Beckhoff Automation GmbH

1. System parameters CNC Overview CNC functionality of TwinCAT CNC

of 23.10.2009

Explanation:
The ‘ISG’-column shows the system limits respectively the values currently permitted by ISG.
If there are general statements as CPU or memory, the settings can be altered based upon
application specific demand or product definitions by Beckhoff.

1 Machining Technologies ISG TwinCAT CNC

1.1 Turning

1.2 Milling

1.3 Drilling

1.4 Grinding

1.5 Handling

1.6 Special machines

2 Axes Control ISG TwinCAT CNC

2.1 Maximum number of axes CPU, Memory 64

2.2 Standard number of axes 8 8
2.3 Maximum number of axes / spindles per channel 32 32
2.4 Number of independent channels CPU, Memory 12
2.5 Maximum number of interpolated axes per channel 32 32
2.6 Maximum number of controlled spindles per channel CPU, Memory 6
2.7 Maximum number of independent axes in channel 32 32
2.8 PLC controlled spindles per channel CPU, Memory 6
2.9 Axes designations in channel Each string beginning with Each string beginning with
X, Y, Z, U, V, W, Q, A, B, C X, Y, Z, U, V, W, Q, A, B, C
2.10 Maximum number of synchronous spindles per
channel
2.11 Number of axis coupling groups Memory 7
2.12 Number of programmable axes pairs inside a Memory 15
coupling group
2.13 Maximum number of Gantry-couplings Memory 16 (16 master, 1 slave each)
2.14 Maximum number of axes inside a Gantrycoupling Memory 32 (1 master, 31 slaves)
2.15 Programmable movement area limitation (Software Yes Yes
limit switch)
2.16 Axes exchanges between channels CPU, Memory 32
2.17 Programming precision 0,0001 mm 0,0001 mm
2.18 Resolution of measurement signals 0,0001 mm 0,0001 mm
2.19 Smallest programmable Increment 0,0001 mm 0,0001 mm
2.20 Multi positioning systems
2.21 Switch of programming unit: inch / metric G70/G71 G70/G71

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2.22 Backlash compensation

2.23 Axis compensation, direction dependent (double Memory 1500 points each
sided lead screw error compensation)
2.24 Cross compensation 1 axis, Memory 1 axis, 1000 points
Overhang compensation
2.25 Axis homing with limit switch and zero impulse

2.26 Velocity feedforward control

2.27 Acceleration feedforward control

2.28 Measurement

2.29 Axes positions to PLC

2.30 Axis filters with parameters

2.31 Temperature compensation

2.32 Plain compensation 2 axes, 100 points

2.33 Jerk feedforward control

2.34 Traversing range linear axis -214m - +214m -214m - +214m

2.35 Traversing range rotary axis -594 - +594 (roundings) -594 - +594 (roundings)
2.36 Traversing range spindle Unlimited Unlimited
6
2.37 Circle radius 0 – 10 m 0 – 106m
2.38 Axis specific transformation Connection rod, E-function Connection rod, E-function

3 Interpolator Functions ISG TwinCAT CNC

3.1 Smallest interpolation value 0,0001 mm 0,0001 mm
3.2 Rapid traverse G0 G0
3.3 Linear interpolation G1 G1
3.4 Exact stop G60 G60
3.5 Circular interpolation G2/G3 G2/G3
3.6 Center point programming absolute / incremental G161/G162 G161/G162
3.7 Radius programming

3.8 Helical interpolation G2/G3 G2/G3

3.9 Feedforward control/ position lag free movement G135/G137 G135/G137
3.10 Percental weighting of feedforward G136 G136
3.11 Dwell time G4 G4
3.12 Face surface machining #FACE ON/OFF #FACE ON/OFF
3.13 Cylinder surface machining #CYL ON/OFF #CYL ON/OFF
3.14 Thread cutting G33 G33
3.15 Multiple threads G33 G33
3.16 Tapping G63 G63
3.17 Tapping without compensation chuck G63 G63
3.18 Axis clamping

3.19 NC-blocks in Look Ahead 70 70

3.20 Interpolation cycle time configurable 1 to 20 ms 1 to 20 ms
3.21 Spline interpolation AKIMA/BSPLINE AKIMA/BSPLINE

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3.22 NC block specific parameters of acceleration profile #SLOPE PROFIL #SLOPE PROFIL
3.23 Forward-/Backward on path

4 Feed Functions ISG TwinCAT CNC

4.1 Rapid traverse velocity 0,000001 - 3000 m/min 0,000001 - 1000 m/min
4.2 Rapid traverse override
4.3 Feed 0,000001 - 3000 m/min 0,000001 - 1000 m/min
4.4 Revolutions 0,00017 – 715828 U/min 0,0002 – 100000 U/min
4.5 Manual mode rapid traverse 0 - 3000 m/min 0 - 1000 m/min
4.6 Manual mode feed 0 - 3000 m/min 0 - 1000 m/min
4.7 Axis specific override

4.8 Feed rate per minute G94 G94

4.9 Rotational feed G95 G95
4.10 Programming of machining time G93 G93
4.11 Block transition behavior G8/G9 G8/G9
4.12 Feed hold

4.13 Acceleration ramp for rapid traverse

4.14 Weighting factors for acceleration ramp G132/G133 G132/G133

4.15 Constant cutting speed G96 G96
4.16 Vorschubanpassung bei aktiver G10/G11 G10/G11
Werkzeugradiuskompensation
4.17 Active feedrate by PLC

4.18 Reduced speed by PLC-signal

5 5-Axis Functions ISG TwinCAT CNC

5.1 RTCP (rotation tool center point) #RTCP ON/OFF #RTCP ON/OFF
5.2 TLC (tool length compensation) #TLC ON/OFF #TLC ON/OFF
5.3 Tool orientation to (A)CS #TOOL ORI CS #TOOL ORI CS
5.4 Selection of kinematics #KIN ID #KIN ID
5.5 Definition of work piece coordinate system #CS ON/OFF #CS ON/OFF
5.6 Definition of fixture adaptive coordinate system #ACS ON/OFF #ACS ON/OFF
5.7 Chaining of coordinate systems Memory 10
5.8 Effector coordinate system #ECS ON/OFF #ECS ON/OFF
5.9 Temporary transition to machine axes coordinate #MCS ON/OFF #MCS ON/OFF
system
5.10 Kinematics library

5.11 Manual mode in work piece coordinate system

6 Programming ISG TwinCAT CNC

6.1 Skip block / /

6.2 Number of NC-programs Load from von HD / network Load from von HD / network
6.3 Arbitrary block numbering

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6.4 Radius/diameter programming G51/G52 G51/G52

6.5 Interpolation planes G17/G18/G19 G17/G18/G19
6.6 - - -
6.7 Rotary axis mode

6.8 Endless moving rotary axis

6.9 Free definable machine coordinate system per G53 G53

channel
6.10 Work piece coordinate system per channel #CS ON #CS ON
6.11 Work piece origins per channel G54 – G59 G54 – G59
6.12 Extended work piece origins Memory 90
6.13 Rotation of coordinate system

6.14 Clamp position offsets Memory 150 groups

6.15 Preset #PSET/#PRESET #PSET/#PRESET
6.16 Additional offset G92 G92
6.17 Number of additive coordinate systems 5 10
6.18 Insertion of chamfer and roundings G301/G302 G301/G302
6.19 Number of P-parameters per channel Memory 1000
6.20 Dimensions of parameter arrays Memory 4
6.21 Global variables V.P (program local) Memory 1000
6.22 Global variables V.S (static) Memory 400
6.23 Local variables V.L (sub program local) Memory 50
6.24 Number of subprogram levels Memory 20
6.25 Number of user macros per channel Memory 100
6.26 Mirroring G20/G21/G22/G23 G20/G21/G22/G23
6.27 Absolute / incremental G90/G91 G90/G91
6.28 Process time calculation

6.29 Mathematical functions +, -, *, /, **, MOD, ABS, SQR, +, -, *, /, **, MOD, ABS, SQR,
SQRT, EXP, LN, DEXP, &, |, SQRT, EXP, LN, DEXP, &, |,
^, INV, LN, ==, !=, >=, <=, <, ^, INV, LN, ==, !=, >=, <=, <,
TRUE, FALSE, SIN, COS, TRUE, FALSE, SIN, COS,
TAN, ASIN, ACOS, ATAN, TAN, ASIN, ACOS, ATAN,
LOG, INT, FRACT, ROUND LOG, INT, FRACT, ROUND
6.30 Time measurement #TIMER #TIMER
6.31 Control blocks BREAK, CONTINUE, DO, BREAK, CONTINUE, DO,
FOR, GOTO, IF; ELSE; FOR, IF; ELSE; ENDIF,
ENDIF, SWITCH, CASE, SWITCH, CASE, DEFAULT,
DEFAULT, ENDSWITCH, ENDSWITCH, WHILE,
WHILE, ENDWHILE ENDWHILE
6.32 Programming of axis designations

6.33 Messages from the NC program #MSG #MSG

6.34 Inter-channel synchronization with parameter passing #SIGNAL/’WAIT #SIGNAL/’WAIT

6.35 Fixture adaptive CS #ACS ON/OFF #ACS ON/OFF

6.36 Definition and activation of a work piece coordinate #CS ON/OFF #CS ON/OFF
system
6.37 User macros: Max. string length of macro name Memory 30

6.38 User macros: Max. string length of NC-code Memory 80

6.39 Overwrite of user macros

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6.40 Nesting levels of user macros Memory 14

6.41 Aufspannlagenkompensation Memory 200

6.42 Number of string labels Memory 200

6.43 Max. length of string labels Memory 30

6.44 Only „P“ for parameters

6.45 Max. number of signal parameters during inter Memory 12

channel synchronization
6.46 Max. string length of axis name Memory 16

6.47 Workspace monitoring Memory 20 workspaces, each with up

to 20 points

6.48 Change of absolute/incremental inside NC block

6.49 Axis independent cycle programming

6.50 User macro: Initialisation by file 50

6.51 Use Multi-Head-Tool (Fitting Cycle)

7 Operate ISG TwinCAT CNC

7.1 MDI-mode per channel

7.2 Block search

7.3 Axis homing

7.4 Single step mode

7.5 Manual mode

7.6 Absolute position detection

7.7 Reference point offset

7.8 Hand wheel superimposition per channel

7.9 Hand wheel superimposition per axis

7.10 Hand wheel sensitivity

7.11 Hand wheel interruption

7.12 Jog mode

7.13 Tipp mode

7.14 Programmable stop M0 M0

7.15 Optional stop M1 M1

8 Spindle and Auxiliary Functions ISG TwinCAT CNC

8.1 Configurable M-functions per channel Memory M0 – M999
8.2 Configurable H-functions per channel Memory H0 – H999
8.3 Maximum number of M-/H-functions per NC block 15 20
8.4 Constant cutting speed per channel

8.5 Tool specific rev limit per spindle

8.6 Tool specific acceleration limit per spindle

8.7 Spindle synchronization

8.8 Multi spindle control Memory 6

8.9 Spindle interpolation (C-axis)

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8.10 Block global synchronization of M-H-functions on NC-

command
8.11 Block global synchronization of M-H-functions on G1

8.12 Automatic determination of gear step M40-M45

9 Tool Functions ISG TwinCAT CNC

9.1 Number of internal tool places per channel Memory 200
9.2 Connection to external tool management

9.3 Tool number T0 to T2000000000 T0 to T2000000000

9.4 Sister tool and variants

9.5 Service live calculation

9.6 Programmable tool data

9.7 Free tool specific parameters Memory 60

9.8 Tool specific minimal- and maximum revs

9.9 Tool specific acceleration

9.10 Tool specific kinematics

9.11 Tool offsets in all axes

9.12 Tool specific kinematics parameters

9.13 Tool length correction D D

9.14 Tool radius correction G40/G41/G42 G40/G41/G42
9.15 Transition elements chamfer / radius

9.16 Direct and indirect tool selection

9.17 Cutting edge radius compensation

9.18 Number of sister tools and variants 3 3

9.19 Online tool wear correction

9.20 Selection modes of tool radius correction G05 G138/G138 G237/G238 G05 G138/G138 G237/G238

10 PLC-Functions ISG TwinCAT CNC

10.1 Configurable CNC/PLC-variables and arrays of Memory 200 per channel

variables
10.2 M-Code look ahead Distance / time Distance / time
10.3 Structure definition of CNC/PLC-variables 30

10.4 CNC/PLC-variables: elements per structure 50

10.5 Extended string length of CNC/PLC-variables 127 characters

11 Further system parameters ISG TwinCAT CNC

11.1 Maximum axis feed 1000 m/s 1000 m/s
11.2 Maximum axis acceleration 1000 m/s2 1000 m/s2
11.3 Minimum ramp time 0s 0s
11.4 Maximum ramp time 100 s 100 s
11.5 Maximum override 2000 ‰ 2000 ‰

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