3 degrees of freedom for translation and 3 more for...
Page 686 Detailed description 2.4 Descriptions of kinematics Figure 2-24 Special 2-axis SC kinematic Table 2-16 Configuring data for a special 2-axis SC kinematic Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62602 $MC_TRAFO6_SPECIAL_KIN MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [1, 3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR...
Page 687 Detailed description 2.4 Descriptions of kinematics Special 3-axis SC kinematic The special kinematic has 2 Cartesian degrees of freedom and one degree of freedom for orientation. The identifier for this kinematic is: MD62602 $MC_TRAFO6_SPECIAL_KIN = 4 (special kinematic type) Figure 2-25 Special 3-axis SC kinematic Table 2-17 Configuring data for a special 3-axis SC kinematic...
Page 688 Detailed description 2.4 Descriptions of kinematics Machine data Value MD62610 $MC_TRAFO6_TFLWP_POS [200.0, 0.0, 0.0] MD62611 $MC_TRAFO6_TFLWP_RPY [0.0, -90.0, 180.0] Special 4-axis SC kinematic This special kinematic is characterized by the fact that axis 1 and axis 2 are mechanically coupled. This coupling ensures that axis 2 is maintained at a constant angle when axis 1 is swiveled.
Page 689 Detailed description 2.4 Descriptions of kinematics Table 2-18 Configuring data for a special 4-axis SC kinematic Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62602 $MC_TRAFO6_SPECIAL_KIN MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 3, 1, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1] MD62617 $MC_TRAFO6_MAMES...
Page 690 Detailed description 2.4 Descriptions of kinematics Figure 2-27 Special 2-axis NR kinematics Table 2-19 Configuration data for special 2-axis NR kinematics Machine data Value MD62600 $MC_TRAFO6_KINCLASS MD62602 $MC_TRAFO6_SPECIAL_KIN MD62605 $MC_TRAFO6_NUM_AXES MD62603 $MC_TRAFO6_MAIN_AXES MD62604 $MC_TRAFO6_WRIST_AXES MD62601 $MC_TRAFO6_AXES_TYPE [3, 3, ...] MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6] MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]...
Page 691 Detailed description 2.5 Tool orientation Tool orientation 2.5.1 Tool orientation Figure 2-28 Workpieces with 5-axis transformation Programming Three possible methods can be used to program the orientation of the tool: • Directly as "orientation axes" A, B and C in degrees •...
Page 692 Detailed description 2.5 Tool orientation The tool orientation can be located in any block. Above all, it can be programmed alone in a block, resulting in a change of orientation in relation to the tool tip which is fixed in its relationship to the workpiece.
Page 693 Detailed description 2.5 Tool orientation The orientation is selected via NC language commands ORIWKS and ORIMKS. ORIMKS is the initial setting (SW version 2 and higher). The initial setting can be modified via machine data: MD20150 $MC_GCODE_RESET_VALUES (RESET position of G groups) GCODE_RESET_VALUES [24] = 1 →...
Page 694 Detailed description 2.5 Tool orientation Multiple input of tool orientation According to DIN 66025, only one tool orientation may be programmed in a block, e.g. with direction vectors: N50 A3=1 B3=0 C3=0 If the tool orientation is input several times, e.g. with direction vectors and Euler angles: N60 A3=1 B3=1 C3=1 A2=0 B2=1 C2=3 error message 12240 "Channel X block Y tool orientation xx defined more than once"...
Page 695 Detailed description 2.5 Tool orientation Figure 2-29 Orientation angle for 4-axis kinematic 2.5.3 Orientation programming for 5-axis kinematics Tool orientation for 5-axis kinematics For 5-axis kinematics, when programming via orientation vector, it is assumed that the orientation vector corresponds to the x component of the tool. When programming via orientation angle (RPY angle according to robotics definition), the x component of the tool is considered as the initial point for rotations.
Page 696 Detailed description 2.6 Singular positions and how they are handled Figure 2-30 Orientation angle for 5-axis kinematic It is possible to define orientation axes for the handling transformation package. Note Additional information can be found in: /FB3/ Function Manual, Special Functions, "Orientation Axes" /PGA/ Programming Guide Advanced, "Orientation Axes".
Page 697 Detailed description 2.7 Call and application of the transformation Singular positions • A singular position is, for example, characterized by the fact that the fifth axis is positioned at 0°. In this case, the singular position does not depend on a specified orientation.
Page 698 Detailed description 2.7 Call and application of the transformation Deactivation The currently active transformation is deactivated by means of TRAFOOF or TRAFOOF(). Note When deactivating the "handling transformation package" transformation, a preprocessing stop and a preprocessing synchronization are implicitly executed with the main run if the following machine data is set to 4099: MD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1) If the following machine data is set to 4100, there is no implicit preprocessing stop:...
Page 699 Detailed description 2.8 Actual value display Actual value display MCS machine coordinate system The machine axes are displayed in mm/inch and/or degrees in MCS display mode. WCS workpiece coordinate system If the transformation is active, the tool tip (TCP) is specified in mm/inch and the orientation by the RPY angles A, B and C in WCS display mode.
Page 700 Detailed description 2.10 Cartesian PTP travel with handling transformation package Figure 2-31 Tool length programming 2.10 Cartesian PTP travel with handling transformation package It is possible to use the Cartesian PTP travel function with the handling transformation package. For this purpose the following machine data must be set to 4100: MD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1) Note For more information, see the Description of Functions, Special Functions F2 (Part 3)
Page 701 Detailed description 2.10 Cartesian PTP travel with handling transformation package Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 702 Boundary conditions Function-specific alarm texts The procedure to be following while creating function-specific alarm texts is described in: References: /FB3/ Function Manual, Special Functions; Installation and Activation of Readable Compile Cycles (TE01), Section: Creating alarm texts Functional restrictions NCU 572.2 The handling transformation package can be utilized on NCU 572.2 hardware only on condition that is has been specifically enabled for the customer.
Page 703 Boundary conditions 3.2 Functional restrictions Programming of orientation The programming possibilities of the orientation depend on the number of axes available on the machine: Number < 5: • Orientation axis angle Number = 5: • Orientation axis angle • Orientation vector Singularities A pole cannot be crossed when a transformation is active.
Page 704 Examples General information about start-up Note The compile cycles are supplied as loadable modules. The general procedure for installing such compile cycles can be found in TE0. The specific installation measures for this compile cycle can be found from Section "Starting up a kinematic transformation" onwards. HMI software version must be 3.5 or higher.
Page 705 Examples 4.1 General information about start-up 5. If the control system contains machine-specific compensation data, then these must be saved in a separate archive file: – Press the softkey "Data out" and select from the "NC active data" menu according to your needs –...
Page 706 Examples 4.2 Starting up a kinematic transformation Starting up a kinematic transformation The next step necessary to start up the kinematic transformation is to activate the handling transformation package (option). Set the option data for handling transformation package. Interrupts Record the alarm texts in the corresponding language-specific text files. Set option data for transformation.
Page 707 Examples 4.2 Starting up a kinematic transformation 9. Enter any changes to the axis sequence in the machine data: MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes) 10. Enter the data which define the hand: – Wrist axis identifier in the machine data: MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier) –...
Page 708 Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10620 EULER_ANGLE_NAME_TAB[n] Name of Euler angle 19410 TRAFO_TYPE_MASK, bit 4 Option data for OEM transformation 5.1.2 Channelspecific machine data Number Identifier: $MC_ Description 21100 ORIENTATION_IS_EULER Angle definition for orientation programming 21110 X_AXIS_IN_OLD_X_Z_PLANE Coordinate system with automatic FRAME definition...
Page 709 Data lists 5.1 Machine data Number Identifier: $MC_ Description 62606 TRAFO6_A4PAR Axis 4 is parallel/anti-parallel to last basic axis 62607 TRAFO6_MAIN_LENGTH_AB Basic axis lengths A and B 62608 TRAFO6_TX3P3_POS Attachment of hand (position component) 62609 TRAFO6_TX3P3_RPY Attachment of hand (rotation component) 62610 TRAFO6_TFLWP_POS Frame between wrist point and flange (position...
Page 710 Data lists 5.2 Signals Signals 5.2.1 Signals from channel DB number Byte.bit Description 21, … 29.4 Activate PTP traversal 21, … 33.6 Transformation active 21, … Number of active G function of G function group 25 (ORIWKS, ORIMKS, ORIPATH) 21, … 317.6 PTP traversal active Special functions: Handling Transformation Package (TE4)
Page 711 Data lists 5.2 Signals Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 712 Index MD62603, 13, 14, 16, 25, 33, 39, 63 MD62604, 13, 16, 25, 33, 39, 63 MD62605, 20, 25, 33, 39, 63 MD62606, 13, 33, 40, 64 DB21, … MD62607, 13, 26, 33, 40, 63 DBX33.6, 54 MD62608, 13, 34, 40 MD62609, 13, 34, 40 MD62610, 14, 26, 39, 40 MD62611, 14, 26, 33, 39, 40...
Page 713 Index Special functions: Handling Transformation Package (TE4) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 714 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: MCS Coupling (TE6) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 715 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 716: Table Of Contents
Table of contents Brief description ............................5 Detailed description ........................... 7 General information ........................7 Description of MCS coupling functions ..................8 2.2.1 Defining coupling pairs........................8 2.2.2 Switching the coupling ON/OFF.....................8 2.2.3 Tolerance window ..........................9 Description of collision protection ....................10 2.3.1 Defining protection pairs ......................10 2.3.2 Switching collision protection ON / OFF ..................10 2.3.3...
Page 717 Table of contents Special functions: MCS Coupling (TE6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 718: Brief Description
Brief description MCS coupling A 1:1 coupling in the machine coordinate system (MCS coupling) has been introduced in the compile cycle application. The axes involved in the coupling are defined in an axial machine data. The machine data is updated by RESET to allow new axis pairs to be defined in operation. CC_Master, CC_Slave There are CC_Master and CC_Slave axes.
Page 719 Brief description Special functions: MCS Coupling (TE6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 720: Detailed Description
Detailed description General information If a machine tool has 2 or more mutually independent traversing machining heads (in this case K1 (Y/ Z/ C/ A/ W or K2 (Y2/ Z2/ C2/ A2/ W2)), and if a transformation needs to be activated for the machining operation, the orientation axes cannot be coupled by means of the standard coupling functions (COPON, TRAILON).
Page 721: Description Of Mcs Coupling Functions
Detailed description 2.2 Description of MCS coupling functions Description of MCS coupling functions 2.2.1 Defining coupling pairs A CC_Slave axis is matched to its CC_Master axis via the following axial machine data: MD63540 $MA_CC_MASTER_AXIS (specifies the CC_Master axis assigned to a CC_Slave axis) The coupling's axes can only be changed when the coupling is not active.
Page 722: Tolerance Window
Detailed description 2.2 Description of MCS coupling functions A coupling can be disabled via the CC_Slave axis in axial VDI-Out byte: DB31, … DBX24.2 (disable CC_Slave axis coupling) This does not generate an alarm. CC_COPOFF() CC_COPOFF([A1][A2][A3][A4][A5]) As CC_COPON or CC_COPONM() except for the fact that no alarm is generated if A1 to A5 is used to program an axis that is not involved in a coupling.
Page 723: Description Of Collision Protection
Detailed description 2.3 Description of collision protection Description of collision protection 2.3.1 Defining protection pairs A ProtecSlave axis (PSlave) is matched to its ProtecMaster (PMaster) axis via the following axial machine data: MD63542 $MA_CC_PROTECT_MASTER (specifies the PMaster axis assigned to a PSlave axis) The protection pairs can thus be defined independently of the coupling pairs.
Page 724: Configuring Example
Detailed description 2.3 Description of collision protection Warning If the axes are forced to brake, the positions displayed in the workpiece coordinate system are incorrect! These are not re-synchronized again until a system RESET. If the axes are already violating the minimum clearance when collision protection is activated, they can only be traversed in one direction (retraction direction).
Page 725: User-Specific Configurations
Detailed description 2.4 User-specific configurations Note Since the collision protection function extrapolates the target positions from the "current velocity + maximum acceleration (or +20%)", the monitoring alarm may be activated unexpectedly at reduced acceleration rates: Example: PMaster = X, PSlave = X2, $MA_CC_COLLISION_WIN = 10mm Starting point in part program: X=0.0 X2=20.0 N50 G0 X100 X2=90 ;...
Page 726: Special Operating States
Detailed description 2.5 Special operating states Special operating states Reset The couplings can remain active after a RESET. Reorg No non-standard functionalities. Block search During a block search, the last block containing an OEM-specific language command is always stored and then output with the last action block. This feature is illustrated in the following examples.
Page 727 Detailed description 2.5 Special operating states Special functions: MCS Coupling (TE6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 728: Boundary Conditions
Boundary conditions Validity The function is configured only for the first channel. NCU 572.2 The MCS Coupling function can be utilized on NCU 572.2 hardware only on condition that is has been specifically enabled for the customer. Braking behavior Braking behavior at the SW limit with path axes The programmable acceleration factor ACC for braking at the SW limit corresponds to the path axes.
Page 729 Boundary conditions Special functions: MCS Coupling (TE6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 730: Examples
Examples General start-up of a compile cycle function Note The compile cycles are supplied as loadable modules. The general procedure for installing such compile cycles can be found in TE0. You can find the specific supplements to this compile cycle in the section entitled "Update of NCKOEM_CC_0013_01.02.00". Saving SRAM contents As the first step in the installation of a compile cycle function, the technology card is exchanged for the original card provided in the NCU.
Page 731: Update Of Nckoem_Cc_0013_01.02.00
Examples 4.2 Update of NCKOEM_CC_0013_01.02.00 A detailed description is contained in: References: /IAD/ Commissioning Manual SINUMERIK 840D/SIMODRIVE 611D Insert the PC card • Switch off control system • Insert the PC card with the new firmware (technology card) in the PCMCIA slot of the NCU.
Page 732: Data Lists
Data lists Machine data 5.1.1 Channelspecific machine data Number Identifier: $MC_ Description 28090 NUM_CC_BLOCK_ELEMENTS Number of block elements for compile cycles. 28100 NUM_CC_BLOCK_USER_MEM Total size of usable block memory for compile cycles 5.1.2 Axis/spindlespecific machine data Number Identifier: $MA_ Description 63540 CC_MASTER_AXIS Specifies the CC_Master axis assigned to a CC_Slave...
Page 733 Data lists 5.1 Machine data Special functions: MCS Coupling (TE6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 734 Index Clearance control MCS coupling Detailed description, 7 Boundary conditions, 15 Brief description, 5 MD30552, 5 MD32300, 10 MD63540, 8 DB31, … MD63541, 9 DBX24.2, 8 MD63542, 10 DBX24.3, 10 MD63543, 10 DBX66.0, 11 MD63544, 10 DBX97.0, 8 MD63545, 10 DBX97.1, 8 DBX97.2, 8 DBX97.3, 9...
Page 735: Index
Index Special functions: MCS Coupling (TE6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 736 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Retrace Support (TE7) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 737 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 738 Table of contents Brief description ............................5 Detailed description ........................... 7 Functional description ........................7 2.1.1 Definition of terms ..........................8 2.1.2 Functional sequence (principle) .....................9 2.1.3 Retraceable contour area ......................12 Startup............................13 2.2.1 Activating the technological function....................13 2.2.2 Memory configuration: Block memory ..................13 2.2.3 Memory configuration: Heap memory..................14 2.2.4...
Page 739 Table of contents 3.2.6 Compensation ..........................37 3.2.7 Frames ............................37 3.2.8 Tool offsets..........................37 Examples..............................39 Data lists..............................41 Machine data..........................41 5.1.1 General machine data......................... 41 5.1.2 Channelspecific machine data ....................41 Index.............................. Index-43 Special functions: Retrace Support (TE7) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 740: Brief Description
Brief description Function The "Continue machining - Retrace support" technological function ("RESU" in the remainder of this document) supports the retracing of uncompleted 2-dimensional machining processes such as laser cutting, water jet cutting, etc. In the event of a fault during the machining process, e.g. loss of the laser, RESU can be used even by machine operators who do not have specific knowledge of the active part program to interrupt machining and travel back along the contour from the interruption point to a program continuation point necessary for machining purposes.
Page 741 Brief description Function code The code for the "Retrace support" technological function for function-specific identifiers of program commands, machine data, etc. is: • RESU = REtrace SUpport Restrictions The "Retrace support" technological function is subject to the following restrictions: Note The technological function is only available in the 1st channel of the NC.
Page 742: Detailed Description
Detailed description Functional description Meaning To be able to resume interrupted machining at a specific point in a part program, a block search can be carried out using the "Block search with calculation on contour" standard function. However, detailed knowledge of the part program is required to be able to enter the block number of the part program block required for the block search (i.e.
Page 743: Definition Of Terms
Detailed description 2.1 Functional description Figure 2-1 Retraceable contour areas Restrictions RESU is subject to the following application restrictions: 1. Program continuation/reverse travel is only possible for part program blocks which contain contour areas of the 1st and 2nd geometry axes. 2.
Page 744: Functional Sequence (Principle)
Detailed description 2.1 Functional description 2.1.2 Functional sequence (principle) Functional sequence The principle sequence of the RESU function between the interruption point, program continuation point and continuation of part program processing is described below: 1. Requirements: A part program with traversing blocks in the 1st and 2nd geometry axis as well as the part program command for the RESU start has been started in the 1st channel.
Page 745 Detailed description 2.1 Functional description The first NC START command processes the action blocks. Retrace support ASUB: CC_RESU_BS_ASUP.SPF is initiated when the last action block is reached: DB21, … DBX32.7 = 1 For more about ASUB see Subsection "Detailed description / RESU-specific part programs".
Page 746 Detailed description 2.1 Functional description Figure 2-2 Signal chart ① Reverse travel is initiated ② Forward travel is initiated (optional) ③ Retrace support is initiated (block search) ④ Search target (target block) located ⑤ 1st NC START → Action blocks are output ⑥...
Page 747: Retraceable Contour Area
Detailed description 2.1 Functional description 2.1.3 Retraceable contour area In the event of multiple retrace support operations within a single contour range, reverse travel along the contour is only ever possible up to the last program continuation point. On the first reverse travel following RESU start, travel as far back as the start of the contour range is possible.
Page 748: Startup
Detailed description 2.2 Startup Startup Compile cycle Before starting up the technological function, make sure that the corresponding compile cycle has been loaded and activated. (840D) References: /FB3/ Functional Description of Special Functions; Installation of Compile Cycles (TE0) (840Di) References: /HBi/ SINUMERIK 840Di Manual;...
Page 749: Memory Configuration: Heap Memory
Detailed description 2.2 Startup Note The specified values must be entered in addition to the existing machine data value x. 2.2.3 Memory configuration: Heap memory Memory requirements RESU requires compile cycles heap memory for the following function-specific buffers: • Block buffer The larger the block buffer (see Fig.
Page 750: Resu Main Program Memory Area
Detailed description 2.2 Startup Memory configuration By default, RESU requires the following compile cycles heap memory: • MD28105 $MC_MM_NUM_CC_HEAP_MEM = x + 50(heap memory in KB for compile cycles (DRAM)) Note: The specified value is to be added to the already existing machine data value x. •...
Page 751: Storage Location Of The Resu Subroutines
Detailed description 2.2 Startup Fault messages If the RESU main program is created in the dynamic memory area of the NC but no DRAM memory is requested (MD18351 $MN_MM_DRAM_FILE_MEM_SIZE = 0 (size of part program memory (DRAM)), the following alarm is displayed during NC power-up: •...
Page 752: Asub Enable
Detailed description 2.2 Startup As support for series commissioning, by setting the following machine data the RESU- specific subroutines present as user cycles can be deleted without prompting when the NC is powered up: MD62574 $MC_RESU_SPECIAL_FEATURE_MASK, bit 3 = 1 2.2.6 ASUB enable ASUB enable...
Page 753: Programming
Detailed description 2.3 Programming The following signals should be reset for safety reasons: DB21, … DBX0.2 "Start retrace support" == 1 THEN DB21, … DBX0.1 "Forward/Reverse" = 0 DB21, … DBX0.1 "Forward/Reverse" == 1 THEN DB21, … DBX0.2 "Start retrace support" = 0 Program example The following program extract implements the changes described above: DB21, …...
Page 754 Detailed description 2.3 Programming Functionality The following modes are available for starting/stopping/resetting the RESU function: • CC_PREPRE(1) Starts logging the traversing blocks. The information required for reverse travel is logged on a block-specific basis in a RESU- internal block buffer. The traversing information refers to the 1st and 2nd geometry axes of the channel: MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[x];...
Page 755: Resu-Specific Part Programs
Detailed description 2.4 RESU-specific part programs • RESU technological function not present. The technological function is not available. The compile cycle may not have been loaded or has not been activated: number number – Alarm "12340 Channel Block Name CC_PREPRE not defined or option not available"...
Page 756: Main Program (Cc_Resu.mpf)
Detailed description 2.4 RESU-specific part programs 2.4.1 Main program (CC_RESU.MPF) Meaning In addition to the calls for the RESU-specific subroutines, the RESU main program CC_RESU.MPF contains the traversing blocks generated from the traversing blocks logged in the block buffer for reverse/forward travel along the contour. The program is always regenerated by the RESU function if, once the part program has been interrupted, the status of the following interface signal changes: •...
Page 757: Ini Program (Cc_Resu_Ini.spf)
Detailed description 2.4 RESU-specific part programs Note If the number of traversing blocks generated is reduced due to insufficient memory, the entire retraceable contour can still be retraced for retrace support. To do this, proceed as follows: • Travel back to the end of the RESU main program. •...
Page 758 Detailed description 2.4 RESU-specific part programs CC_RESU_INI.SPF has the following content by default: POC CC_RESU_INI G71 G90 G500 T0 G40 F200 ;system frames that are present are deactivated ;actual value and scratching if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H01' $P_SETFRAME = ctrans() endif ;external zero point offset if $MC_MM_SYSTEM_FRAME_MASK B_AND 'H02' $P_EXTFRAME = ctrans()
Page 759: End Program (Cc_Resu_End.spf)
Detailed description 2.4 RESU-specific part programs Caution In changing the content of the RESU-specific subroutine CC_RESU_INI.SPF, the user (machine manufacturer) accepts responsibility for the correct sequence of the technological function. 2.4.3 END program (CC_RESU_END.SPF) The task of the RESU-specific subroutine CC_RESU_END.SPF is to stop reverse travel once the end of the retraceable contour is reached.
Page 760: Retrace Support Asub (Cc_Resu_Bs_Asup.spf)
Detailed description 2.4 RESU-specific part programs 2.4.4 Retrace support ASUB (CC_RESU_BS_ASUP.SPF) The RESU-specific ASUB CC_RESU_BS_ASUP.SPF causes the NC to travel to the current path point when retrace support is activated: • Reapproach next point on path: RMN • Approach along line on all axes: REPOSA CC_RESU_BS_ASUP.SPF has the following content by default: PROC CC_RESU_BS_ASUP SAVE REPOSA...
Page 761: Resu Asub (Cc_Resu_Asup.spf)
ASUB is initiated if the following RESU interface signal is switched over in the NC STOP state: DB21, … DBX0.1 (Forward/Reverse) CC_RESU_ASUP.SPF has the following content: PROC CC_RESU_ASUP ; siemens system asub - do not change G4 F0.001 REPOSA Note CC_RESU_ASUP.SPF must not be changed.
Page 762: Block Search With Calculation On Contour
Detailed description 2.5 Retrace support Subfunctions The two essential subfunctions of retrace support are the standard NC functions: • Block search with calculation on contour • Repositioning on the contour via shortest route (REPOS RMN) 2.5.1 Block search with calculation on contour Meaning The block search with calculation on contour launched implicitly by the RESU function as part of retrace support serves the following purposes:...
Page 763: Reposition
Detailed description 2.5 Retrace support 2.5.2 Reposition Meaning Following the end of the last action block (last traversing block before repositioning), NC START outputs the approach block for repositioning all channel axes programmed in the part program as far as the target block. Geometry axes In the approach block, the 1st and 2nd geometry axes in the channel traverse the shortest route along the contour to the program continuation point.
Page 764: Block Search From Last Main Block
Detailed description 2.5 Retrace support 2. NC START for output of approach block The RESU ASUB CC_RESU_BS_ASUP must be completed. Interface signal: DB21, … DBX318.0 == 1 (ASUB stopped) For more information, see the signal chart for "NC START rejected with alarm" in Figure "Signal chart", Subsection "Functional sequence".
Page 765: Function-Specific Display Data
Detailed description 2.6 Function-specific display data Activation Activation of the block search from the last main block is performed using the following RESU-specific machine data: • MD62575 $MC_RESU_SPECIAL_FEATURE_MASK_2, bit 0 (additional RESU features) – Bit 0 = 0: Retrace support is performed using block search with calculation on contour –...
Page 766 Detailed description 2.6 Function-specific display data HMI Advanced Proceed as follows to create and display the GUD variables in HMI Advanced. 1. Set the password Enter the password for protection level 1: (machine manufacturer). 2. Activate the "definitions" display. Operating area switchover > Services > Data selection 3.
Page 767: Function-Specific Alarm Texts
Detailed description 2.7 Function-specific alarm texts SINUMERIK NCK The new GUD variable, which is already being displayed, will be detected by the RESU function and supplied with an up-to-date value only following an NCK POWER ON RESET. Note Once the GUD variables have been created, an NCK POWER ON RESET must be carried out in order for the RESU function to update the GUD variables.
Page 768: Boundary Conditions
Boundary conditions Function-specific boundary conditions 3.1.1 Within subroutines Meaning Clear retrace support within subroutines depends on whether the subroutine call is made outside or inside a program loop. Outside Clear retrace support is possible if a subroutine is called outside a program loop. Inside Clear retrace support may not be possible if a subroutine is called inside a program loop.
Page 769: Within Program Loops
Boundary conditions 3.1 Function-specific boundary conditions 3.1.2 Within program loops NC high-level language In NC high-level language, program loops can be programmed using: • LOOP ENDLOOP • FOR ENDFOR • WHILE ENDWHILE • REPEAT UNTIL • CASE/IF-ELSE-ENDIF in conjunction with GOTOB If retrace support is performed within program loops, the retrace support is always effective in the first loop run.
Page 770: Boundary Conditions For Standard Functions
Boundary conditions 3.2 Boundary conditions for standard functions Boundary conditions for standard functions 3.2.1 Axis exchange, 1st and 2nd geometry axis As long as RESU is active, the first two geometry axes in the channel must not be transferred to another channel via axis exchange (RELEASE(x)/GET(x)). RESU is active: •...
Page 771: Block Search
Boundary conditions 3.2 Boundary conditions for standard functions 3.2.4 Block search Block search with calculation RESU is subject to the following supplementary conditions in the context of the block search with calculation (on contour/at end of block) standard function: • The last CC_PREPRE(x) RESU part program command run during the block search is effective in the target block.
Page 772: Compensation
Boundary conditions 3.2 Boundary conditions for standard functions 3.2.6 Compensation RESU can be used in conjunction with compensations as the traversing movements of the first two geometry axes on the channel are recorded in the basic coordinate system (BCS) and therefore before the compensation. You will find a complete description of the compensations in: References: /FB2/ Function Manual for Extended Functions;...
Page 773 Boundary conditions 3.2 Boundary conditions for standard functions Contour deviations are always generated if tool radius compensation produces contour elements that are non-linear or circular. For example, G450 DISC=x, where x > 0 produces parabolic or hyperbolic contour elements. You will find a complete description of tool offsets in: References: /FB1/ Function Manual for Basic Functions, Tool Offset (W1) Special functions: Retrace Support (TE7)
Page 774: Examples
Examples No examples are available. Special functions: Retrace Support (TE7) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 775 Examples Special functions: Retrace Support (TE7) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 776: Data Lists
Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 11602 ASUP_START_MASK Ignore stop reasons if an ASUB is running. 11604 ASUP_START_PRIO_LEVEL Defines the Asup priority from which the following machine data is effective: MD11602 $MN_ASUP_START_MASK 18351 MM_DRAM_FILE_MEM_SIZE Size of the memory for files in the DRAM of the passive file system (in KB).
Page 777 Data lists 5.1 Machine data Special functions: Retrace Support (TE7) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 778 Index DBX32.2, 17 DBX32.7, 10 DBX33.4, 27 DBX7.7, 17 Brief description Continue machining - Retrace support, 5 MD11602, 16 MD11604, 16 Continue machining - Retrace support MD18351, 15 Boundary conditions, 31 MD20050, 18 Brief description, 5 MD24120, 18 MD28090, 13 MD28100, 13 MD28105, 14 DB11, …...
Page 779: Index
Index Special functions: Retrace Support (TE7) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 780 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Cycle- Independent Path-Synchronous (TE8) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 781 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 782: Cycle-Independent Path
Table of contents Brief description ............................5 Detailed description ........................... 7 Functional description ........................7 Start-up ............................10 2.2.1 Activating the technological function....................11 2.2.2 Configuring the memory.......................11 2.2.3 Parameterizing the digital on-board outputs ................11 2.2.4 Parameterizing the switching signal ....................12 Programming..........................13 2.3.1 Activation (CC_FASTON) ......................13 2.3.2 Deactivation (CC_FASTOFF) ......................14...
Page 783 Table of contents Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 784: Brief Description
Brief description Function The "cycle-independent path-synchronous switching signal output" technological function is used to output a digital signal dependent on the following states within the 1st channel of the • Rapid traverse G00: active/inactive • Programmed feedrate threshold: undershot/exceeded The activation/selection of which of the two options should control the output of the signal can be programmed via a part program command.
Page 785 Brief description Restrictions The "cycle-independent path-synchronous switching signal output" technological function is subject to the following restrictions: • The technological function is only available in the 1st channel of the NC. Note The technological function is only available in the 1st channel of the NC. Compile cycle The "cycle-independent path-synchronous switching signal output"...
Page 786: Detailed Description
Detailed description Functional description The description of the how the technological function works is based on the example of HSLC (High-Speed Laser Cutting). Calculating the switching positions During high-speed laser cutting, e.g. as used to manufacture perforated sheets, it is absolutely essential to switch the laser beam on/off exactly at the programmed setpoint positions during the machining process.
Page 787 Detailed description 2.1 Functional description Freely programmable threshold value A freely programmable velocity threshold value is used to define the setpoint velocity programmed in the part program block at and above which the switching signal is activated/deactivated. If the setpoint velocity programmed in the part program is higher than the programmed threshold value, the switching signal is deactivated.
Page 788 Detailed description 2.1 Functional description Approached switching position If a switching position is not reached exactly, e.g. in continuous-path mode and travel in more than one geometry axis, switching takes place at the instant at which the positional difference between the actual position of the geometry axes involved and the programmed switching position increases again.
Page 789: Start-Up
Detailed description 2.2 Start-up Behavior with single block and G60 Due to the internal motion logic, negative offset distances (lead) have no effect when used with the following standard functions: • Single block • Exact stop at block end (G60) Note Negative offset distances (lead) have no effect when used with the "single block"...
Page 790: Activating The Technological Function
Detailed description 2.2 Start-up 2.2.1 Activating the technological function The technological function is activated via the following machine data: MD60900 $MN_CC_ACTIVE_IN_CHAN_HSLC[0], bit 0 = 1 (activation of the technology in NC channel 1) Note The technological function is only available in the 1st channel of the NC. 2.2.2 Configuring the memory Memory configuration...
Page 791: Parameterizing The Switching Signal
Detailed description 2.2 Start-up (840D) The complete description of how to parameterize a digital output on a SINUMERIK 840Di is found in: References: /HBi/ SINUMERIK 840Di Manual, NC Start-up with HMI Advanced, Digital and Analogue I/Os (840D) and (840Di) The complete description of the digital outputs is found in: References: /FB2/ Function Manual for Extended Functions, Digital and Analogue NCK I/Os (A4) 2.2.4...
Page 792: Programming
Detailed description 2.3 Programming Effect on other output signals The hardware-timer-controlled output of the switching signal at the parameterized output delays the signal output for the other digital on-board outputs, e.g. due to synchronized actions, by 2 IPO cycles. Note The output of the switching signal delays the signal output of the other digital on-board outputs by 2 IPO cycles.
Page 793: Deactivation (Cc_Fastoff)
Detailed description 2.3 Programming Programming example DEF REAL DIFFON= -0.08 DEF REAL DIFFOFF= 0.08 DEF REAL FEEDTOSWITCH= 20000 CC_FASTON( DIFFON, DIFFOFF, FEEDTOSWITCH ) Changing parameters The parameters for the CC_FASTON( ) procedure can be modified at any time during the execution of the part program.
Page 794: Function-Specific Alarm Texts
Detailed description 2.4 Function-specific alarm texts Function-specific alarm texts The procedure to be following while creating function-specific alarm texts is described in: References: /FB3/ Function Manual, Special Functions; Installation and Activation of Readable Compile Cycles (TE01), Section: Creating alarm texts Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 795 Detailed description 2.4 Function-specific alarm texts Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 796: Boundary Conditions
Boundary conditions Function-specific boundary conditions 3.1.1 Geometry axes The switching positions can only be determined via the programmed traversing movements of the geometry axes in the 1st channel. The following alarm appears if there are no geometry axes in the 1st channel: channel number •...
Page 797 Boundary conditions 3.2 Boundary conditions for standard functions Figure 3-1 Switching signal for part program machining operation • Sequence following block search: If a block search is executed for the block end point of part program block N60, the switching signal is activated on reaching the start position of the geometry axes.
Page 798: Transformations
Boundary conditions 3.2 Boundary conditions for standard functions 3.2.2 Transformations The function will only run correctly with deactivated transformation. There is no monitoring function. You will find a complete description of the transformations in: References: /FB2/ Function Manual for Extended Functions, Kinematic Transformation (M1) /FB3/ Function Manual for Special Functions, Transformation Package Handling (TE4) 3.2.3 Compensation...
Page 799: Software Cams
Boundary conditions 3.2 Boundary conditions for standard functions 3.2.6 Software cams Because the hardware timer is also used for the "software cam" function, it is not possible to use the "clock-independent switching signal output" function with software cams at the same time.
Page 800: Examples
Examples No examples are available. Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 801 Examples Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 802: Data Lists
Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10360 FASTO_NUM_DIG_OUTPUTS Number of digital output bytes 5.1.2 Channelspecific machine data Number Identifier: $MC_ Description 28090 MM_NUM_CC_BLOCK_ELEMENTS Number of block elements for CC 28100 MM_NUM_CC_BLOCK_USER_MEM Size of block memory for CC 62560 FASTON_NUM_DIG_OUTPUT Number of the on-board digital output for the switching...
Page 803 Data lists 5.1 Machine data Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 804 Index MD28090, 11 MD28100, 11 MD60900, 10 MD62560, 12 Cycle-independent path-synchronous switching signal output Brief description, 5 Path-synchronous switch signal output Brief description, 5 MD10240, 13 MD10360, 11 Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 805: Index
Index Special functions: Cycle-Independent Path-Synchronous Signal Output (TE8) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 806 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Axis pair collusion protection (TE9) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 807 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 808 Table of contents Short description............................5 Detailed description ........................... 7 Machine data..........................7 Enabling/disabling of protection .....................8 Function-specific alarm texts ......................8 Restrictions..............................9 Example..............................11 Data lists..............................13 Machine data..........................13 5.1.1 General machine data........................13 5.1.2 Machine data of the compile cycle function .................13 Index...............................Index-15 Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 809 Table of contents Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 810: Short Description
Short description Axis pair collusion protection The "Axis pair collusion protection" enables a collision protection for axis pairs moving on the same guide rails that can thus collide. The axis pairs should not be located in the same channel. Note The fuction is limited to 5 axis pairs.
Page 811 Short description Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 812: Detailed Description
Detailed description PROT Several axis pairs can be defined with the "PROT" (compile cycle file CCPROT.ELF) function, which are then protected against mutual collision. Machine data Switch on CC channel The CC channel (compile cycle channel) is specifically activated in the machine data: MD60972 $MN_CCACTIVE_IN_CHAN_PROT[2] Defining axis pairs All axis pairs are defined in the machine data:...
Page 813: Enabling/Disabling Of Protection
Detailed description 2.2 Enabling/disabling of protection Protection window The protection window is recorded in the machine data: MD61519 $MN_CC_PROTECT_WINDOW[n] Enabling/disabling of protection Enabling/disabling The protection is active: • as soon as a valid axis pair is defined in the machine data: MD61516 $MN_PROTECT_PAIRS[n] •...
Page 814: Restrictions
Restrictions No supplementary conditions apply. Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 815 Restrictions Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 816: Example
Example Example Machine axes A1, A3 and A12 move on a common guide rail (refer to following figure). Figure 4-1 machine axes A1, A3, A12 A full protection can be achieved through 2 pairs independently of the associated channel of the axes: Pair 1 $MN_CC_PROTECT_PAIRS[0] = 103...
Page 817 Example Result In each interpolation cycle, the control calculates the positions of the two axes, if they are braked at maximum acceleration (MD63514 $MA_CC_PROTECT_ACCEL). If the destination points are located inside the protection window, then the axis moving in the direction of collision is braked.
Page 818: Data Lists
Data lists Machine data 5.1.1 General machine data Number Identifier: $ON_ Description 19610 TECHNO_EXTENSION_MASK[3 (6)] Release of function with the help of MD19610 in Bit 4 $ON_TECHNO_EXTENSION_MASK[2] = 'H10' 5.1.2 Machine data of the compile cycle function General machine data Number Identifier: $MN_ Description...
Page 819 Data lists 5.1 Machine data Notice The 61517 – 61519 machine data is not updated for an active pair! Axis-specific machine data Number Identifier: $MA_ Description 61514 CC_PROTECT_ACCEL Brake acceleration of the axis. In case of protection, the axis is braked at this acceleration.
Page 820: Index
Index MD61516, 7, 8 MD61517, 7 MD61518, 7 MD61519, 8 MD32200, 12 MD63514, 11 MD32433, 12 MD32434, 12 MD60972, 7 Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 821 Index Special functions: Axis pair collusion protection (TE9) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 822 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Preprocessing (V2) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 823 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 824 Table of contents Brief description ............................5 Detailed description ........................... 7 General functionality ........................7 Program handling...........................9 Program call ..........................12 Boundary conditions ........................14 Boundary conditions ..........................17 Example..............................19 Preprocessing individual files.......................19 Preprocessing in the dynamic NC memory .................20 Data lists..............................21 Machine data..........................21 5.1.1 General machine data........................21...
Page 825 Table of contents Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 826: Brief Description
Brief description Preprocessing The programs stored in the directories for standard and user cycles can be preprocessed to reduce runtimes. Preprocessing is activated via machine data. Standard and user cycles are preprocessed when the power is switched on, i.e. as an internal control function, the part program is translated (compiled) into a binary intermediate code optimized for processing purposes.
Page 827 Brief description Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 828: Detailed Description
Detailed description General functionality General information Preprocessing standard and user cycles is possible. The processing time of part programs can then be reduced without restricting the control functionality. The standard and user cycles are preprocessed when machine data is set accordingly: MD10700 $MN_PREPROCESSING_LEVEL (program preprocessing level) Preprocessing is carried out program-specifically.
Page 829 Detailed description 2.1 General functionality While branches and check structures are invalidated by a search through all blocks (block start) when part programs are interpreted in ASCII format (active as default), a branch is made directly to the destination block in a preprocessed part program. The runtime differences between branches and check structures are thus eliminated.
Page 830: Program Handling
This is a sensible setting when no cycles with call parameters are used. During control power-up, the call description of the cycles is generated. All user cycles (_N_CUS_DIR directory) and Siemens cycles (_N_CST_DIR directory) with transfer parameters can be called up without external statement. Changes to the cycle-call interface do not take effect until the next POWER ON.
Page 831 Detailed description 2.2 Program handling Note Program changes to precompiled programs do not take effect until the next POWER ON. Access rights The preprocessed program can only be executed, but not read or written. The compilation cannot be modified or archived. The original cycles _SPF files are not deleted. The compilation is not changed when the ASCII cycle is altered, i.e.
Page 832 Detailed description 2.2 Program handling Example: ; 1 name PROC NAMES ; 2 names DEF INT VARIABLE, ARRAY[2] ; 1 name, only for preprocessing START: ; 1 name, only for preprocessing FOR VARIABLE = 1 TO 9 G1 F10 X=VARIABLE*10-56/86EX4+4*SIN(VARIABLE/3) ;...
Page 833: Program Call
Detailed description 2.3 Program call Program call Overview Figure 2-1 Generation and call of preprocessed cycles without parameters Figure 2-2 Generation and call of preprocessed cycles with parameters Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 834 SPF program. • The change to an external language mode with G291 is rejected and an alarm issued. When the pre-compiled cycle is called, an explicit change is made to the Siemens language mode. • When the subroutine is called, it is checked whether the compiled file is older than the cycle.
Page 835 Detailed description 2.4 Boundary conditions Syntax check All program errors that can be corrected by means of a compensation block are detected during preprocessing. In addition, when the program includes branches and check structures, a check is made to ensure that the branch destinations are present and that structures are nested correctly.
Page 836 Detailed description 2.4 Boundary conditions The axes to be traversed are addressed indirectly via machine data or transferred as parameters: • Indirect axis programming: – IF $AA_IM[AXNAME($MC_AXCONF_CHANAX_NAME_TAB[4])] > 5 ; This branch will pass through if the actual value of the 5th channel axis ;...
Page 837 Detailed description 2.4 Boundary conditions Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 838: Boundary Conditions
Boundary conditions Availability of the "preprocessing" function The function is an option and is available with SINUMERIK 840D. Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 839: Boundary Conditions
Boundary conditions Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 840: Example
Example Preprocessing individual files ; Preprocessing if bit 5 = 1 PROC UP1 PREPRO ; in PREPROCESSING_LEVEL N1000 DEF INT COUNTER N1010 TARGET: G1 G91 COMPON N1020 G1 X0.001 Y0.001 Z0.001 F100000 N1030 COUNTER=COUNTER+1 N1040 COUNTER=COUNTER-1 N1050 COUNTER=COUNTER+1 N1060 IF COUNTER<=10 GOTOB TARGET N1070 M30 PROC UP2 N2000 DEF INT VARIABLE, ARRAY[2]...
Page 841: Preprocessing In The Dynamic Nc Memory
Example 4.2 Preprocessing in the dynamic NC memory Sample constellations: a) Bit 5 = 1 MD10700 $MN_PREPROCESSING_LEVEL=45 ; bit 0, 2, 3, 5 Subroutine UP1 is pretranslated, and the call description is generated. Subroutine UP2 is not pretranslated, but the call description is generated. b) Bit 5 = 0 MD10700 $MN_PREPROCESSING_LEVEL=13 ;...
Page 842: Data Lists
Data lists Machine data 5.1.1 General machine data Number Identifier: $MN_ Description 10700 PREPROCESSING_LEVEL Program preprocessing level 18242 MM_MAX_SIZE_OF_LUD_VALUE Maximum LUD-variable array size 5.1.2 Channelspecific machine data Number Identifier: $MC_ Description 28010 MM_NUM_REORG_LUD_MODULES Number of blocks for local user variables for REORG (DRAM) 28020 MM_NUM_LUD_NAMES_PER_PROG...
Page 843 Data lists 5.1 Machine data Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 844 Index MD18180, 8 MD18242, 10 MD18351, 9 MD20060, 13 Access rights, 9 MD20080, 13 Activation/Deactivation, 8 MD28010, 9 Axis identifier, 13 MD28020, 9 MD28040, 10 Memory requirements, 9 Boundary conditions, 13 Program handling, 8 Call condition, 12 Compiling, 9 Runtime optimization, 7 Detailed description, 7 Start, 12 Syntax check, 13...
Page 845: Index
Index Special functions: Preprocessing (V2) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 846 840D sl/840Di sl/840D/840Di/810D Data lists Special functions: 3D Tool Radius Compensation (W5) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 847 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 848 Table of contents Brief description ............................5 Machining modes...........................7 Detailed description ........................... 9 Circumferential milling........................9 2.1.1 Corners for circumferential milling ....................11 2.1.2 Behavior at outer corners......................12 2.1.3 Behavior at inside corners ......................16 Face milling ..........................20 2.2.1 Cutter shapes..........................20 2.2.2 Orientation............................22 2.2.3 Compensation on path.........................23 2.2.4...
Page 849 Table of contents Special functions: 3D Tool Radius Compensation (W5) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 850: Brief Description
Brief description Why 3D TRC? 3D tool radius compensation is used to machine contours with tools that can be controlled in their orientation independently of the tool path and shape. Note This description is based on the specifications for 2D tool radius compensation. References: /FB1/ Function Manual, Basic Functions;...
Page 851 Brief description 1.1 Machining modes Figure 1-1 21/2D and 3D tool radius compensation The parameters for the operation shown in Fig. "Face milling" are described in detail in the corresponding Subsection. Figure 1-2 Face milling Orientation With 3D TRC, a distinction must be drawn between: •...
Page 852: Machining Modes
Brief description 1.1 Machining modes Machining modes There are two modes for milling spatial contours: • Circumferential milling • Face milling Circumferential milling mode is provided for machining so-called ruled surfaces (e.g. taper, cylinder, etc.) while face milling is used to machine curved (sculptured) surfaces. Circumferential milling Tools will be applied as follows for circumferential milling: •...
Page 853 Brief description 1.1 Machining modes Special functions: 3D Tool Radius Compensation (W5) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 854: Detailed Description
Detailed description The following section provides a detailed function description of 3D tool radius compensation with respect to the following cutter shapes: • Circumferential milling and • Face milling. Tool orientation The term tool orientation describes the geometric alignment of the tool in space. The tool orientation on a 5-axis machine tool can be set by means of program commands.
Page 855 Detailed description 2.1 Circumferential milling Figure 2-1 Circumferential milling Insertion depth (ISD) Program command ISD (insertion depth) is used to program the tool insertion depth for circumferential milling operations. This makes it possible to change the position of the machining point on the outer surface of the tool. ISD defines the distance between cutter tip FS and cutter construction point FH.
Page 856: Corners For Circumferential Milling
Detailed description 2.1 Circumferential milling 2.1.1 Corners for circumferential milling Outside corners/inside corners Outside corners and inside corners must be treated separately. The terms inside corner and outside corner are dependent on the tool orientation. When the orientation changes at a corner, for example, the corner type may change while machining is in progress.
Page 857: Behavior At Outer Corners
Detailed description 2.1 Circumferential milling 2.1.2 Behavior at outer corners In the same manner as 21/2D tool radius compensation procedures, a circle is inserted at outer corners for G450 and the intersection of the offset curves is approached for G451. With nearly tangential transitions, the procedure for active G450 is as with G451 (limit angle is set via machine data).
Page 858 Detailed description 2.1 Circumferential milling Change in orientation The method by which the orientation is changed at an outer corner is determined by the program command that is active in the first traversing block of an outer corner. Figure 2-5 ORIC: Change in orientation and path movement in parallel Example: ;...
Page 859 Detailed description 2.1 Circumferential milling Special case Intermediate blocks without traversing and orientation motions are executed at the programmed positions, e.g. auxiliary functions. Example: N70 X60 ; Auxiliary function call N75 M20 ; Change in orientation of external corners generated from N80 A3=1 B3=0 C3=1 N90 Y60 ;...
Page 860 Detailed description 2.1 Circumferential milling Example: N10 A0 B0 X0 Y0 Z0 F5000 ; Radius=5 N20 T1 D1 ; Transformation selection N30 TRAORI(1) ;3D TRC selection N40 CUT3DC N50 ORID ; TRC selection N60 G42 X10 Y10 N70 X60 ; Change in orientation of external corners generated from N80 A3=1 B3=0 C3=1 N90 Y60 ;...
Page 861: Behavior At Inside Corners
Detailed description 2.1 Circumferential milling 2.1.3 Behavior at inside corners Collision monitoring With the 3D compensation function, only adjacent traversing blocks are taken into account in the calculation of intersections. Path segments must be long enough to ensure that the contact points of the tool do not cross the block limits into other blocks when the orientation changes at an inside corner.
Page 862 Detailed description 2.1 Circumferential milling With change in orientation If the orientation changes on a block transition, the tool moves in the inside corner so that it is constantly in contact with the two blocks forming the corner. When the orientation changes in a block that is one of the two blocks forming the inside corner, then it is no longer possible to adhere to the programmed relationship between path position and associated orientation.
Page 863 Detailed description 2.1 Circumferential milling Figure 2-9 Change in insertion depth Special functions: 3D Tool Radius Compensation (W5) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 864 Detailed description 2.1 Circumferential milling Example of inside corners Figure 2-10 Change in orientation at an inside corner Example: N10 A0 B0 X0 Y0 Z0 F5000 ; Radius=5 N20 T1 D1 ; Transformation selection N30 TRAORI(1) ;3D TRC selection N40 CUT3DC N50 ORID ;...
Page 865: Face Milling
Detailed description 2.2 Face milling Face milling The face milling function allows surfaces with any degree or form of curvature to be machined. In this case, the longitudinal axis of the tool and the surface normal vector are more or less parallel. In contrast, the longitudinal axis and the surface normal vector of the surface to be machined in a circumferential milling operation are at right angles to one another.
Page 866 Detailed description 2.2 Face milling The shaft characteristics are not taken into account on any of the tool types. For this reason, the two tool types 120 (end mill) and 155 (bevel cutter), for example, have an identical machining action since only the section at the tool tip is taken into account. The only difference between these tools is that the tool shape is represented differently (dimensions).
Page 867: Orientation
Detailed description 2.2 Face milling A change in tool involving only a change in other tool data (e.g. tool length) is permitted provided that no other restrictions apply. An alarm is output if a tool is changed illegally. 2.2.2 Orientation The options for programming the orientation have been extended for 3D face milling.
Page 868: Compensation On Path
Detailed description 2.2 Face milling If a block is shortened (inside corner), then the interpolation range of the surface normal vector is reduced accordingly, i.e. the end value of the surface normal vector is not reached as it would be with other interpolation quantities such as, for example, the position of an additional synchronized axis.
Page 869 Detailed description 2.2 Face milling Figure 2-13 Change in the machining point on the tool surface close to a point in which surface normal vector and tool orientation are parallel The problem is basically solved as follows: If the angle d between the surface normal vector and tool orientation w is smaller than a limit value (machine data) δ...
Page 870: Corners For Face Milling
Detailed description 2.2 Face milling 2.2.4 Corners for face milling Two surfaces which do not merge tangentially form an edge. The paths defined on the surfaces make a corner. This corner is a point on the edge. The corner type (inside or outside corner) is determined by the surface normal of the surfaces involved and by the paths defined on them.
Page 871: Behavior At Outer Corners
Detailed description 2.2 Face milling 2.2.5 Behavior at outer corners Outside corners are treated as if they were circles with a 0 radius. The tool radius compensation acts on these circles in the same way as on any other programmed path. The circle plane extends from the final tangent of the first block to the start tangent of the second block.
Page 872: Behavior At Inside Corners
Detailed description 2.2 Face milling 2.2.6 Behavior at inside corners The position of the tool in which it is in contact with the two surfaces forming the corner must be determined at an inside corner. The contact points must be on the paths defined on both surfaces.
Page 873 Detailed description 2.2 Face milling The difference between the programmed point on the path and the point actually to be approached (path offset p) is eliminated linearly over the entire block length. Differences resulting from inside corners at the block start and block end are overlaid. The current difference in a path point is always perpendicular to the path and in the surface defined by the surface normal vector.
Page 874: Monitoring Of Path Curvature
Detailed description 2.3 Selection/deselection of 3D TRC 2.2.7 Monitoring of path curvature The path curvature is not monitored, i.e. the system does not usually detect any attempt to machine a concave surface that is curved to such a degree that the tool currently in use is not capable of performing the machining operation.
Page 875: Deselection Of 3D Trc
Detailed description 2.3 Selection/deselection of 3D TRC TRC selection The program commands used to select 3D TRC are the same as those for 2D TRC. G41/G42 specify the compensation on the left or right in the direction of motion (the response on selection of G41 and G42 for 3D face milling is identical).
Page 876: Boundary Conditions
Boundary conditions Availability of the "3D tool radius compensation" function The function is an option and is available for • SINUMERIK 840D with NCU 572/573 Special functions: 3D Tool Radius Compensation (W5) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 877 Boundary conditions Special functions: 3D Tool Radius Compensation (W5) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 878: Examples
Examples Example program for 3D circumferential milling: ; Definition of tool D1 ; Type (end mill) $TC_DP1[1,1]=120 ; Length offset vector $TC_DP3[1,1] = ; Radius $TC_DP6[1.1] =8 ; Selection of the tool N10 X0 Y0 Z0 T1 D1 F12000 ; Activate transformation N20 TRAORI(1) ;...
Page 879 Examples Example program for 3D face milling: ; Definition of tool D1 ;Tool type (torus cutter) N20 $TC_DP1[1,1] = 121 ; Length compensation N30 $TC_DP3[1,1]=20 ; Radius N40 $TC_DP6[1,1]=5 ; Smoothing radius N50 $TC_DP7[1,1]=3 ; Selection of the tool N80 X0 Y0 Z0 A0 B0 C0 G17 T1 D1 F12000 N90 TRAORI(1) ;...
Page 880: Data Lists
Data lists General machine data Number Identifier: $MN_ Description 18094 MM_NUM_CC_TDA_PARAM Number of TDA data 18096 MM_NUM_CC_TOA_PARAM Number of TOA data, which can be set up per tool and evaluated by the CC 18100 MM_NUM_CUTTING_EDGES_IN_TOA Tool offsets per TOA module 18110 MM_NUM_TOA_MODULES Number of TOA modules...
Page 881: 5.2 Channelspecific Machine Data
Data lists 5.2 Channelspecific machine data Number Identifier: $MC_ Description 20610 ADD_MOVE_ACCEL_RESERVE Acceleration reserve for overlaid movements 21080 CUTCOM_PARALLEL_ORI_LIMIT Limit angle between path tangent and tool orientation with 3D tool radius compensation 21082 CUTCOM_PLANE_ORI_LIMIT Minimum angle between surface normal and tool orientation with side angle not equal to 0 21084 CUTCOM_PLANE_PATH_LIMIT...
Page 882 Index Behavior at inside corners, 26 Insertion depth (ISD), 10 Behavior at outer corners, 25 Intermediate blocks, 29 Intersection procedure for 3D compensation, 15 ISD, 10 Change in orientation, 12, 26 Change insertion depth, 17 Circumferential milling, 9 MD21084, 22 CUT3DC, 29 CUT3DF, 29 CUT3DFF, 29...
Page 883: Index
Index Special functions: 3D Tool Radius Compensation (W5) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 884: Path Length Evaluation (W6)
840D sl/840Di sl/840D/840Di/810D Data lists Special functions: Path length evaluation (W6) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 885 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 886 Table of contents Brief description ............................5 Customer benefit..........................5 Features ............................5 Preconditions ..........................5 Detailed description ........................... 7 General Information ........................7 Data..............................8 Startup............................8 2.3.1 Parameterization ..........................8 2.3.1.1 General activation ..........................8 2.3.1.2 Data groups............................9 Programming..........................9 2.4.1 Programming..........................9 Supplementary conditions ........................11 Supplementary conditions......................11 Examples..............................
Page 887 Table of contents Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 888: Brief Description
Brief description Customer benefit With the "Path length evaluation" function, the NCK selected machine axis data is made available as the system and OPI variables. For example: • Total traverse path of an axis • Total travel time of an axis •...
Page 889 Brief description 1.3 Preconditions Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 890: Detailed Description
Detailed description General Information With the "Path length evaluation" function, the NCK specific machine axis data is made available as the system and OPI variables, with whose help it is possible to assess the strain on the machine axes and thereby make an evaluation on the state of the machine's maintenance.
Page 891: Data
Detailed description 2.2 Data Data The following data is available: System variable OPI variable Meaning $AA_TRAVEL_DIST aaTravelDist Total traverse path: sum of all set position changes in MCS in [mm] or [deg.]. $AA_TRAVEL_TIME aaTravelTime Total travel time: sum of IPO clock cycles from set position changes in MCS in [s] (solution: 1 IPO clock cycle) $AA_TRAVEL_COUNT...
Page 892: Data Groups
Detailed description 2.4 Programming 2.3.1.2 Data groups The data has been collected into data groups. Activation of data groups occurs via the axis- specific machine data: MD33060 $MA_MAINTENANCE_DATA (configuration, recording maintenance data) Bit Value Activation of the following data: System variable / OPI variable Total traverse path: $AA_TRAVEL_DIST / aaTravelDist •...
Page 893 Detailed description 2.4 Programming Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 894: Supplementary Conditions
Supplementary conditions Supplementary conditions There are no supplementary conditions to note. Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 895 Supplementary conditions 3.1 Supplementary conditions Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 896: Examples
Examples Traversal per part program Three geometry axes AX1, AX2 and AX3 exist in a machine. For geometry axis AX1, the part program-driven total traverse path, total travel time and travel count should be calculated. Parameterization Activation of the overall function: MD18860 $MN_MM_MAINTENANCE_MON = TRUE Group activation: "total traverse path, total travel time and travel count"...
Page 897 Examples 4.1 Traversal per part program Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 898: Data Lists
Data lists Machine data 5.1.1 NC-specific machine data Number Identifier: $MN_ Description 18860 MM_MAINTENANCE_MON Activate recording of maintenance data 5.1.2 Axis/spindlespecific machine data Number Identifier: $MA_ Description 33060 MAINTENANCE_DATA Configuration, recording maintenance data Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 899 Data lists 5.1 Machine data Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 900 Index aaJerkTime, 8 aaJerkTotal, 8 aaTravelCount, 8 aaTravelCountHS, 8 $AA_JERK_COUNT, 8 aaTravelDist, 8 $AA_JERK_TIME, 8 aaTravelDistHS, 8 $AA_JERK_TOT, 8 aaTravelTime, 8 $AA_TRAVEL_COUNT, 8 aaTravelTimeHS, 8 $AA_TRAVEL_COUNT_HS, 8 $AA_TRAVEL_DIST, 8 $AA_TRAVEL_DIST_HS, 8 $AA_TRAVEL_TIME, 8 $AA_TRAVEL_TIME_HS, 8 MD18860, 8, 13 MD33060, 8, 13 aaJerkCount, 8 Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 901: Index
Index Special functions: Path length evaluation (W6) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 902 SINUMERIK 840D sl/840Di sl/840D/840Di/810D Special functions: NC/PLC interface signals (Z3) Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 903 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 904 Table of contents Brief description ............................5 Detailed description ........................... 7 3-Axis to 5-Axis Transformation (F2) .....................7 2.1.1 Signals from channel (DB21, ...) ....................7 Gantry Axes (G1) ...........................9 2.2.1 Signals to axis/spindle (DB31, ...) ....................9 2.2.2 Signals from axis/spindle (DB31, ...)....................10 Cycle Times (G3) .........................13 Contour Tunnel Monitoring (K6)....................13 Axis Couplings and ESR (M3) .....................14...
Page 905 Table of contents 2.19 3D Tool Radius Compensation (W5) ..................27 2.20 Path length evaluation (W6)......................27 Index.............................. Index-29 Special functions: NC/PLC interface signals (Z3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 906: Brief Description
Brief description The section entitled "NC/PLC interface signals" includes a detailed description of NC/PLC interface signals relevant to function: • PLC messages (DB2) • NC (DB10) • Mode group (DB11) • OP (DB19) • NCK channel (DB21-DB30) • Axis/spindle (DB31-DB61) •...
Page 907 Brief description Special functions: NC/PLC interface signals (Z3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 908: Detailed Description
Detailed description 3-Axis to 5-Axis Transformation (F2) 2.1.1 Signals from channel (DB21, ...) DB21, ... DBX29.4 activate PTP traversal Edge evaluation: Yes Signal(s) updated: Signal state 1 or edge activate PTP traversal. change 0 → 1 Signal state 0 or edge Activate CP traversal.
Page 909 Detailed description 2.1 3-Axis to 5-Axis Transformation (F2) DB21, … DBX317.6 PTP traversal active Edge evaluation: Yes Signal(s) updated: Signal state 1 or edge PTP traversal active. change 0 → 1 Signal state 0 or edge CP traversal active. change 1 → 0 Signal irrelevant for ...
Page 910: Gantry Axes (G1)
Detailed description 2.2 Gantry Axes (G1) Gantry Axes (G1) 2.2.1 Signals to axis/spindle (DB31, ...) DB31, ... DBX29.4 Start gantry synchronization Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge Request from PLC user program to synchronize the leading axis with the assigned change 0 →...
Page 911: Signals From Axis/Spindle (Db31
Detailed description 2.2 Gantry Axes (G1) DB31, ... DBX29.5 Automatic synchronization Application example(s) The automatic synchronization process can be disabled by sending a VDI signal to the axial PLC → NC interface of the master axis. This always makes sense when the axes are not activated by default.
Page 912 Detailed description 2.2 Gantry Axes (G1) DB31, ... DBX101.3 Gantry warning limit exceeded Signal state 0 or edge The difference between the position actual values of the leading and synchronized axes is change 1 → 0 less than the limit value defined with machine data: MD37110 $MA_GANTRY_POS_TOL_WARNING (gantry warning limit) Signal irrelevant for ...
Page 913 Detailed description 2.2 Gantry Axes (G1) DB31, ... DBX101.5 Gantry grouping is synchronized Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge The gantry axis grouping defined with the following machine data is synchronized: change 0 → 1 MD37100 $MA_GANTRY_AXIS_TYPE (gantry axis definition) Any existing misalignment between the leading and synchronized axes (e.g.
Page 914: Cycle Times (G3)
Detailed description 2.3 Cycle Times (G3) DB31, ... DBX101.6 Gantry leading axis Signal state 0 or edge The axis is defined as the synchronized axis within a gantry axis grouping (see MD37100). change 1 → 0 It is not possible to traverse a synchronized axis directly by hand (in JOG mode) or to program it in a part program.
Page 915: Axis Couplings And Esr (M3)
Detailed description 2.5 Axis Couplings and ESR (M3) Axis Couplings and ESR (M3) 2.5.1 Signals to axis (DB31, ...) DB31, … Active following axis overlay DBX26.4 Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge An additional traversing motion can be overlaid on the following axis. change 0 →...
Page 916 Detailed description 2.5 Axis Couplings and ESR (M3) DB31, … DBX98.6 Acceleration warning threshold Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or edge When the following axis acceleration in the axis grouping of the electronic gear (set in change 0 →...
Page 917: Setpoint Exchange (S9)
Detailed description 2.6 Setpoint Exchange (S9) DB31, … DBX99.3 Axis accelerated Signal state 0 or edge The following axis acceleration in the axis grouping of the electronic gear is less than the change 1 → 0 operating value described above. Signal irrelevant ...
Page 918: Tangential Control (T3)
Detailed description 2.7 Tangential Control (T3) Tangential Control (T3) 2.7.1 Special response to signals The movement of the axis under tangential follow-up control to compensate for a tangent jump at a corner of the path (defined by the movements of the leading axis) can be stopped by the following signals (e.g.
Page 919: Signals From Channel (Db21
Detailed description 2.10 Clearance Control (TE1) DB21, ... DBX1.5 CLC_Override Edge evaluation: no Signal(s) updated: Cyclic Signal state 1 or The channel-specific override DB21, … DBB4 (feed rate override) also applies to the edge change 0 → 1 clearance control Override settings <...
Page 920 Detailed description 2.10 Clearance Control (TE1) DB21, ... DBX37.5 CLC motion at upper motion limit Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or The traversing movement of the clearance-controlled axes based on clearance control has edge change 0 → 1 been stopped at the upper movement limit set in MD62506 $MC_CLC_SENSOR_UPPER_LIMIT (Upper motion limit of clearance control) or programmed with CLC_LIM(..).
Page 921: Analog Axis (Te2)
Detailed description 2.11 Analog Axis (TE2) 2.11 Analog Axis (TE2) No signal description required. 2.12 Speed/Torque Coupling, Master-Slave (TE3) 2.12.1 Signals to axis/spindle (DB31, ...) DB31, ... DBX24.5 Activate torque compensatory controller Edge evaluation: Yes Signal(s) updated: Cyclic Signal state 1 or edge Torque compensatory controller is to be activated.
Page 922: Signals From Axis/Spindle (Db31
Detailed description 2.12 Speed/Torque Coupling, Master-Slave (TE3) 2.12.2 Signals from axis/spindle (DB31, ...) DB31, ... DBX96.2 Differential speed "Fine" Edge evaluation: No Signal(s) updated: Cyclic Signal state 1 or The differential speed is in the range defined by the following machine data: edge change 0 →...
Page 923: Handling Transformation Package (Te4)
Detailed description 2.13 Handling Transformation Package (TE4) 2.13 Handling Transformation Package (TE4) 2.13.1 Signals from channel (DB21, ...) DB21, ... DBX29.4 Activate PTP traversal Edge evaluation: Yes Signal(s) updated: Signal state 1 or Activate PTP traversal. edge change 0 → 1 Signal state 0 or Activate CP traversal.
Page 924: Mcs Coupling (Te6)
Detailed description 2.14 MCS Coupling (TE6) DB21, ... DBX317.6 PTP traversal active Signal state 0 or CP traversal active. edge change 1 → 0 Signal irrelevant for No handling transformations active. Additional references /FB3/ Function Manual, Special Functions; 3-Axis to 5-Axis Transformation (F2) 2.14 MCS Coupling (TE6) 2.14.1...
Page 925: Signals From Axis/Spindle (Db31
Detailed description 2.14 MCS Coupling (TE6) 2.14.2 Signals from axis/spindle (DB31, ...) DB31, … DBX66.0 Activate monitor Edge evaluation: No Signal(s) updated: Signal state 1 Monitoring is active. This readout must be activated by the PSlave axis in the the following machine data: MD63543 $MD_CC_PROTECT_OPTIONS Note: Conflicts may occur in connection with customer-specific compile cycles.
Page 926: Retrace Support (Te7)
Detailed description 2.15 Retrace Support (TE7) DB31, … DBX97.3 Offset after point of activation Signal state 1 New offset after point of activation. This bit is set to 1 if a particular event (SW/HW limit switch on CC_Slave axis) causes a change in the offset between CC_Master and CC_Slave stored when the coupling was activated.
Page 927: Signals From Channel
Detailed description 2.16 Cycle-Independent Path-Synchronous Signal Output (TE8) 2.15.2 Signals from channel DB21, ... DBX32.1 Retrace mode active Edge evaluation: No Signal(s) updated: Signal state 1 The "Retrace mode active" signal is active as long as the control is in Retrace mode. This is the case from initial activation of the "reverse/forward"...
Page 928 Detailed description 2.19 3D Tool Radius Compensation (W5) 2.19 3D Tool Radius Compensation (W5) No signal descriptions required. 2.20 Path length evaluation (W6) No signal descriptions required. Special functions: NC/PLC interface signals (Z3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 929 Detailed description 2.20 Path length evaluation (W6) Special functions: NC/PLC interface signals (Z3) Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 930 Index DBX37.5, 18 DBX6.7, 17 DB21, … DBB4, 17 Acceleration warning threshold, 14 DBX1.4, 19 Activate coupling, 23 DBX317.6, 8 Activate master-slave coupling, 20 DBX318.2, 8 Activate mirroring, 23 DBX318.3, 8 Activate monitor, 23 DBX37.4, 18 activate PTP traversal, 7 DBX37.5, 18 Activate PTP traversal, 21 DB31, ...
Page 931 Index Gantry grouping is synchronized, 11 Gantry leading axis, 12 PTP traversal active, 8, 22 Gantry synchronization ready to start, 11 Gantry trip limit exceeded, 10 Gantry warning limit exceeded, 10 Retrace mode active, 25 Retrace support active, 25 Reverse/Forward, 24 MD37100, 9 MD37120, 10 MD37130, 10...
Page 932 SINUMERIK SINUMERIK 840D sl/840Di sl/840D/840Di/810D Special functions: Appendix Function Manual Valid for Control SINUMERIK 840D sl/840DE sl SINUMERIK 840Di sl/840DiE sl SINUMERIK 840D powerline/840DE powerline SINUMERIK 840Di powerline/840DiE powerline SINUMERIK 810D powerline/810DE powerline Software Version NCU system software for 840D sl/840DE sl 1.3...
Page 933 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 934 Table of contents Appendix..............................5 List of abbreviations ........................5 Publication-specific information ....................13 A.2.1 Correction sheet - fax template....................13 A.2.2 Overview ............................15 Glossary ..............................17 Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 935 Table of contents Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 936: Appendix
Appendix List of abbreviations ADI4 Analog Drive Interface for 4 Axes Adaptive Control Active Line Module Rotating induction motor Automation System ASCII American Standard Code for Information Interchange American Standard Code for Information Interchange ASUB Asynchronous subprogram AUXFU Auxiliary Function: Auxiliary function Mode Mode group Mode group...
Page 937 Appendix A.1 List of abbreviations CF card Compact Flash Card Computerized Numerical Control: Computerized Numerical Control Connector Output Certificate of License Communication Compiler Projecting dAta: Compiler configuring data Control Unit Communication Processor Central Processing Unit: Central Processing Unit Carriage Return Clear To Send: Signal from serial data interfaces CUTCOM CUTter radius COMpensation: Tool radius compensation...
Page 938 Appendix A.1 List of abbreviations EnDat Encoder interface EPROM Erasable Programmable Read Only Memory Designation for an absolute encoder with 2048 sine signals per revolution Infeed/regenerative feedback unit of SIMODRIVE 611(D) Engineering System Extended stop and retract ETC key ">": Softkey bar extension in the same menu Function block (PLC) Function Call: Function block (PLC) FEPROM...
Page 939 Appendix A.1 List of abbreviations HW limit switch Hardware limit switch Commissioning Interpolatory compensation Increment: Increment Interpolator JOGging: Setup mode Gain factor of control loop Proportional gain Transmission ratio Ü Local Area Network Light-Emitting Diode: Light-emitting diode Line Feed Position Measuring System Position controller Least Significant Bit Local User Data: User data (local)
Page 940 Appendix A.1 List of abbreviations Man-Machine Communication Main Program File: NC part program (main program) Multi-Point Interface Multiport Interface Machine control panel Numerical Control: Numerical Control Numerical Control Kernel Numerical Control Unit Name of operating system of the NCK Interface signal Zero offset Numerical eXtension (axis extension module) Organization block in the PLC...
Page 941 Appendix A.1 List of abbreviations POSMO DC Positioning Motor Compact DC: Like CA but with DC infeed POSMO SI Positioning Motor Servo Integrated: Positioning motor, DC infeed Parameter Process data Object; Cyclic data message frame for Profibus DP transmission and "Variable speed drives" profile PROFIBUS Process Field Bus: Serial data bus Program test...
Page 942 Appendix A.1 List of abbreviations Stepper Motor Cabinet-mounted sensor module Sensor Module Externally-mounted SubProgram File: Subprogram Programmable Logic Controller SRAM Static RAM (non-volatile) TNRC Tool Nose Radius Compensation Synchronous Rotary Motor Leadscrew error compensation Synchronous Serial Interface (interface type) Block search Control word GWPS Grinding Wheel Peripheral Speed...
Page 943 Appendix A.1 List of abbreviations Voltage input Voltage Output Feed Drive Workpiece Coordinate System Tool Tool Length Compensation Workshop-Oriented Programming Workpiece Directory: Workpiece directory Tool Radius Compensation Tool Tool offset Tool management Tool change Extensible Markup Language Zero Offset Active: Identifier for zero offsets Status word (of drive) Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 944: Publication-Specific Information
Appendix A.2 Publication -specific information Publication-specific information A.2.1 Correction sheet - fax template Should you come across any printing errors when reading this publication, please notify us on this sheet. Suggestions for improvement are also welcome. Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 945 Appendix A.2 Publication -specific information Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 946: Overview
Appendix A.2 Publication -specific information A.2.2 Overview Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 947 Appendix A.2 Publication -specific information Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...
Page 948: Glossary
Glossary Absolute dimensions A destination for an axis movement is defined by a dimension that refers to the origin of the currently active coordinate system. See → Chain measure Acceleration with jerk limitation In order to optimize the acceleration response of the machine whilst simultaneously protecting the mechanical components, it is possible to switch over in the machining program between abrupt acceleration and continuous (jerk-free) acceleration.
Page 949 Glossary Auxiliary functions Auxiliary functions enable part programs to transfer → parameters to the → PLC, which then trigger reactions defined by the machine manufacturer. axes In accordance with their functional scope, the CNC axes are subdivided into: • Axes: interpolating path axes •...
Page 950 Glossary Basic Coordinate System Cartesian coordinate system which is mapped by transformation onto the machine coordinate system. The programmer uses axis names of the basic coordinate system in the → part program. The basic coordinate system exists parallel to the → machine coordinate system if no →...
Page 951 Glossary See → NC Component of the NC control for the implementation and coordination of communication. Compensation axis Axis with a setpoint or actual value modified by the compensation value Compensation memory Data range in the control, in which the tool offset data are stored. Compensation table Table containing interpolation points.
Page 952 Glossary Coordinate system See → Machine coordinate system, → Workpiece coordinate system Central processing unit, see → Memory-programmable control C-Spline The C-Spline is the most well-known and widely used spline. The transitions at the interpolation points are continuous, both tangentially and in terms of curvature. 3rd order polynomials are used.
Page 953 Glossary Dynamic feedforward control Inaccuracies in the → contour due to following errors can be practically eliminated using dynamic, acceleration-dependent feedforward control. This results in excellent machining accuracy even at high → path velocities. Feedforward control can be selected and deselected on an axis-specific basis via the →...
Page 954 Glossary Fixed-point approach Machine tools can approach fixed points such as a tool change point, loading point, pallet change point, etc. in a defined way. The coordinates of these points are stored in the control. The control moves the relevant axes in → rapid traverse, whenever possible. Frame A frame is an arithmetic rule that transforms one Cartesian coordinate system into another Cartesian coordinate system.
Page 955 Glossary Identifier In accordance with DIN 66025, words are supplemented using identifiers (names) for variables (arithmetic variables, system variables, user variables), subroutines, key words, and words with multiple address letters. These supplements have the same meaning as the words with respect to block format. Identifiers must be unique. It is not permissible to use the same identifier for different objects.
Page 956 Glossary Inverse-time feedrate With SINUMERIK 840D, the time required for the path of a block to be traversed can be programmed for the axis motion instead of the feed velocity (G93). Control operating mode (setup mode): In JOG mode, the machine can be set up. Individual axes and spindles can be traversed in JOG mode by means of the direction keys.
Page 957 Glossary Look Ahead The Look Ahead function is used to achieve an optimal machining speed by looking ahead over an assignable number of traversing blocks. Machine axes Physically existent axes on the machine tool. Machine control panel An operator panel on a machine tool with operating elements such as keys, rotary switches, etc., and simple indicators such as LEDs.
Page 958 Glossary Control operating mode: Manual Data Automatic. In the MDA mode, individual program blocks or block sequences with no reference to a main program or subprogram can be input and executed immediately afterwards through actuation of the NC start key. Messages All messages programmed in the part program and →...
Page 959 Glossary Numeric robotic kernel (operating system of → NCK) NURBS The motion control and path interpolation that occurs within the control is performed based on NURBS (Non Uniform Rational B-Splines). As a result, a uniform process is available within the control for all interpolations for SINUMERIK 840D. The scope for implementing individual solutions (OEM applications) for the SINUMERIK 840D has been provided for machine manufacturers, who wish to create their own operator interface or integrate process-oriented functions in the control.
Page 960 Glossary Part program management Part program management can be organized by → workpieces. The size of the user memory determines the number of programs and the amount of data that can be managed. Each file (programs and data) can be given a name consisting of a maximum of 24 alphanumeric characters.
Page 961 Glossary PLC program memory SINUMERIK 840D: The PLC user program, the user data and the basic PLC program are stored together in the PLC user memory. PLC Programming The PLC is programmed using the STEP 7 software. The STEP 7 programming software is based on the WINDOWS standard operating system and contains the STEP 5 programming functions with innovative enhancements.
Page 962 Glossary Programmable working area limitation Limitation of the motion space of the tool to a space defined by programmed limitations. Programming key Character and character strings that have a defined meaning in the programming language for → part programs. Protection zone Three-dimensional zone within the →...
Page 963 Glossary Rotation Component of a → frame that defines a rotation of the coordinate system around a particular angle. Rounding axis Rounding axes rotate a workpiece or tool to an angular position corresponding to an indexing grid. When a grid index is reached, the rounding axis is "in position". Safety Functions The control is equipped with permanently active montoring functions that detect faults in the →...
Page 964 Glossary Software limit switch Software limit switches limit the traversing range of an axis and prevent an abrupt stop of the slide at the hardware limit switch. Two value pairs can be specified for each axis and activated separately by means of the → PLC. Spline interpolation With spline interpolation, the controller can generate a smooth curve characteristic from only a few specified interpolation points of a set contour.
Page 965 Glossary Synchronized Actions 1. Auxiliary function output During workpiece machining, technological functions (→ auxiliary functions) can be output from the CNC program to the PLC. For example, these auxiliary functions are used to control additional equipment for the machine tool, such as quills, grabbers, clamping chucks, etc.
Page 966 Glossary TOA unit Each → TOA area can have more than one TOA unit. The number of possible TOA units is limited by the maximum number of active → channels. A TOA unit includes exactly one tool data block and one magazine data block. In addition, a TOA unit can also contain a toolholder data block (optional).
Page 967 Glossary User Program User programs for the S7-300 automation systems are created using the programming language STEP 7. The user program has a modular layout and consists of individual blocks. The basic block types are: • Code blocks These blocks contain the STEP 7 commands. •...
Page 968 Glossary Workpiece contour Set contour of the → workpiece to be created or machined. Workpiece coordinate system The workpiece coordinate system has its starting point in the → workpiece zero-point. In machining operations programmed in the workpiece coordinate system, the dimensions and directions refer to this system.
Page 969 Glossary Special functions: Appendix Function Manual, 11/2006, 6FC5397-2BP10-2BA0...

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Sinumerik 840di sl Sinumerik 840d Sinumerik 840di Sinumerik 810d

Siemens sinumerik 840D sl Function Manual

Table of Contents

1 Brief Description

2 Detailed Description

3 Boundary Conditions

4 Examples

5 Data Lists

Table of Contents

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2 Detailed Description

3 Boundary Conditions

4 Examples

5 Data Lists

Cycle-Independent Path

1 Brief Description

2 Detailed Description

3 Boundary Conditions

4 Examples

5 Data Lists

Table of Contents

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2 Detailed Description

3 Restrictions

4 Example

5 Data Lists

Table of Contents

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3 Boundary Conditions

4 Example

5 Data Lists

Table of Contents

1 Brief Description

2 Detailed Description

3 Boundary Conditions

4 Examples

5 Data Lists

Table of Contents

1 Brief Description

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3 Supplementary Conditions

4 Examples

5 Data Lists

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