Siemens SINUMERIK Series Function Manual page 42

Application examples
8.1 Compensation of external disturbing forces
4. Declare the 3 axes as simulated axes.
– MA30132 MA_IS_VIRTUAL_AX = 1
– MA30350 MA_SIMU_AX_VDI_OUTPUT = 1
5. Declare the 3 new axes as input axes for specifying the disturbing force in the channel data
of ROCO.
Figure 8-10
6. You must select the dynamic limits of the new axes so that from the perspective of the path,
the axes do not represent any limit. The following values are recommended:
– MD32000 $MA_MAX_AX_VELO = 100000 mm/min
– MD32300 $MA_MAX_AX_ACCEL = 100000 m/s
– MD32431 $MA_MAX_AX_JERK = 1000000 m/s
– MD32432 $MA_PATH_TRANS_JERK_LIMIT = 1000000 m/s
– MD36200 $MA_MAX_AX_VELO_LIMIT = 1100000 mm/min
7. The PLC must enable the new virtual axes before the part program can be executed. To
do this, you must set the following interfaces to "1".
– DB3x.DBX1.5 = 1 (measuring system 1 selected)
– DB3x.DBX2.1 = 1 (controller enable signal)
– DB3x.DBX21.7 = 1 (pulse enable)
8. For the virtual axes, in machine data set $MA_REFP_CYCLE_NR = -1.
ROCO interprets the absolute position in millimeter of the virtual axes as force in kN
(Kilonewton).
Program example
N10 TRAORI
N20 G54 G0 X0 Y0 Z50 A0 B0 C0 F_Y=0
N30 G1 Y-15 F5000
N40 CC_ROCO(0)
N50 CC_ROCOREAD(1)
N60 CC_ROCO(2)
N70 Z-7
N80 S8000 M3
N90 G91 G64 G1 F1719
N100 X9 F_Y=0
N110 X1 F_Y=43
N120 X9
42
NC/PLC interface signals of a simulated axis are output to the PLC.
Declaring axes as input axes
2
3
3
SINUMERIK Run MyCC /ROCO
Function Manual, 09/2018, A5E45818879B AA