Preface

SINUMERIK 840D sl Fundamentals

Fundamental Geometrical
1
______________
Principles

Fundamental Principles of
2
SINUMERIK 840D sl ______________
NC Programming

3
______________
Creating an NC program

Fundamentals 4
______________
Tool change

5
Programming Manual ______________
Tool offsets

6
______________
Spindle motion

7
______________
Feed control

8
______________
Geometry settings

9
______________
Motion commands

10
______________
Tool radius compensation

11
______________
Path Action

Coordinate transformations
12
______________
(frames)

13
______________
Auxiliary function outputs

14
Valid for ______________
Supplementary commands

SINUMERIK 840D sl/840DE sl control system

15
Software Version
______________
Other information

NCU system software for 840D sl/840DE sl 1.5/2.5

16
01/2008 ______________
Tables
6FC5398-1BP10-3BA0
A
______________
Appendix
Safety Guidelines
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.

Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.

Prescribed Usage
Note the following:

WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.

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.

Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG Ordernumber: 6FC5398-1BP10-3BA0 Copyright © Siemens AG 200, 8.

Automation and Drives Ⓟ 12/2007 Technical data subject to change
Postfach 48 48
90327 NÜRNBERG
GERMANY
Preface

SINUMERIK® Documentation
The SINUMERIK documentation is organized in three parts:
● General Documentation
● User Documentation
● Manufacturer/service documentation
An overview of publications (updated monthly) indicating the language versions available
can be found on the Internet at:
http://www.siemens.com/motioncontrol
Select the menu items "Support" → "Technical Documentation" → "Overview of Publications".
The Internet version of DOConCD (DOConWEB) is available at:
http://www.automation.siemens.com/doconweb
Information about training courses and FAQs (Frequently Asked Questions) can be found at
the following website:
http://www.siemens.com/motioncontrol under "Support".

Target group
This publication is intended for:
● Programmers
● Project engineers

Benefits
With the programming manual, the target group can develop, write, test, and debug
programs and software user interfaces.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 3
Preface

Standard scope
This Programming Guide describes the functionality afforded by standard functions.
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.
Further, for the sake of simplicity, this documentation does not contain all detailed
information about all types of the product and cannot cover every conceivable case of
installation, operation or maintenance.

Technical Support
If you have any technical questions, please contact our hotline:

Europe/Africa
Phone +49 180 5050 222
Fax +49 180 5050 223
Internet http://www.siemens.com/automation/support-request

America
Phone +1 423 262 2522
Fax +1 423 262 2200
E-Mail [email protected]

Asia/Pacific
Phone +86 1064 719 990
Fax +86 1064 747 474
E-mail mailto:[email protected]

Note
Country telephone numbers for technical support are provided under the following Internet
address:
Enter http://www.siemens.com/automation/service&support

Fundamentals
4 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Preface

Questions about the manual

If you have any queries (suggestions, corrections) in relation to this documentation, please
fax or e-mail us:

Fax: +49 9131- 98 63315

E-mail: mailto:[email protected]
A fax form is available in the appendix of this document.

SINUMERIK Internet address

http://www.siemens.com/sinumerik

Export version
The following functions are not available in the export version:

Function 840DE sl
Helical interpolation 2D+6 −
(Basic version, no options)
Milling machining package −
Five axis machining package −
Handling transformation package −
Multi-axis interpolation (> 4 interpolating axes) −
OA NCK compile cycles −
Clearance control 1D/3D in position-control cycle 1) −
Synchronized actions 1) #
(Basic version, no options)
Master-value coupling and curve-table interpolation #
Sag compensation, multi-dimensional #
Synchronized actions, stage 2 1) −
Electronic gear 1) −
Electronic transfer −

# Restricted functionality
- Function not available

1) In the case of the SINUMERIK 840DE sl export version, the restricted functions are limited to
"max. 4 interpolating axes“

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 5
Preface

"Fundamentals" and "Job Planning" Programming Manuals

The description of the NC programming is divided into two manuals:
1. Fundamentals
This "Fundamentals" Programming Manual is intended for use by skilled machine
operators with the appropriate expertise in drilling, milling and turning operations. Simple
programming examples are used to explain the commands and statements which are
also defined according to DIN 66025.
2. Job planning
The "Job Planning" Programming Manual is intended for use by technicians with in-depth,
comprehensive programming knowledge. By virtue of a special programming language,
the SINUMERIK 840D sl control enables the user to program complex workpiece
programs (e.g. for free-form surfaces, channel coordination, ...) and greatly facilitates the
programming of complicated operations.

Fundamentals
6 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Table of contents
Preface ...................................................................................................................................................... 3
1 Fundamental Geometrical Principles ....................................................................................................... 13
1.1 Workpiece positions.....................................................................................................................13
1.1.1 Workpiece coordinate systems ....................................................................................................13
1.1.2 Cartesian coordinates ..................................................................................................................15
1.1.3 Polar coordinates .........................................................................................................................18
1.1.4 Absolute dimensions....................................................................................................................19
1.1.5 Incremental dimension.................................................................................................................20
1.2 Working planes ............................................................................................................................23
1.3 Zeros and reference points ..........................................................................................................25
1.4 Coordinate systems .....................................................................................................................27
1.4.1 Machine coordinate system (MCS)..............................................................................................27
1.4.2 Basic coordinate system (BCS) ...................................................................................................31
1.4.3 Basic zero system (BZS) .............................................................................................................33
1.4.4 Settable zero system (SZS) .........................................................................................................34
1.4.5 Workpiece coordinate system (WCS)..........................................................................................35
1.4.6 What is the relationship between the various coordinate systems? ............................................36
2 Fundamental Principles of NC Programming ........................................................................................... 37
2.1 Name of an NC program..............................................................................................................37
2.2 Structure and contents of an NC program ...................................................................................39
2.2.1 Blocks and block components .....................................................................................................39
2.2.2 Block rules....................................................................................................................................42
2.2.3 Value assignments.......................................................................................................................44
2.2.4 Comments....................................................................................................................................45
2.2.5 Skipping blocks ............................................................................................................................46
3 Creating an NC program.......................................................................................................................... 49
3.1 Basic procedure ...........................................................................................................................49
3.2 Available characters.....................................................................................................................51
3.3 Program header ...........................................................................................................................53
3.4 Program examples.......................................................................................................................55
3.4.1 Example 1: First programming steps ...........................................................................................55
3.4.2 Example 2: NC program for turning .............................................................................................56
3.4.3 Example 3: NC program for milling ..............................................................................................58
4 Tool change............................................................................................................................................. 61
4.1 Tool change without tool management........................................................................................62
4.1.1 Tool change with T command......................................................................................................62
4.1.2 Tool change with M06..................................................................................................................63
4.2 Tool change with tool management (option)................................................................................65
4.2.1 Tool change with T command with active tool management (option)..........................................66

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 7
Table of contents

4.2.2 Tool change with M06 with active tool management (option)..................................................... 68
4.3 Behavior with faulty T programming ........................................................................................... 70
5 Tool offsets .............................................................................................................................................. 71
5.1 Tool length compensation ........................................................................................................... 72
5.2 Tool radius compensation ........................................................................................................... 73
5.3 Tool compensation memory........................................................................................................ 74
5.4 Tool types.................................................................................................................................... 76
5.4.1 Milling tools ................................................................................................................................. 77
5.4.2 Drills ............................................................................................................................................ 79
5.4.3 Grinding tools .............................................................................................................................. 80
5.4.4 Turning tools ............................................................................................................................... 81
5.4.5 Special tools................................................................................................................................ 83
5.4.6 Chaining rule ............................................................................................................................... 84
5.5 Tool offset call (D) ....................................................................................................................... 84
5.6 Change in the tool offset data ..................................................................................................... 87
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR).................................................................... 88
6 Spindle motion ......................................................................................................................................... 95
6.1 Spindle speed (S), direction of spindle rotation (M3, M4, M5).................................................... 95
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC) ....................... 100
6.3 Constant grinding wheel peripheral speed (GWPSON, GWPSOF).......................................... 107
6.4 Programmable spindle speed limitation (G25, G26)................................................................. 109
7 Feed control........................................................................................................................................... 111
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF).............................................................. 111
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC) .............................. 120
7.3 Position-controlled spindle operation (SPCON, SPCOF) ......................................................... 124
7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS).......................................................... 125
7.5 Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF) .................................. 134
7.6 Percentage feedrate override (OVR, OVRRAP, OVRA)........................................................... 138
7.7 Feedrate with handwheel override (FD, FDA) .......................................................................... 140
7.8 Percentage acceleration correction (ACC) (option) .................................................................. 144
7.9 Feedrate optimization for curved path sections (CFTCP, CFC, CFIN)..................................... 146
7.10 Several feedrate values in one block (F, ST, SR, FMA, STA, SRA)......................................... 149
7.11 Non-modal feedrate (FB) .......................................................................................................... 152
8 Geometry settings.................................................................................................................................. 155
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA, G153).......................... 155
8.2 Selection of working plane (G17 to G19) .................................................................................. 161
8.3 Dimensions ............................................................................................................................... 165
8.3.1 Absolute dimensions (G90, AC)................................................................................................ 165

Fundamentals
8 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Table of contents

8.3.2 Incremental dimensions (G91, IC) .............................................................................................168

8.3.3 Absolute and incremental dimensions for turning and milling (G90/G91) .................................172
8.3.4 Absolute dimension for rotary axes (DC, ACP, ACN)................................................................174
8.3.5 Inch or metric dimensions (G70/G700, G71/G710) ...................................................................177
8.3.6 Channel-specific diameter/radius programming (DIAMON, DIAM90, DIAMOF) .......................180
8.3.7 Axis-specific diameter/radius programming (DIAMONA, DIAM90A, DIAMOFA,
DIAMCHANA, DIAMCHAN, DAC, DIC, RAC, RIC) ...................................................................182
8.4 Position of workpiece for turning................................................................................................188
9 Motion commands ................................................................................................................................. 191
9.1 Travel commands with Cartesian coordinates (G0, G1, G2, G3, X..., Y..., Z...)........................193
9.2 Travel commands with polar coordinates ..................................................................................195
9.2.1 Reference point of the polar coordinates (G110, G111, G112).................................................195
9.2.2 Travel commands with polar coordinates (G0, G1, G2, G3, AP, RP)........................................198
9.3 Rapid traverse movement (G0, RTLION, RTLIOF) ...................................................................202
9.4 Linear interpolation (G1) ............................................................................................................207
9.5 Circular interpolation ..................................................................................................................210
9.5.1 Circular interpolation types (G2/G3, ...) .....................................................................................210
9.5.2 Circular interpolation with center point and end point (G2/G3, X... Y... Z..., I... J... K...) ...........214
9.5.3 Circular interpolation with radius and end point (G2/G3, X... Y... Z.../ I... J... K..., CR) .............218
9.5.4 Circular interpolation with opening angle and center point (G2/G3, X... Y... Z.../ I... J...
K..., AR)......................................................................................................................................220
9.5.5 Circular interpolation with polar coordinates (G2/G3, AP, RP)..................................................223
9.5.6 Circular interpolation with intermediate point and end point (CIP, X... Y... Z..., I1... J1...
K1...)...........................................................................................................................................225
9.5.7 Circular interpolation with tangential transition (CT, X... Y... Z...)..............................................228
9.6 Helical interpolation (G2/G3, TURN) .........................................................................................232
9.7 Involute interpolation (INVCW, INVCCW)..................................................................................235
9.8 Contour definitions .....................................................................................................................241
9.8.1 Contour definitions: One straight line (ANG) .............................................................................242
9.8.2 Contour definitions: Two straight lines (ANG)............................................................................244
9.8.3 Contour definitions: Three straight line (ANG)...........................................................................247
9.8.4 Contour definitions: End point programming with angle ............................................................251
9.9 Thread cutting with constant lead (G33)....................................................................................252
9.9.1 Thread cutting with constant lead (G33, SF) .............................................................................252
9.9.2 Programmable run-in and run-out paths (DITS, DITE) ..............................................................261
9.10 Thread cutting with increasing or decreasing lead (G34, G35) .................................................264
9.11 Tapping without compensating chuck (G331, G332) ................................................................266
9.12 Tapping with compensating chuck (G63) ..................................................................................270
9.13 Stop during thread cutting..........................................................................................................272
9.13.1 Retraction for thread cutting (LFOF, LFON, LIFTFAST, DILF, ALF) .........................................272
9.13.2 Lift during retraction (LFTXT, LFWP, LFPOS, POLF, POLFMASK, POLFMLIN) .....................274
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)....................................................278
10 Tool radius compensation...................................................................................................................... 285
10.1 Tool radius compensation (G40, G41, G42, OFFN) ..................................................................285
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)........................................297
10.3 Compensation at the outside corners (G450, G451, DISC) ......................................................305

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 9
Table of contents

10.4 Smooth approach and retraction............................................................................................... 310

10.4.1 Approach and retraction (G140 to G143, G147, G148, G247, G248, G347, G348, G340,
G341, DISR, DISCL, FAD)........................................................................................................ 310
10.4.2 Approach and retraction with enhanced retraction strategies (G460, G461, G462)................. 323
10.5 Collision monitoring (CDON, CDOF, CDOF2) .......................................................................... 328
10.6 2D tool compensation (CUT2D, CUT2DF)................................................................................ 331
10.7 Keep tool radius compensation constant (CUTCONON, CUTCONOF) ................................... 335
10.8 Tools with a relevant cutting edge position ............................................................................... 337
11 Path Action ............................................................................................................................................ 339
11.1 Exact stop (G60, G9, G601, G602, G603)................................................................................ 339
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS) ........................... 343
12 Coordinate transformations (frames) ..................................................................................................... 355
12.1 Frame system ........................................................................................................................... 355
12.2 Frame instructions..................................................................................................................... 357
12.3 Programmable zero offset......................................................................................................... 360
12.3.1 Zero offset (TRANS, ATRANS)................................................................................................. 360
12.3.2 Axial zero offset (G58, G59)...................................................................................................... 366
12.4 Programmable rotation (ROT, AROT, RPL) ............................................................................. 369
12.5 Programmable frame rotations with solid angles (ROTS, AROTS, CROTS) ........................... 379
12.6 Programmable scale factor (SCALE, ASCALE)........................................................................ 380
12.7 Programmable mirroring (MIRROR, AMIRROR) ...................................................................... 384
12.8 Frame generation according to tool orientation (TOFRAME, TOROT, PAROT) ...................... 390
12.9 Deselect frame (G53, G153, SUPA, G500) .............................................................................. 395
12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF) ............................. 396
13 Auxiliary function outputs ....................................................................................................................... 399
13.1 M functions ................................................................................................................................ 403
14 Supplementary commands .................................................................................................................... 407
14.1 Messages (MSG) ...................................................................................................................... 407
14.2 Working area limitation.............................................................................................................. 408
14.2.1 Working area limitation in BCS (G25/G26, WALIMON, WALIMOF) ......................................... 408
14.2.2 Working area limitation in WCS/SZS (WALCS0 ... WALCS10) ................................................ 413
14.3 Reference point approach (G74) .............................................................................................. 416
14.4 Approaching a fixed point (G75) ............................................................................................... 417
14.5 Travel to fixed stop (FXS, FXST, FXSW).................................................................................. 419
14.6 Acceleration behavior................................................................................................................ 425
14.6.1 Acceleration response, BRISK, SOFT, DRIVE ......................................................................... 425
14.6.2 Influence of acceleration on following axes (VELOLIMA, ACCLIMA, JERKLIMA) ................... 428
14.6.3 Technology G group (DYNNORM, DYNPOS, DYNROUGH, DYNSEMIFIN, DYNFINISH) ..... 430
14.7 Traversing with feedforward control, FFWON, FFWOF............................................................ 432

Fundamentals
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 Table of contents

14.8 Contour accuracy, CPRECON, CPRECOF ...............................................................................433

14.9 Dwell time, delay (G4, WRTPR) ................................................................................................434
14.10 Internal preprocessing stop........................................................................................................436
15 Other information ................................................................................................................................... 437
15.1 Axes ...........................................................................................................................................437
15.1.1 Main axes/Geometry axes .........................................................................................................439
15.1.2 Special axes...............................................................................................................................440
15.1.3 Main spindle, master spindle .....................................................................................................440
15.1.4 Machine axes .............................................................................................................................441
15.1.5 Channel axes .............................................................................................................................441
15.1.6 Path axes ...................................................................................................................................441
15.1.7 Positioning axes .........................................................................................................................442
15.1.8 Synchronized axes.....................................................................................................................443
15.1.9 Command axes ..........................................................................................................................443
15.1.10 PLC axes....................................................................................................................................443
15.1.11 Link axes ....................................................................................................................................443
15.1.12 Lead link axes ............................................................................................................................446
15.2 Coordinate systems and workpiece machining .........................................................................448
15.3 Addresses ..................................................................................................................................450
15.4 Identifiers....................................................................................................................................454
15.5 Constants ...................................................................................................................................456
16 Tables.................................................................................................................................................... 459
16.1 Statements .................................................................................................................................459
16.2 Addresses ..................................................................................................................................510
16.3 G functions / preparatory functions............................................................................................520
16.4 Predefined subroutine calls........................................................................................................537
16.5 Predefined subroutine calls in motion-synchronous actions......................................................555
16.6 Predefined functions ..................................................................................................................556
16.7 Arithmetic operators / arithmetic functions.................................................................................563
16.8 Relational operators...................................................................................................................564
16.9 Logic operators ..........................................................................................................................564
16.10 Data types ..................................................................................................................................564
A Appendix................................................................................................................................................ 565
A.1 List of abbreviations ...................................................................................................................565
A.2 Feedback on the documentation................................................................................................571
A.3 Documentation overview............................................................................................................573
Glossary .............................................................................................................................................. 575
Index...................................................................................................................................................... 603

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 11
Table of contents

Fundamentals
12 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Fundamental Geometrical Principles 1
1.1 Workpiece positions

1.1.1 Workpiece coordinate systems

In order that the machine or the control can work with the positions specified in the NC
program, these specifications have to be made in a reference system that can be transferred
to the directions of motion of the machine axes. A coordinate system with the axes X, Y and
Z is used for this purpose.
DIN 66217 stipulates that machine tools must use clockwise, right-angled (Cartesian)
coordinate systems.

=

<
;

r

: r r

<
;

=

Figure 1-1 Workpiece coordinate system for milling

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 13
Fundamental Geometrical Principles
1.1 Workpiece positions

<

;
=

r

: r r

;
=

<

Figure 1-2 Workpiece coordinate system for turning

The workpiece zero (W) is the origin of the workpiece coordinate system.
Sometimes it is advisable or even necessary to work with negative position specifications.
For this reason, positions that are to the left of the zero point are assigned a negative sign ("-
").

Fundamentals
14 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.1 Workpiece positions

1.1.2 Cartesian coordinates

The axes in the coordinate system are assigned dimensions. In this way, it is possible to
clearly describe every point in the coordinate system and therefore every workpiece position
through the direction (X, Y and Z) and three numerical values The workpiece zero always
has the coordinates X0, Y0, and Z0.

Position specifications in the form of Cartesian coordinates

To simplify things, we will only consider one plane of the coordinate system in the following
example, the X/Y plane:

<

3 

 3




; ;



 3
3 

<

Points P1 to P4 have the following coordinates:

Position Coordinates
P1 X100 Y50
P2 X-50 Y100
P3 X-105 Y-115
P4 X70 Y-75

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 15
Fundamental Geometrical Principles
1.1 Workpiece positions

Example: Workpiece positions for turning

With lathes, one plane is sufficient to describe the contour:

3

3 3

š
3

š
š
 =




Points P1 to P4 have the following coordinates:

Position Coordinates
P1 X25 Z-7.5
P2 X40 Z-15
P3 X40 Z-25
P4 X60 Z-35

Fundamentals
16 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.1 Workpiece positions

Example: Workpiece positions for milling

For milling, the feed depth must also be described, i.e. the third coordinate (in this case Z)
must also be assigned a numerical value.

< <

3
3
3


3


3 3


; =

 
 
 

Points P1 to P3 have the following coordinates:

Position Coordinates
P1 X10 Y45 Z-5
P2 X30 Y60 Z-20
P3 X45 Y20 Z-15

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 17
Fundamental Geometrical Principles
1.1 Workpiece positions

1.1.3 Polar coordinates

Polar coordinates can be used instead of Cartesian coordinates to describe workpiece
positions. This is useful when a workpiece or part of a workpiece has been dimensioned with
radius and angle. The point from which the dimensioning starts is called the "pole".

Position specifications in the form of polar coordinates

Polar coordinates are made up of the polar radius and the polar angle.
The polar radius is the distance between the pole and the position.
The polar angle is the angle between the polar radius and the horizontal axis of the working
plane. Negative polar angles are in the clockwise direction, positive polar angles in the
counterclockwise direction.

Example

<

3
3



r  r

3ROH


;


Points P1 and P2 can then be described – with reference to the pole – as follows:

Position Polar coordinates

P1 RP=100 AP=30
P2 RP=60 AP=75
RP: Polar radius
AP: Polar angle

Fundamentals
18 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.1 Workpiece positions

1.1.4 Absolute dimensions

Position specifications in absolute dimensions

With absolute dimensions, all the position specifications refer to the currently valid zero
point.
Applied to tool movement this means:
the position, to which the tool is to travel.

Example: Turning

3

3 3
š

3
š
š

 =




In absolute dimensions, the following position specifications result for points P1 to P4:

Position Position specification in absolute dimensions

P1 X25 Z-7.5
P2 X40 Z-15
P3 X40 Z-25
P4 X60 Z-35

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 19
Fundamental Geometrical Principles
1.1 Workpiece positions

Example: Milling

<

3

3


3



;




In absolute dimensions, the following position specifications result for points P1 to P3:

Position Position specification in absolute dimensions

P1 X20 Y35
P2 X50 Y60
P3 X70 Y20

1.1.5 Incremental dimension

Position specifications in incremental dimensions

In production drawings, the dimensions often do not refer to a zero point, but to another
workpiece point. So that these dimensions do not have to be converted, they can be
specified in incremental dimensions. In this method of dimensional notation, a position
specification refers to the previous point.
Applied to tool movement this means:
The incremental dimensions describe the distance the tool is to travel.

Fundamentals
20 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.1 Workpiece positions

Example of turning
The position specifications for points P2 to P4 in incremental dimensions are as follows:

3

3 3

š
3

š
š =
   

In incremental dimensions, the following position specifications result for points P2 to P4:

Position Position specification in incremental dimensions The specification refers to:

P2 X15 Z-7.5 P1
P3 Z-10 P2
P4 X20 Z-10 P3

Note
With DIAMOF or DIAM90 active, the set distance in incremental dimensions (G91) is
programmed as a radius dimension.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 21
Fundamental Geometrical Principles
1.1 Workpiece positions

Example of milling
The position specifications for points P1 to P3 in incremental dimensions are:

<

3


3


3


  

In incremental dimensions, the following position specifications result for points P1 to P3:

Position Position specification in incremental The specification refers to:

dimensions
P1 X20 Y35 Zero point
P2 X30 Y20 P1
P3 X20 Y -35 P2

Fundamentals
22 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.2 Working planes

1.2 Working planes

An NC program must contain information about the plane in which the work is to be
performed. Only then can the control unit calculate the correct tool offsets during the
execution of the NC program. The specification of the working plane is also relevant for
certain types of circular-path programming and polar coordinates.
Two coordinate axes define a working plane. The third coordinate axis is perpendicular to
this plane and determines the infeed direction of the tool (e.g. for 2D machining).

Working planes for turning/milling

<
 ;
*

*


*


Figure 1-3 Working planes for turning

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 23
Fundamental Geometrical Principles
1.2 Working planes

=
<

*
*


*


Figure 1-4 Working planes for milling

Programming of the working planes

The working planes are defined in the NC program with the G commands G17, G18 and G19
as follows:

G command Working plane Infeed direction Abscissa Ordinate Applicate

G17 X/Y Z X Y Z
G18 Z/X Y Z X Y
G19 Y/Z X Y Z X

Fundamentals
24 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.3 Zeros and reference points

1.3 Zeros and reference points

Various zero points and reference points are defined on an NC machine:

Zero points
M Machine zero
The machine zero defines the machine coordinate system (MCS). All other reference
points refer to the machine zero.
W Workpiece zero = program zero
The workpiece zero defines the workpiece coordinate system in relation to the
machine zero.
A Blocking point
Can be the same as the workpiece zero (only for lathes).

Reference points
R Reference point
Position defined by output cam and measuring system. The distance to the machine
zero M must be known so that the axis position at this point can be set exactly to this
value.
B Starting point
Can be defined by the program. The first machining tool starts here.

T Toolholder reference point

Is on the toolholder. By entering the tool lengths, the control calculates the distance
between the tool tip and the toolholder reference point.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 25
Fundamental Geometrical Principles
1.3 Zeros and reference points

Reference points for turning

5
%

0 $ : =

Reference points for milling

<

: :

0 ;

Fundamentals
26 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.4 Coordinate systems

1.4 Coordinate systems

A distinction is made between the following coordinate systems:
● Machine coordinate system (MCS) with the machine zero M
● Basic coordinate system (BCS)
● Basic zero system (BZS)
● Settable zero system (SZS)
● Workpiece coordinate system (WCS) with the workpiece zero W

1.4.1 Machine coordinate system (MCS)

The machine coordinate system comprises all the physically existing machine axes.
Reference points and tool and pallet changing points (fixed machine points) are defined in
the machine coordinate system.

=P <P

;P

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 27
Fundamental Geometrical Principles
1.4 Coordinate systems

If programming is performed directly in the machine coordinate system (possible with some
G functions), the physical axes of the machine respond directly. Any workpiece clamping that
is present is not taken into account.

Note
If there are various machine coordinate systems (e.g. 5-axis transformation), then an internal
transformation is used to map the machine kinematics on the coordinate system in which the
programming is performed.

Three-finger rule
The orientation of the coordinate system relative to the machine depends on the machine
type. The axis directions follow the so-called "three-finger rule" of the right hand (according
to DIN 66217).
Seen from in front of the machine, the middle finger of the right hand points in the opposite
direction to the infeed of the main spindle. Therefore:
● the thumb points in the +X direction
● the index finger points in the +Y direction
● the middle finger points in the +Z direction

=

<

;

Figure 1-5 "Three-finger rule"

Fundamentals
28 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.4 Coordinate systems

Rotary motions around the coordinate axes X, Y and Z are designated A, B and C. If the
rotary motion is in a clockwise direction when looking in the positive direction of the
coordinate axis, the direction of rotation is positive:

;<= <
$[HVSHUSHQGLFXODUWR
RQHDQRWKHU
%
$%&
5RWDU\D[HVURWDWLQJ
DURXQG;<=

r

&
;
$
=

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 29
Fundamental Geometrical Principles
1.4 Coordinate systems

Position of the coordinate system in different machine types

The position of the coordinate system resulting from the "three-finger rule" can have a
different orientation for different machine types. Here are a few examples:

=
<

%
<

= ;
;

<

;
& &

=
%

=
%

&
&

; <

Fundamentals
30 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.4 Coordinate systems

1.4.2 Basic coordinate system (BCS)

The basic coordinate system (BCS) consists of three mutually perpendicular axes (geometry
axes) as well as other special axes, which are not interrelated geometrically.

Machine tools without kinematic transformation

BCS and MCS always coincide when the BCS can be mapped onto the MCS without
kinematic transformation (e.g. 5-axis transformation, TRANSMIT/TRACYL/TRAANG).
On such machines, machine axes and geometry axes can have the same names.

<

;
0&6 %&6

= 0DFKLQH]HUR

Figure 1-6 MCS=BCS without kinematic transformation

Machine tools with kinematic transformation

BCS and MCS do not coincide when the BCS is mapped onto the MCS with kinematic
transformation (e.g. 5-axis transformation, TRANSMIT/TRACYL/TRAANG).
On such machines the machine axes and geometry axes must have different names.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 31
Fundamental Geometrical Principles
1.4 Coordinate systems

<%&6

.LQHPDWLFBWUDQV
IRUPDWLRQ

<0&6
; %&6

%DVLFFRRUGLQDWHV\VWHP%&6
= %&6

; 0&6

0DFKLQHFRRUGLQDWHV\VWHP0&6
= 0&6

Figure 1-7 Kinematic transformation between the MCS and BCS

Machine kinematics
The workpiece is always programmed in a two or three dimensional, right-angled coordinate
system (WCS). However, such workpieces are being programmed ever more frequently on
machine tools with rotary axes or linear axes not perpendicular to one another. Kinematic
transformation is used to represent coordinates programmed in the workpiece coordinate
system (rectangular) in real machine movements.

References
Function Manual, Extended Functions; Kinematic Transformation (M1)
Function Manual, Special Functions; 3-Axis to 5-Axis Transformation (F2)

Fundamentals
32 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.4 Coordinate systems

1.4.3 Basic zero system (BZS)

The basic zero system (BZS) is the basic coordinate system with a basic offset.

<

%DVLFRIIVHW
<
;

%DVLF]HURV\VWHP%=6
=

;

%DVLFFRRUGLQDWHV\VWHP%&6
=

Basic offset
The basic offset describes the coordinate transformation between BCS and BZS. It can be
used, for example, to define the palette window zero.
The basic offset comprises:
● Zero offset external
● DRF offset
● Overlaid movement
● Chained system frames
● Chained basic frames

References
Function Manual, Basic Functions; Axes, Coordinate Systems, Frames (K2)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 33
Fundamental Geometrical Principles
1.4 Coordinate systems

1.4.4 Settable zero system (SZS)

Settable zero offset

The "settable zero system" (SZS) results from the basic zero system (BZS) through the
settable zero offset.
Settable zero offsets are activated in the NC program with the G commands G54...G57 and
G505...G599 as follows:

<

**
<
;

6HWWDEOH]HURV\VWHP6=6
=

;

%DVLF]HURV\VWHP%=6
=

If no coordinate transformations (frames) are active, then the "settable zero system" is the
workpiece coordinate system (WCS).

Fundamentals
34 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Geometrical Principles
1.4 Coordinate systems

Coordinate transformations (FRAMES)

Sometimes it is useful or necessary within an NC program, to move the originally selected
workpiece coordinate system (or the "settable zero system") to another position and, if
required, to rotate it, mirror it and/or scale it. This is performed via coordinate transformations
(FRAMES).
See Section: "Coordinate transformations (frames)"

Note
Coordinate transformations (frames) always refer to the "settable zero system".

1.4.5 Workpiece coordinate system (WCS)

The geometry of a workpiece is described in the workpiece coordinate system (WCS). In
other words, the data in the NC program refer to the workpiece coordinate system.
The workpiece coordinate system is always a Cartesian coordinate system and assigned to
a specific workpiece.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 35
Fundamental Geometrical Principles
1.4 Coordinate systems

1.4.6 What is the relationship between the various coordinate systems?

The example in the following figure should help clarify the relationships between the various
coordinate systems:

] 3URJUDPPDEOH]HURRIIVHW
]

6HWWDEOH]HURRIIVHW
]
]
\ \

6=6 :RUNSLHFH
 :&6 [
\ \
 [

*
] ]

\ \
*
%=6 
0&6
%&6  :&6 [
6=6 3DOOHW
 [
[
%DVLFRIIVHW
[

:RUNSLHFH
6HWWDEOH]HURRIIVHW

3URJUDPPDEOH]HURRIIVHW

① A kinematic transformation is not active, i.e. the machine coordinate system and the basic
coordinate system coincide.
② The basic zero system (BZS) with the pallet zero result from the basic offset.
③ The "settable zero system" (SZS) for Workpiece 1 or Workpiece 2 is specified by the settable
zero offset G54 or G55.
④ The workpiece coordinate system (WCS) results from programmable zero offset.

Fundamentals
36 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Fundamental Principles of NC Programming 2
Note
DIN 66025 is the guideline for NC programming.

2.1 Name of an NC program

Rules for program names

Each NC program has a different name; the name can be chosen freely during program
creation, taking the following conditions into account:
● The name should not have more than 24 characters as only the first 24 characters of a
program name are displayed on the NC.
● Permissible characters are:
– Letters: A...Z, a...z
– Numbers: 0...9
– Underscores: _
● The first two characters should be:
– Two letters
Or
– An underscore and a letter
If this condition is satisfied, then an NC program can be called as subroutine from another
program just by specifying the program name. However, if the program name starts with a
number then the subroutine call is only possible via the CALL statement.
Examples:
_MPF100
SHAFT
SHAFT_2

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 37
Fundamental Principles of NC Programming
2.1 Name of an NC program

Files in punch tape format

Externally created program files that are read into the NC via the RS-232-C must be present
in punch tape format.
The following additional rules apply for the name of a file in punch tape format:
● The program name must begin with "%":
%<Name>
● The program name must have a 3-character identifier:
%<Name>_xxx
Examples:
● %_N_SHAFT123_MPF
● %Flange3_MPF

Note
The name of a file stored internally in the NC memory starts with "_N_".

References
For further information on transferring, creating and storing part programs, please refer to the
Operating Manual for your user interface.

Fundamentals
38 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

2.2 Structure and contents of an NC program

2.2.1 Blocks and block components

Blocks
An NC program consists of a sequence of NC blocks. Each block contains the data for the
execution of a step in the workpiece machining.

Block components
NC blocks consist of the following components:
● Commands (statements) according to DIN 66025
● Elements of the NC high-level language

Commands according to DIN 66025

The commands according to DIN 66025 consist of an address character and a digit or
sequence of digits representing an arithmetic value.
Address character (address)
The address character (generally a letter) defines the meaning of the command.
Examples:

Address character Meaning

G G function (preparatory function)
X Position data for the X axis
S Spindle speed

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 39
Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

Digit sequence
The digit sequence is the value assigned to the address character. The sequence of digits
can contain a sign and decimal point. The sign always appears between the address letter
and the sequence of digits. Positive signs (+) and leading zeroes (0) do not have to be
specified. 'LJLWVHTXHQFH

'LJLWVHTXHQFH

'LJLWVHTXHQFH
$GGUHVV

$GGUHVV

$GGUHVV

* ; 6

%ORFN

Fundamentals
40 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

Elements of the NC high-level language

As the command set according to DIN 66025 is no longer adequate for the programming of
complex machining sequences in modern machine tools, it has been extended by the
elements of the NC high-level language.
These include, for example:
● Commands of the NC high-level language
In contrast to the commands according to DIN 66025, the commands of the NC high-level
language consist of several address letters, e.g.
– OVR for speed override
– SPOS for spindle positioning
● Identifiers (defined names) for:
– System variables
– User-defined variables
– Subroutine
– Keywords
– Jump markers
– Macros

NOTICE
An identifier must be unique and cannot be used for different objects.

● Relational operators
● Logic operators
● Arithmetic functions
● Control structures
References:
Programming Manual, Job Planning; Section: Flexible NC programming

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 41
Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

Effectiveness of commands
Commands are either modal or non-modal:
● Modal
Modal commands retain their validity with the programmed value (in all following blocks)
until:
– A new value is programmed under the same command
– A command is programmed that revokes the effect of the previously valid command
● Non-modal
Non-modal commands only apply for the block in which they were programmed.

End of program
The last block in the execution sequence contains a special word for the end of program: M2,
M17 or M30.

2.2.2 Block rules

Start of block
NC blocks can be identified at the start of the block by block numbers. These consist of the
character "N" and a positive integer, e.g.
N40 ...
The order of the block numbers is arbitrary, however, block numbers in rising order are
recommended.

Note
Block numbers must be unique within a program in order to achieve an unambiguous result
when searching.

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42 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

End of block
A block ends with character "LF" (LINE FEED = new line).

Note
"LF" does not have to be written. It is generated automatically by the line change.

Block length
A block can contain a maximum of 512 characters (including the comment and end-of-block
character "LF").

Note
Three blocks of up to 66 characters each are normally displayed in the current block display
on the screen. Comments are also displayed. Messages are displayed in a separate
message window.

Order of the statements

In order to keep the block structure as clear as possible, the statements in a block should be
arranged in the following order:
N… G… X… Y… Z… F… S… T… D… M… H…

Address Meaning
N Address of block number
G Preparatory function
X,Y,Z Positional data
F Feed
S Spindle speed
T Tool
D Tool offset number
M Additional function
H Auxiliary function

Note
Certain addresses can be used repeatedly within a block, e.g.
G…, M…, H…

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 43
Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

2.2.3 Value assignments

Values can be assigned to the addresses. The following rules apply:
● An "=" sign must be inserted between the address and the value if:
– The address comprises more than one letter
– The value includes more than one constant.
The "="-sign can be omitted if the address is a single letter and the value consists of only
one constant.
● Signs are permitted.
● Separators are permitted after the address letter.

Examples:

X10 Value assignment (10) to address X, "=" not required

X1=10 Value assignment (10) to address (X) with numeric
extension (1), "=" required
X=10*(5+SIN(37.5)) Value assignment by means of a numeric expression, "="
required

Note
A numeric extension must always be followed by one of the special characters "=", "(", "[",
")", "]", ",", or an operator, in order to distinguish an address with numeric extension from an
address letter with a value.

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44 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

2.2.4 Comments
To make an NC program easier to understand, comments can be added to the NC blocks.
A comment is at the end of a block and is separated from the program section of the NC
block by a semicolon (";").

Example 1:

Program code Comments

N10 G1 F100 X10 Y20 ; Comment to explain the NC block

Example 2:

Program code Comment

N10 ; Company G&S, order no. 12A71
N20 ; Program written by H. Smith, Dept. TV 4 ;on November
21, 1994
N50 ; Section no. 12, housing for submersible pump type TP23A

Note
Comments are stored and appear in the current block display when the program is running.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 45
Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

2.2.5 Skipping blocks

NC blocks, which are not to be executed in every program pass (e.g. execute a trial program
run), can be skipped.

Programming
Blocks, which are to be skipped are marked with an oblique "/" in front of the block number.
Several consecutive blocks can also be skipped. The statements in the skipped blocks are
not executed; the program continues with the next block, which is not skipped.

1
3URJUDPH[HFXWLRQ

1
1
1
1
1
1
1
1
1
1
1

Example:

Program code Comment

N10 ; Is executed
/N20 … ; Skipped
N30 … ; Is executed
/N40 … ; Skipped
N70 … ; Is executed

Fundamentals
46 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

Skip levels
Blocks can be assigned to skip levels (max. 10), which can be activated via the user
interface.
Programming is performed by assigning a forward slash, followed by the number of the skip
level. Only one skip level can be specified for each block.
Example:

Program code Comment

/ ... ; Block is skipped (1st skip level)
/0 ... ; Block is skipped (1st skip level)
/1 N010... ; Block is skipped (2nd skip level)
/2 N020... ; Block is skipped (3rd skip level)
...
/7 N100... ; Block is skipped (8th skip level)
/8 N080... ; Block is skipped (9th skip level)
/9 N090... ; Block is skipped (10th skip level)

Note
The number of skip levels that can be used depends on a display machine data item.

Note
System and user variables can also be used in conditional jumps in order to control program
execution.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 47
Fundamental Principles of NC Programming
2.2 Structure and contents of an NC program

Fundamentals
48 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Creating an NC program 3
3.1 Basic procedure
The programming of the individual operation steps in the NC language generally represents
only a small proportion of the work in the development of an NC program.
Programming of the actual instructions should be preceded by the planning and preparation
of the operation steps. The more accurately you plan in advance how the NC program is to
be structured and organized, the faster and easier it will be to produce a complete program,
which is clear and free of errors. Clearly structured programs are especially advantageous
when changes have to be made later.
As every part is not identical, it does not make sense to create every program in the same
way. However, the following procedure has shown itself to be suitable in the most cases.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 49
Creating an NC program
3.1 Basic procedure

Procedure
1. Prepare the workpiece drawing
– Define the workpiece zero
– Draw the coordinate system
– Calculate any missing coordinates
2. Define the machining sequence
– Which tools are used when and for the machining of which contours?
– In which order will the individual elements of the workpiece be machined?
– Which individual elements are repeated (possibly also rotated) and should be stored in
a subroutine?
– Are there contour sections in other part programs or subroutines that could be used
for the current workpiece?
– Where are zero offsets, rotating, mirroring and scaling useful or necessary (frame
concept)?
3. Create a machining plan
Define all machining operations step-by-step, e.g.
– Rapid traverse movements for positioning
– Tool change
– Define the machining plane
– Retraction for checking
– Switch spindle, coolant on/off
– Call up tool data
– Feed
– Path correction
– Approaching the contour
– Retraction from the contour
– etc.
4. Compile machining steps in the programming language
– Write each individual step as an NC block (or NC blocks).
5. Combine the individual steps into a program

Fundamentals
50 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Creating an NC program
3.2 Available characters

3.2 Available characters

The following characters are available for writing NC programs:
● Upper-case characters:
A, B, C, D, E, F, G, H, I, J, K, L, M, N,(O),P, Q, R, S, T, U, V, W, X, Y, Z
● Lower-case characters:
a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u, v, w, x, y, z
● Numbers:
0, 1, 2, 3, 4, 5, 6, 7, 8, 9
● Special characters:
See the table below.

Special characters Meaning

% Program start character (used only for writing programs on an external PC)
( For bracketing parameters or expressions
) For bracketing parameters or expressions
[ For bracketing addresses or indexes
] For bracketing addresses or indexes
< Less than
> Greater than
: Main block, end of label, chain operator
= Assignment, part of equation
/ Division, block suppression
* Multiplication
+ Addition
- Subtraction, minus sign
" Double quotation marks, identifier for character string
' Single quotation marks, identifier for special numerical values: hexadecimal,
binary
$ System variable identifiers
_ Underscore, belonging to letters

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 51
Creating an NC program
3.2 Available characters

Special characters Meaning

? Reserved
! Reserved
. Decimal point
, Comma, parameter separator
; Comment start
& Format character, same effect as space character
LF End of block
Tab character Separator
space character Separator (blank)

NOTICE
Take care to differentiate between the letter "O" and the digit "0".

Note
No distinction is made between upper and lower-case characters (exception: tool call).

Note
Non-printable special characters are treated like blanks.

Fundamentals
52 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Creating an NC program
3.3 Program header

3.3 Program header

The NC blocks that are placed in front of the actual motion blocks for the machining of the
workpiece contour, are called the program header.
The program header contains information/statements regarding:
● Tool change
● Tool offsets
● Spindle motion
● Feed control
● Geometry settings (zero offset, selection of the working plane)

Program header for turning

The following example shows the typical structure of an NC program header for turning:

Program code Comment

N10 G0 G153 X200 Z500 T0 D0 ; Retract toolholder before tool turret is
rotated.
N20 T5 ; Swing in tool 5.
N30 D1 ; Activate cutting edge data record of the
tool.
N40 G96 S300 LIMS=3000 M4 M8 ; Constant cutting rate (Vc) = 300 m/min, speed
limitation = 3000 rpm, direction of rotation
counterclockwise, cooling on.
N50 DIAMON ; X axis will be programmed in diameter.
N60 G54 G18 G0 X82 Z0.2 ; Call zero offset and working plane, approach
starting position.
...

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 53
Creating an NC program
3.3 Program header

Program header for milling

The following example shows the typical structure of an NC program header for milling:

Program code Comment

N10 T="SF12" ; Alternative: T123
N20 M6 ; Trigger tool change
N30 D1 ; Activate cutting edge data record of the tool
N40 G54 G17 ; Zero offset and working plane
N50 G0 X0 Y0 Z2 S2000 M3 M8 ; Approach to the workpiece, spindle and
coolant on
...

If tool orientation / coordinate transformation is being used, any transformations still active
should be deleted at the start of the program:

Program code Comment

N10 CYCLE800() ; Resetting of the swiveled plane
N20 TRAFOOF ; Resetting of TRAORI, TRANSMIT, TRACYL, ...
...

Fundamentals
54 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Creating an NC program
3.4 Program examples

3.4 Program examples

3.4.1 Example 1: First programming steps

Program example 1 is to be used to perform and test the first programming steps on the NC.

Procedure
1. Create a new part program (name)
2. Edit the part program
3. Select the part program
4. Activate single block
5. Start the part program
References:
Operating Manual for the existing user interface

Note
In order that the program can run on the machine, the machine data must have been set
appropriately (→ machine manufacturer!).

Note
Alarms can occur during program verification. These alarms have to be reset first.

Program example 1

Program code Comment

N10 MSG("THIS IS MY NC PROGRAM") ; Message "THIS IS MY NC PROGRAM"
displayed in the alarm line
N20 F200 S900 T1 D2 M3 ; Feedrate, spindle, tool, tool offset,
spindle clockwise
N30 G0 X100 Y100 ; Approach position in rapid traverse
N40 G1 X150 ; Rectangle with feedrate, straight
line in X
N50 Y120 ; Straight line in Y
N60 X100 ; Straight line in X
N70 Y100 ; Straight line in Y
N80 G0 X0 Y0 ; Retraction in rapid traverse
N100 M30 ; End of block

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 55
Creating an NC program
3.4 Program examples

3.4.2 Example 2: NC program for turning

Program example 2 is intended for the machining of a workpiece on a lathe. It contains
radius programming and tool radius compensation.

Note
In order that the program can run on the machine, the machine data must have been set
appropriately (→ machine manufacturer!).

Dimension drawing of the workpiece

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Figure 3-1 Top view

Fundamentals
56 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Creating an NC program
3.4 Program examples

Program example 2

Program code Comment

N5 G0 G53 X280 Z380 D0 ; Starting point
N10 TRANS X0 Z250 ; Zero offset
N15 LIMS=4000 ; Speed limitation (G96)
N20 G96 S250 M3 ; Select constant cutting rate
N25 G90 T1 D1 M8 ; Select tool selection and offset
N30 G0 G42 X-1.5 Z1 ; Set tool with tool radius compensation
N35 G1 X0 Z0 F0.25
N40 G3 X16 Z-4 I0 K-10 ; Turn radius 10
N45 G1 Z-12
N50 G2 X22 Z-15 CR=3 ; Turn radius 3
N55 G1 X24
N60 G3 X30 Z-18 I0 K-3 ; Turn radius 3
N65 G1 Z-20
N70 X35 Z-40
N75 Z-57
N80 G2 X41 Z-60 CR=3 ; Turn radius 3
N85 G1 X46
N90 X52 Z-63
N95 G0 G40 G97 X100 Z50 M9 ; Deselect tool radius compensation and approach
tool change location
N100 T2 D2 ; Call tool and select offset
N105 G96 S210 M3 ; Select constant cutting rate
N110 G0 G42 X50 Z-60 M8 ; Set tool with tool radius compensation
N115 G1 Z-70 F0.12 ; Turn diameter 50
N120 G2 X50 Z-80 I6.245 K-5 ; Turn radius 8
N125 G0 G40 X100 Z50 M9 ; Retract tool and deselect tool radius
compensation
N130 G0 G53 X280 Z380 D0 M5 ; Approach tool change location
N135 M30 ; End of program

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 57
Creating an NC program
3.4 Program examples

3.4.3 Example 3: NC program for milling

Program example 3 is intended for the machining of a workpiece on a vertical milling
machine. It contains surface and side milling as well as drilling.

Note
In order that the program can run on the machine, the machine data must have been set
appropriately (→ machine manufacturer!).

Dimension drawing of the workpiece

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Figure 3-2 Side view

Fundamentals
58 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Creating an NC program
3.4 Program examples

[r

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Figure 3-3 Top view

Program example 3

Program code Comment

N10 T="PF60" ; Preselection of the tool with
name PF60.
N20 M6 ; Load the tool into the spindle.
N30 S2000 M3 M8 ; Speed, direction of rotation,
cooling on.
N40 G90 G64 G54 G17 G0 X-72 Y-72 ; Basic settings of the geometry
and approach starting point.
N50 G0 Z2 ; Z axis at safety clearance.
N60 G450 CFTCP ; Behavior with active G41/G42.
N70 G1 Z-10 F3000 ; Milling tool at working depth
with feedrate = 3000 mm/min.
N80 G1 G41 X-40 ; Activation of the milling tool
radius compensation.
N90 G1 X-40 Y30 RND=10 F1200 ; Travel to the contour with
feedrate = 1200 mm/min.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 59
Creating an NC program
3.4 Program examples

Program code Comment

N100 G1 X40 Y30 CHR=10

N110 G1 X40 Y-30

N120 G1 X-41 Y-30
N130 G1 G40 Y-72 F3000 ; Deselection of the milling tool
radius compensation.
N140 G0 Z200 M5 M9 ; Retraction of the milling tool,
spindle + cooling off.

N150 T="SF10" ; Preselection of the tool with

name SF10.
N160 M6 ; Load the tool into the spindle.
N170 S2800 M3 M8 ; Speed, direction of rotation,
cooling on.
N180 G90 G64 G54 G17 G0 X0 Y0 ; Basic settings of the geometry
and approach starting point.
N190 G0 Z2
N200 POCKET4(2,0,1,-5,15,0,0,0,0,0,800,1300,0,21,5,,,2,0.5) ; Call of the pocket milling
cycle.
N210 G0 Z200 M5 M9 ; Retraction of the milling tool,
spindle + cooling off.

N220 T="ZB6" ; Call center drill 6 mm.

N230 M6
N240 S5000 M3 M8
N250 G90 G60 G54 G17 X25 Y0 ; Exact stop G60 for exact
positioning.
N260 G0 Z2
N270 MCALL CYCLE82(2,0,1,-2.6,,0) ; Modal call of the drilling
cycle.
N280 POSITION: ; Jump mark for repetition.
N290 HOLES2(0,0,25,0,45,6) ; Position pattern for drilling.
N300 ENDLABEL: ; End identifier for repetition.
N310 MCALL ; Resetting of the modal call.
N320 G0 Z200 M5 M9

N330 T="SPB5" ; Call twist drill D 5 mm.

N340 M6
N350 S2600 M3 M8
N360 G90 G60 G54 G17 X25 Y0
N370 MCALL CYCLE82(2,0,1,-13.5,,0) ; Modal call of the drilling
cycle.
N380 REPEAT POSITION ; Repetition of the position
description from centering.
N390 MCALL ; Resetting of the drilling cycle
N400 G0 Z200 M5 M9
N410 M30 ; End of program.

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60 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Tool change 4
Tool change method
In chain, rotary-plate and box magazines, a tool change normally takes place in two stages:
1. The tool is sought in the magazine with the T command.
2. The tool is then loaded into the spindle with the M command.
In circular magazines on turning machines, the T command carries out the entire tool
change, that is, locates and inserts the tool.

Note
The tool change method is set via a machine data (→ machine manufacturer).

Conditions
Together with the tool change:
● The tool offset values stored under a D number have to be activated.
● The appropriate working plane has to be programmed (basic setting: G18). This ensures
that the tool length compensation is assigned to the correct axis.

Tool management (option)

The programming of the tool change is performed differently for machines with active tool
management (option) than for machines without active tool management. The two options
are therefore described separately.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 61
Tool change
4.1 Tool change without tool management

4.1 Tool change without tool management

4.1.1 Tool change with T command

Function
There is a direct tool change when the T command is programmed.

Application
For turning machines with circular magazine.

Syntax
Tool selection:
T<number>
T=<number>
T<n>=<number>
Tool deselection:
T0
T0=<number>

Meaning

T Command for tool selection including tool change and activation of the
tool offset
<n> Spindle number as address extension
Note:
The possibility of programming a spindle number as address extension
depends on the configuration of the machine;
→ see machine manufacturer's specifications)
<number> Number of the tool
Range of values: 0 - 32000
T0 Command for deselection of the active tool

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62 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool change
4.1 Tool change without tool management

Example

Program code Comment

N10 T1 D1 ; Loading of tool T1 and activation of the tool offset D1.
...
N70 T0 ; Deselect tool T1.
...

4.1.2 Tool change with M06

Function
The tool is selected when the T command is programmed. The tool only becomes active with
M06 (including tool offset).

Application
For milling machines with chain, rotary-plate or box magazines.

Syntax
Tool selection:
T<number>
T=<number>
T<n>=<number>
Tool change:
M06
Tool deselection:
T0
T0=<number>

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 63
Tool change
4.1 Tool change without tool management

Meaning

T Command for the tool selection

<n> Spindle number as address extension
Note:
The possibility of programming a spindle number as address extension
depends on the configuration of the machine;
→ see machine manufacturer's specifications)
<number> Number of the tool
Range of values: 0 - 32000
M06 M function for the tool change (according to DIN 66025)
M06 activates the selected tool (T…) and the tool offset (D...).
T0 Command for deselection of the active tool

Example

Program code Comment

N10 T1 M6 ; Loading of tool T1.
N20 D1 ; Selection of tool length compensation.
N30 G1 X10 ... ; Machining with T1.
...
N70 T5 ; Preselection of tool T5.
N80 ... ; Machining with T1.
...
N100 M06 ; Loading of tool T5.
N110 D1 G1 X10 ... ; Machining with tool T5
...

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64 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool change
4.2 Tool change with tool management (option)

4.2 Tool change with tool management (option)

Tool management
The optional "Tool management" function ensures that at any given time the correct tool is in
the correct location and that the data assigned to the tool are up to date. It also allows fast
tool changes and avoids both scrap by monitoring the tool service life and machine
downtimes by using spare tools.

Tool name
On a machine tool with active tool management, the tools must be assigned a name and
number for clear identification (e.g. "Drill", "3").
The tool call can then be via the tool name, e.g.
T="Drill"

NOTICE
The tool name may not contain any special characters.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 65
Tool change
4.2 Tool change with tool management (option)

4.2.1 Tool change with T command with active tool management (option)

Function
There is a direct tool change when the T command is programmed.

Application
For turning machines with circular magazine.

Syntax
Tool selection:
T=<location>
T=<name>
T<n>=<location>
T<n>=<name>
Tool deselection:
T0

Meaning

T= Command for tool change and activation of the tool offset

The following specifications are possible:
<location Number of the magazine location
>
<name> Name of tool
Note:
The correct notation (upper/lower case) must be observed when
programming a tool name.
<n> Spindle number as address extension
Note:
The possibility of programming a spindle number as address extension
depends on the configuration of the machine; → see machine manufacturer's
specifications)
T0 Command for the tool deselection (magazine location not occupied)

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66 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool change
4.2 Tool change with tool management (option)

Note
If the selected magazine location is not occupied in a tool magazine, the command acts as
for T0. The selection of the next occupied magazine location can be used to position the
empty location.

Example
A circular magazine has locations 1 to 20 with the following tool assignment:

Location Tool Tool group State

1 Drill, duplo no. = 1 T15 Blocked
2 Not occupied
3 Drill, duplo no. = 2 T10 Enabled
4 Drill, duplo no. = 3 T1 Active
5 ... 20 Not occupied

 



 

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 67
Tool change
4.2 Tool change with tool management (option)

The following tool call is programmed in the NC program:

N10 T=1
The call is processed as follows:
1. Magazine location 1 is considered and the tool identifier determined.
2. The tool management recognizes that this tool is blocked and therefore cannot be used.
3. A tool search for T="drill" is initiated in accordance with the search method set:
"Find the active tool; or else, select the one with the next highest duplo number."
4. The following usable tool is then found:
"Drill", duplo no. 3 (at magazine location 4)
This completes the tool selection process and the tool change is initiated.

Note
If the "Select the first available tool from the group" search method is employed, the
sequence must first be defined within the tool group being loaded. In this case group T10
is loaded, as T15 is blocked.
When the strategy "Take the first tool with "active" status from the group" is applied, T1 is
loaded.

4.2.2 Tool change with M06 with active tool management (option)

Function
The tool is selected when the T command is programmed. The tool only becomes active with
M06 (including tool offset).

Application
For milling machines with chain, rotary-plate or box magazines.

Fundamentals
68 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool change
4.2 Tool change with tool management (option)

Syntax
Tool selection:
T=<location>
T=<name>
T<n>=<location>
T<n>=<name>
Tool change:
M06
Tool deselection:
T0

Meaning

T= Command for the tool selection

The following specifications are possible:
<location> Number of the magazine location
<name> Name of tool
Note:
The correct notation (upper/lower case) must be observed when
programming a tool name.
<n> Spindle number as address extension
Note:
The possibility of programming a spindle number as address extension
depends on the configuration of the machine; → see machine manufacturer's
specifications)
M06 M function for the tool change (according to DIN 66025)
M06 activates the selected tool (T…) and the tool offset (D...).
T0 Command for the tool deselection (magazine location not occupied)

Note
If the selected magazine location is not occupied in a tool magazine, the command acts as
for T0. The selection of the next occupied magazine location can be used to position the
empty location.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 69
Tool change
4.3 Behavior with faulty T programming

Example

Program code Comment

N10 T=1 M6 ; Loading of the tool from magazine location 1.
N20 D1 ; Selection of tool length compensation.
N30 G1 X10 ... ; Machining with tool T=1.
...
N70 T="Drill" ; Preselection of the tool with name "Drill".
N80 ... ; Machining with tool T=1.
...
N100 M06 ; Loading of the drill.
N140 D1 G1 X10 ... ; Machining with drill.
...

4.3 Behavior with faulty T programming

The behavior with faulty T programming depends on the configuration of the machine:

MD22562 TOOL_CHANGE_ERROR_MODE
Bit Value Meaning
7 0 Basic setting!
With the T programming, a check is made immediately as to whether the NCK
recognizes the T number. If not, an alarm is triggered.
1 The programmed T number will only be checked following D selection. If the NCK
does not recognize the tool number, an alarm is issued during D selection.
This response is desirable if, for example, tool programming is also intended to
achieve positioning and the tool data is not necessarily available (circular magazine).

Fundamentals
70 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Tool offsets
Workpiece dimensions are programmed directly (e.g. according to the production drawing).
5
Therefore, tool data such as milling tool diameter, cutting edge position of the turning tool
(counterclockwise/clockwise turning tool) and tool length does not have to be taken into
consideration when creating the program.

The control corrects the travel path

When machining a workpiece, the tool paths are controlled according to the tool geometry
such that the programmed contour can be machined using any tool.
In order that the control can calculate the tool paths, the tool data must be entered in the tool
compensation memory of the control. Only the required tool (T...) and the required offset
data record (D...) are called via the NC program.
While the program is being processed, the control fetches the offset data it requires from the
tool compensation memory and corrects the tool path individually for different tools:

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 71
Tool offsets
5.1 Tool length compensation

5.1 Tool length compensation

The tool length compensation compensates for the differences in length between the tools
used.
The tool length is the distance between the toolholder reference point and the tool tip:

F F F F

This length is measured and entered in the tool compensation memory of the control
together with definable wear values. From this data, the control calculates the traversing
movements in the infeed direction.

Note
The compensation value of the tool length depends on the spatial orientation of the tool (see
"Tool length compensation for orientable toolholders".

Fundamentals
72 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool offsets
5.2 Tool radius compensation

5.2 Tool radius compensation

The contour and tool path are not identical. The milling tool or cutting edge center must
travel along a path that is equidistant from the contour. To do this, the control requires data
about the tool form (radius) from the tool compensation memory.
Depending on the radius and the machining direction, the programmed tool center point path
is offset during the program processing in such a way that the tool edge travels exactly along
the programmed contour:

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NOTICE
The tool radius compensation is applied corresponding to the presetting CUT2D or
CUT2DF (see Section "2D tool offset (CUT2D, CUT2DF) (Page 331)".

References
The various options for the tool radius compensation are described in detail in Section "Tool
radius compensations".

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 73
Tool offsets
5.3 Tool compensation memory

5.3 Tool compensation memory

The following data must be available in the tool compensation memory of the control for
each tool edge:
● Tool type
● Cutting edge position
● Tool geometry variables (length, radius)
This data is entered as tool parameters (max. 25). Which parameters are required for a tool
depends on the tool type. Any tool parameters that are not required must be set to "zero"
(corresponds to the default setting of the system).

NOTICE
Values that have been entered once in the compensation memory are included in the
processing at each tool call.

Tool type
The tool type (drill, milling or turning tool) determines which geometry data is necessary and
how this is taken into account.

Cutting edge position

The cutting edge position describes the position of the tool tip P in relation to the cutting
edge center point S.
The cutting edge position is required together with the cutting edge radius for the calculation
of the tool radius compensation for turning tools (tool type 5xx).

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Fundamentals
74 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool offsets
5.3 Tool compensation memory

Tool geometry variables (length, radius)

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The tool geometry variables consist of several components (geometry, wear). The control
computes the components to a certain dimension (e.g. overall length 1, total radius). The
respective overall dimension becomes effective when the compensation memory is
activated.
How these values are calculated in the axes is determined by the tool type and the current
plane (G17/G18/G19).

References
Function Manual, Basic Functions; Tool Offsets (W1); Section "Tool edge"

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 75
Tool offsets
5.4 Tool types

5.4 Tool types

Tools are divided into tool types. Each tool type is assigned a 3-digit number. The first digit
assigns the tool type to one of the following groups depending on the technology used:

Tool type Tool group

1xy Milling tools
2xy Drills
3xy Reserved
4xy Grinding tools
5xy Turning tools
6xy Reserved
7xy Special tools such as a slotting saw

Fundamentals
76 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool offsets
5.4 Tool types

5.4.1 Milling tools

The following tool types are available in the "Milling tools" group:

100 Milling tool according to CLDATA (Cutter Location Data)

110 Ballhead cutter (cylindrical die milling tool)
111 Ballhead cutter (tapered die milling tool)
120 End mill (without corner rounding)
121 End mill (with corner rounding)
130 Angle head cutter (without corner rounding)
131 Angle head cutter (with corner rounding)
140 Facing tool
145 Thread cutter
150 Side mill
151 Saw
155 Bevel cutter (without corner rounding)
156 Bevel cutter (with corner rounding)
157 Tapered die milling tool
160 Drill and thread milling cutter

Tool parameters
The following figures provide an overview of which tool parameters (DP...) for milling tools
are entered in the compensation memory:

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 77
Tool offsets
5.4 Tool types

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Note
Brief description of the tool parameters can be found on the user interface.
For further information, see:
References:
Function Manual, Basic Functions; Tool Offset (W1)

Fundamentals
78 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool offsets
5.4 Tool types

5.4.2 Drills
The following tool types are available in the "Drills" group:

200 Twist drill

205 Drill
210 Boring bar
220 Center drill
230 Countersink
231 Counterbore
240 Tap regular thread
241 Tap fine thread
242 Tap Whitworth thread
250 Reamer

Tool parameters
The following figure provides an overview of which tool parameters (DP...) for drills are
entered in the compensation memory:

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Note
Brief description of the tool parameters can be found on the user interface.
For further information, see:
References:
Function Manual, Basic Functions; Tool Offset (W1)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 79
Tool offsets
5.4 Tool types

5.4.3 Grinding tools

The following tool types are available in the "Grinding tools" group:

400 Surface grinding wheel

401 Surface grinding wheel with monitoring
402 Surface grinding wheel without monitoring without base dimension (TOOLMAN)
403 Surface grinding wheel with monitoring without base dimension for grinding
wheel peripheral speed GWPS
410 Facing wheel
411 Facing wheel (TOOLMAN) with monitoring
412 Facing wheel (TOOLMAN) without monitoring
413 Facing wheel with monitoring without base dimension for grinding wheel
peripheral speed GWPS
490 Dresser

Tool parameters
The following figure provides an overview of which tool parameters (DP...) for grinding tools
are entered in the compensation memory:

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Fundamentals
80 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool offsets
5.4 Tool types

Note
Brief description of the tool parameters can be found on the user interface.
For further information, see:
References:
Function Manual, Basic Functions; Tool Offset (W1)

5.4.4 Turning tools

The following tool types are available in the "Turning tools" group:

500 Roughing tool

510 Finishing tool
520 Plunge cutter
530 Parting tool
540 Threading tool
550 Button tool / forming tool (TOOLMAN)
560 Rotary drill (ECOCUT)
580 Probe with cutting edge position parameters

Tool parameters
The following figures provide an overview of which tool parameters (DP...) for turning tools
are entered in the compensation memory:

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 81
Tool offsets
5.4 Tool types

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Note
Brief description of the tool parameters can be found on the user interface.
For further information, see:
References:
Function Manual, Basic Functions; Tool Offset (W1)

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82 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool offsets
5.4 Tool types

5.4.5 Special tools

The following tool types are available in the "Special tools" group:

700 Slotting saw

710 3D probe
711 Edge probe
730 Stop

Tool parameters
The following figure provides an overview of which tool parameters (DP...) for "Slotting saw"
tool type are entered in the compensation memory:

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Note
Brief description of the tool parameters can be found on the user interface.
For further information, see:
References:
Function Manual, Basic Functions; Tool Offset (W1)

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 83
Tool offsets
5.5 Tool offset call (D)

5.4.6 Chaining rule

The geometry tool length compensations, wear and base dimension can be chained for both
the left and the right tool nose radius compensation, i.e. if the tool length compensations are
changed for the left cutting edge, then the values are also automatically entered for the right
cutting edge and vice versa.

References
Function Manual, Extended Functions; Grinding (W4)

5.5 Tool offset call (D)

Function
Cutting edges 1 to 8 (with active TOOLMAN 12) of a tool can be assigned different tool offset
data records (e.g. different offset values for the left and right cutting edge of a grooving tool).
Activation of the offset data (including the data for the tool length compensation) of a special
cutting edge is performed by calling the D number. When D0 is programmed, offsets for the
tool have no effect.
A tool radius compensation must also be activated via G41/G42.

Note
Tool length offsets take immediate effect when the D number is programmed. If no D number
is programmed, the default setting defined via the machine data is active for a tool change
(→ see machine manufacturer's specifications).

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 Tool offsets
5.5 Tool offset call (D)

Syntax
Activation of a tool offset data record:
D<number>
Activate the tool radius compensation:
G41 ...
G42 ...
Deactivation of the tool offsets:
D0
G40

Meaning

D Command for the activation of an offset data record for the active tool
The tool length compensation is applied with the first programmed traverse
of the associated length compensation axis.
Notice:
A tool length compensation can also take effect without D programming,
when the automatic activation of a tool edge has been configured for the
tool change (→ see machine manufacturer's specifications).
<number> The tool offset data record to be activated is specified via the <number>
parameter.
The type of D programming depends on the configuration of the machine
(see paragraph "Type of D programming").
Range of values: 0 - 32000
D0 Command for the deactivation of the offset data record for the active tool
G41 Command for the activation of the tool radius compensation with
machining direction left of the contour
G42 Command for the activation of the tool radius compensation with
machining direction right of the contour
G40 Command for the deactivation of the tool radius compensation

Note
The tool radius compensation is described in detail in the section "Tool radius compensation"
section.

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Tool offsets
5.5 Tool offset call (D)

Type of D programming
The type of D programming is defined via machine data.
This can be done as follows:
● D number = cutting edge number
D numbers ranging from 1 to max. 12 are available for every tool T<number> or
T="Name" (with TOOLMAN). These D numbers are assigned directly to the tool cutting
edges. A compensation data record ($TC_DPx[t,d]) belongs to each D number (= cutting
edge number).
● Free selection of D numbers
The D numbers can be freely assigned to the cutting edge numbers of a tool. The upper
limit for the D numbers that can be used is limited by a machine data.
● Absolute D number without reference to the T number
Independence between D number and T number can be selected in systems without tool
management. The reference of T number, cutting edge and offset by the D number is
defined by the user. The range of D numbers is between 1 and 32000.
References:
Function Manual, Basic Functions; Tool Offset (W1)
Function Manual, Tool Management; Section: "Variants of D-number assignments"

Examples
Example 1: Tool change with T command (turning)

Program code Comment

N10 T1 D1 ; Load tool T1 and activate tool offset data record D1 of T1.
N11 G0 X... Z... ; The tool length compensations are applied.
N50 T4 D2 ; Load tool T4 and activate tool offset data record D2 of T4.
...
N70 G0 Z... D1 ; Activate other cutting edge D1 for tool T4.

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 Tool offsets
5.6 Change in the tool offset data

Example 2: Different offset values for the left and right cutting edge of a grooving tool

N10 T2
N20 G0 X35 Z-20
N30 G1 D1 X10
N40... D6 Z-5

10

Z
-20 -5

5.6 Change in the tool offset data

Effectiveness
A change in the tool offset data takes effect the next time the T or D number is programmed.
Set tool offset data to be active immediately
The following machine data can be used to specify that entered tool offset data takes effect
immediately:
MD9440 $MM_ACTIVATE_SEL_USER

DANGER
If MD9440 is set, tool offsets resulting from changes in tool offset data during the part
program stop, are applied when the part program is continued.

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Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

Function
The user can use the commands TOFFL/TOFF and TOFFR to modify the effective tool length
or the effective tool radius in the NC program, without changing the tool offset data stored in
the compensation memory.
These programmed offsets are deleted again at the end of the program.
Tool length offset
Depending on the type of programming, programmed tool length offsets are assigned either
to the tool length components L1, L2 and L3 (TOFFL) stored in the compensation memory or
to the geometry axes (TOFF). The programmed offsets are treated accordingly for a plane
change (G17/G18/G19 ↔ G17/G18/G19):
● If the offset values are assigned to the tool length components, the directions in which the
programmed offsets apply, are replaced accordingly.
● If the offset values are assigned to the geometry axes, a plane change does not effect the
assignment in relation to the coordinate axes.
Tool radius offset
The command TOFFR is available for the programming of a tool radius offset.

Syntax
Tool length offset:
TOFFL=<value>
TOFFL[1]=<value>
TOFFL[2]=<value>
TOFFL[3]=<value>
TOFF[<geometry axis>]=<value>
Tool radius offset:
TOFFR=<value>

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 Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

Meaning

TOFFL Command for the compensation of the effective tool length

TOFFL can be programmed with or without index:
• Without index: TOFFL=
The programmed offset value is applied in the same direction
as the tool length component L1 stored in the compensation
memory.
• With index: TOFFL[1]=, TOFFL[2]= or TOFFL[3]=
The programmed offset value is applied in the same direction
as the tool length component L1, L2 or L3 stored in the
compensation memory.
The commands TOFFL and TOFFL[1] have an identical effect.
Note:
How these tool length offset values are calculated in the axes is
determined by the tool type and the current working plane
(G17/G18/G19).
TOFF Command for the compensation of the tool length in the
component parallel to the specified geometry axis
TOFF is applied in the direction of the tool length component,
which is effective with non-rotated tool (orientable toolholder or
orientation transformation) parallel to the <geometry axis>
specified in the index.
Note:
A frame does not influence the assignment of the programmed
values to the tool length components, i.e. the workpiece
coordinate system (WCS) is not used for the assignment of the
tool length components to the geometry axes, but the tool in the
basic tool position.
<geometry axis> Identifier of the geometry axis
TOFFR Command for the compensation of the effective tool radius
TOFFR changes the effective tool radius with active tool radius
compensation by the programmed offset value.
<value> Offset value for the tool length or radius
Type: REAL

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Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

Note
The TOFFR command has almost the same effect as the OFFN command (see "Tool radius
compensation (Page 285)"). There is only a difference with active peripheral curve
transformation (TRACYL) and active slot side compensation. In this case, the tool radius is
affected by OFFN with a negative sign, but by TOFFR with a positive sign.
OFFN and TOFFR can be effective simultaneously. They then generally have an additive
effect (except for slot side compensation).

Further syntax rules

● The tool length can be changed simultaneously in all three components. However,
commands of the TOFFL/TOFFL[1..3] group and commands of the TOFF[<geometry
axis>] may not be used simultaneously in one block.
TOFFL and TOFFL[1] may also not be written simultaneously in one block.
● If all three tool length components are not programmed in a block, the components not
programmed remain unchanged. In this way, it is possible to build up offsets for several
components block-by-block. However, this only applies as long as the tool components
have been modified either only with TOFFL or only with TOFF. Changing the programming
type from TOFFL to TOFF or vice versa deletes any previously programmed tool length
offsets (see example 3).

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 Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

Supplementary conditions
● Evaluation of setting data
The following setting data is evaluated when assigning the programmed offset values to
the tool length components:
SD42940 $SC_TOOL_LENGTH_CONST (change of tool length components on change
of planes).
SD42950 $SC_TOOL_LENGTH_TYPE (assignment of the tool length compensation
independent of tool type)
If this setting data has valid values not equal to 0, then these take preference over the
contents of G code group 6 (plane selection G17 - G19) or the tool type ($TC_DP1[<T
no.>, <D no.>]) contained in the tool data, i.e. this setting data influences the evaluation
of the offsets in the same way as the tool length components L1 to L3.
● Tool change
All offset values are retained during a tool change (cutting edge change), e.g. they are
also effective for the new tool (new cutting edge).

Examples
Example 1: Positive tool length offset
The active tool is a drill with length L1 = 100 mm.
The active plane is G17, i.e. the drill points in the Z direction.
The effective drill length is to be increased by 1 mm. The following variants are available for
the programming of this tool length offset:
TOFFL=1
or
TOFFL[1]=1
or
TOFF[Z]=1

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Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

Example 2: Negative tool length offset

The active tool is a drill with length L1 = 100 mm.
The active plane is G18, i.e. the drill points in the Y direction.
The effective drill length is to be decreased by 1 mm. The following variants are available for
the programming of this tool length offset:
TOFFL=-1
or
TOFFL[1]=-1
or
TOFF[Y]=1

Example 3: Changing the programming type from TOFFL to TOFF

The active tool is a milling tool. The active plane is G17.

Program code Comment

N10 TOFFL[1]=3 TOFFL[3]=5 ; Effective offsets: L1=3, L2=0, L3=5
N20 TOFFL[2]=4 ; Effective offsets: L1=3, L2=4, L3=5
N30 TOFF[Z]=1.3 ; Effective offsets: L1=0, L2=0, L3=1.3

Example 4: Plane change

Program code Comment

N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]= 100 ; Tool change L1=100mm
N30 T1 D1 G17
N40 TOFF[Z]=1.0 ; Offset in Z direction (corresponds to L1 for G17).
N50 G0 X0 Y0 Z0 ; Machine axis position X0 Y0 Z101
N60 G18 G0 X0 Y0 Z0 ; Machine axis position X0 Y100 Z1
N70 G17
N80 TOFFL=1.0 ; Offset in L1 direction (corresponds to Z for G17).
N90 G0 X0 Y0 Z0 ; Machine axis position X0 Y0 Z101.
N100 G18 G0 X0 Y0 Z0 ; Machine axis position X0 Y101 Z0.

In this example, the offset of 1 mm in the Z axis is retained when changing to G18 in block
N60; the effective tool length in the Y axis is the unchanged tool length of 100 mm.
However, in block N100, the offset is effective in the Y axis when changing to G18 as it was
assigned to tool length L1 in the programming and this length component is effective in the Y
axis with G18.

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 Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

Further information
Applications
The "Programmable tool offset" function is especially interesting for ball mills and milling
tools with corner radii as these are often calculated in the CAM system to the ball center
instead of the ball tip. However, generally the tool tip is measured when measuring the tool
and stored as tool length in the compensation memory.
System variables for reading the current offset values
The currently effective offsets can be read with the following system variables:

System variables Meaning

$P_TOFFL [<n>] with 0 ≤ n ≤ 3 Reads the current offset value of TOFFL (for
n = 0) or TOFFL[1...3] (for n = 1, 2, 3) in the
preprocessing context.
$P_TOFF [<geometry axis>] Reads the current offset value of
TOFF[<geometry axis>] in the
preprocessing context.
$P_TOFFR Reads the current offset value of TOFFR in the
preprocessing context.
$AC_TOFFL[<n>] with 0 ≤ n ≤ 3 Reads the current offset value of TOFFL (for
n = 0) or TOFFL[1...3] (for n = 1, 2, 3) in the
main run context (synchronized actions).
$AC_TOFF[<geometry axis>] Reads the current offset value of
TOFF[<geometry axis>] in the main run
context (synchronized actions).
$AC_TOFFR Reads the current offset value of TOFFR in the
main run context (synchronized actions).

Note
The system variables $AC_TOFFL, $AC_TOFF and AC_TOFFR trigger an automatic
preprocessing stop when reading from the preprocessing context (NC program).

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Tool offsets
5.7 Programmable tool offset (TOFFL, TOFF, TOFFR)

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Spindle motion 6
6.1 Spindle speed (S), direction of spindle rotation (M3, M4, M5)

Function
The functions described are used to
● switch the spindle on
● specify the required direction of spindle rotation, and
● define the counterspindle or an actuated tool as the master spindle, e.g. on turning
machines.
The following programming commands are valid for the master spindle: G95, G96/G961,
G97/G971, G33, G331 (see also Chapter "Main spindle, master spindle").
Machine manufacturer
Definition as master spindle is also possible via machine data (default).

Syntax
M3 or M1=3
M4 or M1=4
M5 or M1=5
s…
Sn=…
SETMS(n) or SETMS

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Spindle motion
6.1 Spindle speed (S), direction of spindle rotation (M3, M4, M5)

Meaning

M1=3 M1=4 M1=5 Spindle rotation clockwise/counterclockwise, spindle stop for spindle 1.
Other spindles are defined according to M2=… M3=…
M3 Direction of spindle rotation clockwise for master spindle
M4 Direction of spindle rotation counterclockwise for master spindle
M5 Spindle stop for master spindle
S… Spindle speed in rpm for the master spindle
Sn…= Spindle speed in rpm for spindle n
SETMS(n) Set spindle specified in n as master spindle
SETMS Reset to the master spindle defined in machine data

Spindle speed S
The speed specified with S… or S0=… applies to the master spindle. You specify the
corresponding number for additional spindles: =…, S2=…

Note
Three S values can be programmed per NC block.

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 Spindle motion
6.1 Spindle speed (S), direction of spindle rotation (M3, M4, M5)

Example of master spindle with work spindle

S1 is the master spindle, S2 is the second spindle. The part is to be machined from two
sides. To do this, it is necessary to divide the operations into steps. After the cut-off point,
the synchronizing device (S2) takes over machining of the workpiece after the cut off. To do
this, this spindle S2 is defined as the master spindle to which G95 then applies.

6

6

Program code Comment

N10 S300 M3 ; Speed and direction of rotation for
drive spindle = preset master spindle
N20…N90 ; Machining of the right-hand workpiece side
N100 SETMS(2) ; S2 is now master spindle
N110 S400 G95 F… ; Speed for new master spindle
N120…N150 ; Machining of the left-hand workpiece side
N160 SETMS ; Switching back to master spindle S1

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Spindle motion
6.1 Spindle speed (S), direction of spindle rotation (M3, M4, M5)

Preset M commands, M3, M4, M5

In a block with axis commands, the above mentioned functions are activated before the axis
movements commence (basic settings on the control).
Example:

Program code Comment

N10 G1 F500 X70 Y20 S270 M3 ; The spindle powers up to 270 rpm, then
the movements are executed in X and Y
N100 G0 Z150 M5 ; Spindle stop before the retraction movement in
Z

Note
Machine data can be used to set when axis movements should be executed; either once the
spindle has powered up to the setpoint speed, or immediately after the programmed
switching operations have been traversed.

Working with multiple spindles

5 spindles – master spindle plus 4 additional spindles – can be available in one channel at
the same time.
One of the spindles is defined in machine data as the master spindle. Special functions apply
to this spindle, such as thread cutting, tapping, revolutional feed, dwell time. The numbers
must be specified with the speed and the direction of rotation/spindle stop for the other
spindles, e.g. for a second spindle and actuated tool.
Example:

Program code Comment

N10 S300 M3 S2=780 M2=4 ; Master spindle 300 rpm, clockwise, 2nd spindle 780
rpm, counterclockwise

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 Spindle motion
6.1 Spindle speed (S), direction of spindle rotation (M3, M4, M5)

Deactivate SETMS
By issuing SETMS without spindle parameter you can switchback to the master spindle
defined in the machine data.

Programmable switchover of master spindle, SETMS(n)

You can define any spindle as the master spindle with a command in the NC program.
Example:

Program code Comment

N10 SETMS (2) ; SETMS must be in a separate block; spindle 2 is now master
spindle

Note
The speed specified with S and M3, M4, M5 now apply.

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Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS,

SCC)

Function
When G96/G961 is active, the spindle speed – depending on the respective workpiece
diameter – is modified in order that the cutting rate S in m/min or ft/min remains constant at
the tool edge.

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This increases the uniformity and thus the surface quality of turned parts, and also protects
the tool.
The constant cutting rate, activated with G96/G961/G962 can be cancelled again with
G97/G971/G972 with the active feed type (G94 linear feed or G95 revolutional feedrate).
Using G973, a constant cutting rate (G96) is de-selected without speed limiting being
activated as is the case for G97.
If any of the G96/G961/G962 functions are active, SCC[axis] can be used to assign any
geometry axis as a reference axis. If the reference axis changes, which will in turn affect the
TCP (tool-center-point) reference position for the constant cutting rate, the resulting spindle
speed will be attained via the set braking or acceleration ramp.
The command LIMS specifies a maximum spindle speed limitation for the master spindle.

Fundamentals
100 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

Syntax
Activate
G96 or G96 S…
Deactivate
G97
G973 without activating spindle speed limiting
Activate/deactivate
G961 or G971 with feed type as for G94
G962 or G972 with feed type, either as for G94 or as for G95
Speed limitation of the master spindle in a block
LIMS=value or LIMS[1]=value up to LIMS[4]=value in one block
LIMS can be expanded for machines with selectable master spindles by adding four
limitations in the part program for each of these master spindles. The speed limitation
programmed with G26 or specified via setting data cannot be exceeded with LIMS and
activates an alarm if not observed.
Assignment of the specified axis as a reference axis
SCC[AX] can be programmed together with G96/G961/G962 or in isolation.

Note
The reference axis for G96/G961/G962 must be a geometry axis assigned to the channel at
the time when SCC[AX] is programmed. SCC[AX] can also be programmed when any of the
G96/G961/G962 functions are active.

Meaning

G96 Activate constant cutting rate with feedrate type as with G95
(revolutional feedrate in relation to a master spindle).
G961= Activate constant cutting rate with feedrate type as with G94
(linear feedrate in relation to a linear/rotary axis).
G962= Activate constant cutting rate with feedrate type as with G94
or G95.

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Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

S... Cutting rate in m/min, always applies to master spindle

Range of values.
Range of The range of values for the cutting rate S
values can be between 0.1 m/min ... 9999 9999.9
m/min. The precision can be set in the
machine data.
Note:
For G70/G700: cutting rate is in feet/min.
G97 Deactivate constant cutting rate with feedrate type as with
G95 (revolutional feedrate in relation to a master spindle).
G971= Deactivate constant cutting rate with feedrate type as with
G94 (linear feedrate in relation to a linear/rotary axis).
G972= Deactivate constant cutting rate with feedrate type as with
G94 or G95.
G973= Deactivate constant cutting rate without activating speed
limiting.
LIMS= The speed limitation is active if G96, G961 and G97 are
active for the master spindle (LIMS does not work with
G971). LIMS applies to the master spindle.
LIMS[1 to 4]=<value> Limitations of differing values can be programmed for up to
four spindles within one block. Unless expansion is
specified, LIMS will only remain effective for one master
spindle.
SCC[<axis>] Selective assignment of specified axis to G96/G961/G962.
<value> Spindle speed limitation in RPM.
<axis> A reference axis is permitted to take the form of a geometry,
channel or machine axis, otherwise alarm 14850 will be
signaled.

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 Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

Example of speed limitation for the master spindle

Program code Comment

N10 SETMS (3)
N20 G96 S100 LIMS=2500 ; Speed limitation to 2500 rpm
N60 G96 G90 X0 Z10 F8 S100 LIMS=444 ; Max. speed of the master spindle
is 444 rpm

Example of speed limitation for up to four spindles

Speed limitations are defined for spindle 1 (supposed master spindle) and spindles 2, 3 and
4:
N10 LIMS=300 LIMS[2]=450 LIMS[3]=800 LIMS[4]=1500

Example Y-axis assignment for face cutting with X axis

Program code Comment

N10 G18 LIMS=3000 T1 D1 ; Speed limitation to 3000 rpm
N20 G0 X100 Z200
N30 Z100
N40 G96 S20 M3 ; Constant cutting rate 20 m/min, is
dependent on X axis
N50 G0 X80
N60 G01 F1.2 X34 ; Face cutting in X at 1.2 mm/rev
N70 G0 G94 X100
N80 Z80
N100 T2 D1
N110 G96 S40 SCC[Y] ; Y axis is assigned to G96 and G96 is activated,
... can be achieved in a
;single block. Constant cutting rate
S40 m/min is dependent on Y axis
N140 Y30
N150 G01 F1.2 Y=27 ; Grooving in Y, feedrate F 1.2 mm/rev
N160 G97 ; Constant cutting rate off
N170 G0 Y100

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Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

Adjust feedrate F
When G96 is active, G95 feedrate is automatically activated in mm/rev.

CAUTION
If G95 was not already active, you must specify a new feedrate F when you call G96 (e.g.
convert F value from mm/min to mm/rev).

Activate constant cutting rate, G96/G961

When G96/G961 is first selected in the part program, a constant cutting rate must be
entered in m/min or ft/min; when the command is reselected, a new cutting rate may be
entered.

Upper speed limit LIMS

If you machine a workpiece that varies greatly in diameter, it is advisable to specify a speed
limit for the spindle. This prevents excessively high speeds with small diameters. LIMS
functions as a speed limiter with G96/G961 and G97.

/,06

Note
On loading the block into the main run, all programmed values are transferred into the
setting data.

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 Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

Deactivate constant cutting rate, G97/G971/G973

After G97/G971, the control interprets an S word as a spindle speed in rpm again. If you do
not specify a new spindle speed, the last speed set by G96/G961 is retained.
● The G96/G961 function can also be deactivated with G94 or G95. In this case, the last
programmed speed S is used for further machining operations.
● G97 can be programmed without G96 beforehand. The function then has the same effect
as G95; LIMS can also be programmed.
● With G961 and G971, the constant cutting rate can be activated/deactivated.
● Using G973, the constant cutting rate can be deactivated without activating a spindle
speed limitation.

Note
The transverse axis must be defined in machine data.

Rapid traverse G0
With rapid traverse G0, there is no change in speed. Exception: if the contour is approached
in rapid traverse and the next NC block contains a G1, G2, G3 … path command, the speed
is adjusted in the G0 approach block for the next path command.

Axis replacement of the assigned channel axis

The reference axis property for G96/G961/G962 is always assigned to a geometry axis. In
the event of an axis replacement involving the assigned channel axis, the reference axis
property for G96/G961/G962 is retained in the old channel.
A geo-axis replacement will not affect how the geometry axis is assigned to the constant
cutting rate. If the TCP reference position for G96/G961/G962 is affected by a geo-axis
replacement, the spindle will attain the new speed via a ramp.
If no new channel axis is assigned as a result of a geo-axis replacement, e.g. GEOAX(0, X),
the spindle speed will be frozen in accordance with G97.

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Spindle motion
6.2 Constant cutting rate (G96/G961/G962, G97/G971/G972, G973, LIMS, SCC)

Examples of GEOAX geo-axis replacement with reference-axis assignments using SCC

Program code Comment

Example 1
N05 G95 F0.1
N10 GEOAX(1, X1) ; Channel axis X1 becomes first geo axis
N20 SCC[X] ; First geo axis (X) becomes reference axis for G96/G961/G962
N30 GEOAX(1, X2) ; Channel axis X2 becomes first geo axis
N40 G96 M3 S20 ; Reference axis for G96 is channel axis X2
Example 2
N05 G95 F0.1
N10 GEOAX(1, X1) ; Channel axis X1 becomes first geo axis
N20 SCC[X1] ; X1 and implicitly first geo axis (X) becomes reference axis
for G96/G961/G962
N30 GEOAX(1, X2) ; Channel axis X2 becomes first geo axis
N40 G96 M3 S20 ; Reference axis for G96 is X2 or X, no alarm
Example 3
N05 G95 F0.1
N10 GEOAX(1, X2) ; Channel axis X2 becomes first geo axis
N20 SCC[X1] ; X1 is not a geo axis, compensation-block alarm 14850
Example 4
N05 G0 Z50
N10 X35 Y30
N15 SCC[X] ; Reference axis for G96/G961/G962 is X
N20 G96 M3 S20 ; Constant cutting rate at 10 mm/min on
N25 G1 F1.5 X20 ; Face cutting in X at 1.5 mm/rev
N30 G0 Z51
N35 SCC[Y] ; Reference axis for G96 is Y, reduction in spindle speed
(Y30)
N40 G1 F1.2 Y25 ; Face cutting in Y at 1.2 mm/rev

References
/FB1/Function Manual Basic Functions; Transverse Axes (P1) and Feedrates (V1).

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 Spindle motion
6.3 Constant grinding wheel peripheral speed (GWPSON, GWPSOF)

6.3 Constant grinding wheel peripheral speed (GWPSON, GWPSOF)

Function
With the function "Constant grinding wheel peripheral speed" (=GWPS), you can set the
grinding wheel speed such that, taking account of the current radius, the grinding wheel
peripheral speed remains constant.

Syntax
GWPSON(T No.)
GWPSOF(T No.)
S...
S1…

Meaning

GWPSON(T No.) Select constant grinding wheel peripheral speed (GWPS)

It is only necessary to specify the T number if the tool with this T
number is not active.
GWPSOF(T No.) Deselect GWPS; it is only necessary to specify the T number if the tool
with this T number is not active.
S… Program GWPS
S1…
S…: PWGS for master spindle; S1…: PWGS for spindle 1
GWPS Peripheral speed value in m/s or ft/s
The GWPS can only be selected for grinding tools (types 400-499).

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Spindle motion
6.3 Constant grinding wheel peripheral speed (GWPSON, GWPSOF)

Example of grinding tools with constant grinding wheel peripheral speed

A constant grinding wheel peripheral speed is to be used for grinding tools T1 and T5.
T1 is the active tool.

Program code Comment

N20 T1 D1 ; Select T1 and D1
N25 S1=1000 M1=3 ; 1000 rpm for spindle 1
N30 S2=1500 M2=3 ; 1500 rpm for spindle 2
…
N40 GWPSON ; Selection of GWPS for active tool
N45 S1 = 60 ; Set GWPS to 60 m/s for active tool
…
N50 GWPSON(5) ; GWPS selection for tool 5 (2nd spindle)
N55 S2 = 40 ; Set GWPS to 40 m/s for spindle 2
…
N60 GWPSOF ; Deactivate GWPS for active tool
N65 GWPSOF(5) ; Switch off GWPS for tool 5 (spindle 2)

Tool-specific parameters
In order to activate the function "Constant peripheral speed", the tool-specific grinding data
$TC_TPG1, $TC_TPG8 and $TC_TPG9 must be set accordingly. When the GWPS function
is active, even online offset values (= wear parameters; cf. "Grinding-specific tool monitoring
in the parts program TMON, TMOF" or PUTFTOC, PUTFTOCF) must be taken into account
when changing speed.

Select GWPS: GWPSON, program GWPS

After selecting the GWPS with GWPSON, each subsequent S value for this spindle is
interpreted as a grinding wheel peripheral speed.
Selection of grinding wheel peripheral speed with GWPSON does not cause the automatic
activation of tool length compensation or tool monitoring.
The GWPS can be active for several spindles on a channel with different tool numbers.
If GWPS is to be selected for a new tool on a spindle where GWPS is already active, the
active GWPS must first be deselected with GWPSOF.

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 Spindle motion
6.4 Programmable spindle speed limitation (G25, G26)

Deactivate GWPS GWPSOF

When GWPS is deselected with GWPSOF, the last speed to be calculated remains valid as
the setpoint.
GWPS programming is reset at the end of the parts program or on RESET.

Query active GWPS $P_GWPS[spindle no.]

This system variable can be used to query from the parts program whether the GWPS is
active for a specific spindle.
TRUE: GWPS active.
FALSE: GWPS is inactive.

6.4 Programmable spindle speed limitation (G25, G26)

Function
You can change the min. and max. spindle speeds specified in the machine and setting data
in the NC program using commands. Programmed spindle speed limitations are possible for
all spindles of the channel.

Syntax
G25 S… S1=… S2=…
G26 S… S1=… S2=…
A maximum of three spindle speed limitations can be programmed for each block.

Meaning

G25 Lower spindle speed limitation

G26 Upper spindle speed limitation
S S1 Minimum or maximum spindle speed
S2=…=…
Value Value assignment for the spindle speed can be between
range
rpm ... 9999 9999.9 rpm.

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Spindle motion
6.4 Programmable spindle speed limitation (G25, G26)

CAUTION
A spindle speed limitation programmed with G25 or G26 overwrites the speed limits in the
setting data and therefore remains stored even after the end of the program.

Examples

Program code Comment

N10 G26 S1400 S2=350 S3=600 ; Upper speed limit for master spindle,
spindle 2 and spindle 3

Maximum possible spindle speed limitations within a block

Program code Comment

LIMS[1]=500 LIMS[2]=600 LIMS[3]=700 ; Master spindle speed limitations
LIMS[3]=800 Maximum for four spindles within
a block
G25 S1=1 S2=2 S3=3 ; Lower and upper speed limit
G26 S1=1000 S2=2000 S3=3000 Maximum of three spindle
limitations within a block

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Feed control 7
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Function
You can set the feedrates for all the axes involved in the machining process in the NC
program with the commands G93, G94, G95, F, FGROUP, FL and FGREF.

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0RYHPHQWRQ< )

;

0RYHPHQWRQ;

The path feedrate is generally composed of the individual speed components of all geometry
axes participating in the movement and refers to the center point of the cutter or the tip of the
turning tool.
The following feedrate types can be programmed:
● Path feedrate of the geometry axes involved in the motion with the G commands G93,
G94, G95
● Feedrate F for path axes
● Feedrate F for synchronized axes
● Feedrate F applies to all axes specified under FGROUP
● Feedrate for synchronized/path axes with limit speed FL

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 111
Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Syntax
G93 or G94 or G95
F…
FGROUP (X, Y, Z, A, B, …)
FL[axis]=…
FGREF[axis name]=<reference radius>

Meaning

G93 Inverse-time feedrate 1/rpm

G94 Feedrate in mm/min or inches/min or in deg/min
G95 Feedrate in mm/rev or inches/rev with reference to the speed of the master
spindle (generally the cutting spindle or the main spindle on the turning
machine)
F…F Feedrate value in unit defined by G93, G94, G95
FGROUP Feedrate value F valid for all axes specified in FGROUP
FL Limit speed for synchronized/path axes; the unit set with G94 applies (max.
rapid traverse). One FL value can be programmed per axis. The axis
identifiers of the basic coordinate system should be used (channel axes,
geometry axes).
FGREF Effective radius (reference radius) for the rotary axes entered in FGROUP
Axis Channel axis or geometry axes or orientation axes
X Y Z Movement of the specified geometry axis
A, B, C Axis identifier for rotary axis to be traversed

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 Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Example: Mode of operation of FGROUP

The following example is intended to demonstrate the mode of operation of FGROUP on the
path and path feedrate. The variable $AC_TIME contains the time of the block start in
seconds. It can only be used in synchronized actions.

Program code Comment

N100 G0 X0 A0
N110 FGROUP(X,A)
N120 G91 G1 G710 F100 ; Feedrate = 100 mm/min or 100 degrees/min
N130 DO $R1=$AC_TIME
N140 X10 ; Feedrate = 100 mm/min, path = 10 mm, R1 = approx.
6 s
N150 DO $R2=$AC_TIME
N160 X10 A10 ; Feedrate = 100 mm/min, path = 14.14 mm, R2
= approx. 8 s
N170 DO $R3=$AC_TIME
N180 A10 ; Feedrate = 100 degrees/min, path = 10 degrees, R3
= approx. 6 s
N190 DO $R4=$AC_TIME
N200 X0.001 A10 ; Feedrate = 100 mm/min, path = 10 mm, R4 = approx.
6 s
N210 G700 F100 ; Feedrate = 2540 mm/min or 100 degrees/min
N220 DO $R5=$AC_TIME
N230 X10 ; Feedrate = 2540 mm/min, path = 254 mm, R5
= approx. 6 s
N240 DO $R6=$AC_TIME
N250 X10 A10 ; Feedrate = 2540 mm/min, path = 254.2 mm, R6
= approx. 6 s
N260 DO $R7=$AC_TIME
N270 A10 ; Feedrate = 100 degrees/min, path = 10 degrees, R7
= approx. 6 s
N280 DO $R8=$AC_TIME
N290 X0.001 A10 ; Feedrate = 2540 mm/min, path = 10 mm, R8
= approx. 0.288 s
N300 FGREF[A]=360/(2*$PI) ; Set 1 degree = 1 inch via the effective radius.
N310 DO $R9=$AC_TIME
N320 X0.001 A10 ; Feedrate = 2540 mm/min, path = 254 mm, R9
= approx. 6 s
N330 M30

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Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Example: Traverse synchronized axes with limit speed FL

The path velocity of the path axes is reduced if the synchronized axis reaches the limit
speed.
Example:
Z is synchronized axis

Program code
N10 G0 X0 Y0
N20 FGROUP(X)
N30 G1 X1000 Y1000 G94 F1000 FL[Y]=500
N40 Z-50

One FL value can be programmed per axis. The axis identifiers of the basic coordinate
system should be used (channel axes, geometry axes).

Example: Helical interpolation

Path axes X and Y traverse with the programmed feedrate, the infeed axis Z is a
synchronized axis.

< <


 ;  =


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 Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Program code Comment

N10 G17 G94 G1 Z0 F500 ; Feed of the tool.
N20 X10 Y20 ; Approach of the starting
position
N25 FGROUP(X, Y) ; Axes X/Y are path axes, Z is
a synchronized axis.
N30 G2 X10 Y20 Z-15 I15 J0 F1000 FL[Z]=200 ; On the circular path, the
feedrate is 1000 mm/min.,
traversing in the Z direction
is synchronized.
...
N100 FL[Z]=$MA_AX_VELO_LIMIT[0,Z] ; The limit speed is deselected
by reading the speed from the
MD. Read the value from the
MD:
N110 M30 ; End of program.

Feedrate G93, G94, G95

All of the commands are modal. If the G feedrate command is switched between G93, G94
or G95, the path feedrate must be reprogrammed. The feedrate can also be specified in
deg/rev when machining with rotary axes.

Feedrate F for path axes

The feedrate is specified with address F. Depending on the default setting in the machine
data, the units of measurement specified with the G commands are either in mm or inch.
One F value can be programmed per NC block. The unit for the feedrate is defined in one of
the above G commands. The feed F acts only on path axes and remains active until a new
feedrate is programmed. Separators are permitted after address F.
Example: F100 or F 100 or F.5 or F=2*FEED

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Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Feedrate for synchronized axes

The feedrate F programmed at address F applies to all the path axes programmed in the
block, but not to synchronized axes. The synchronized axes are controlled such that they
require the same time for their path as the path axes, and all axes reach their end point at
the same time.

Traverse synchronized axes with limit speed FL

With this command, synchronized/path axes are traversed at their limit speed FL.

Traverse synchronized axes with path velocity F, FGROUP

With FGROUP, you define whether a path axis is to be traversed with path feed or as a
synchronized axis. In helical interpolation, for example, you can define that only two
geometry axes, X and Y, are to be traversed at the programmed feedrate. The infeed axis Z
is the synchronized axis in this case.
Example: N10 FGROUP(X, Y)

Change FGROUP
1. By reprogramming another FGROUP statement.
Example: FGROUP(X, Y, Z)
2. With FGROUP () without axis parameter
Afterwards, the initial setting in the machine data applies – the geometry axes again traverse
in the path axis grouping.

Note
You must program channel axis names with FGROUP.

CAUTION
The FGREF evaluation also works if only rotary axes are programmed in the block. The
normal F value interpretation as degree/min applies in this case only if the radius reference
corresponds to the FGREF default, when
G71/G710: FGREF[A]=57.296
G70/G700: FGREF[A]=57.296/25.4

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 Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Units of measurement and calculation

Machine manufacturer
See machine manufacturer's specifications.
Units of measurement for feedrate F
You can use the following G commands to define the units of measurement for the feed
input. Feedrate functions are not affected by G70/G71.

Note
With G700/G710, feedrate values F are interpreted as geometrical parameters in the
measuring system set by G function (G700: [inch/min]; G710: [mm/min]).

Feedrate G93
Unit 1/rpm. The inverse-time feedrate specifies the time required to execute the motion
commands in a block.
Example: N10 G93 G01 X100 F2 means: the programmed path is traversed in 0.5 min.

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;

PLQ

Note
If the path lengths vary greatly from block to block, a new F value should be specified in
each block with G93. When machining with rotary axes, the feedrate can also be specified in
degrees/min.

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Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Unit of measurement for synchronized axes with limit speed FL

The unit of measurement set for F by G command (G70/G71) also applies to FL. If FL is not
programmed, rapid traverse velocity is used. FL is deselected by assignment to MD
$MA_AX_VELO_LIMIT.
Unit of measurement for rotary and linear axes
For linear and rotary axes, which are combined with FGROUP and traverse a path together,
the feed is interpreted in the unit of measurement of the linear axes. Depending on the
default for G94/G95: mm/min or inch/min and mm/rev or inch/rev.
The tangential velocity of the rotary axis in mm/min or inch/min is calculated according to the
following formula:
F[mm/min] = F'[degrees/min] * π * D[mm]/360[degrees]
F: Tangential velocity
F': Angular velocity
π: Circle constant
D: Diameter

F'

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 Feed control
7.1 Feedrate (G93, G94, G95 or F..., FGROUP, FGREF)

Traverse rotary axes with path velocity F, FGREF

For machining operations, in which the tool or the workpiece or both are moved by a rotary
axis, the effective machining feedrate is to be interpreted as a path feed in the usual way by
reference to the F value. This requires the specification of an effective radius (reference
radius) FGREF for each of the rotary axes involved.
The unit of the reference radius depends on the G70/G71/G700/G710 setting.
All axes involved must be included in the FGROUP command, as before, in order to be
evaluated in the calculation of the path feed.
In order to ensure compatibility with the behavior with no FGREF programming, the factor 1
degree = 1mm is activated on system powerup and RESET. This corresponds to a reference
radius of FGREF=360 mm/(2π)=57.296 mm.

Note
This default setting is independent of the active basic system MD 10240:
SCALING_SYSTEM_IS_METRIC and of the currently active inch/metric G code.

Special situations: With the following programming:

N100 FGROUP(X,Y,Z,A)
N110 G1 G91 A10 F100
N120 G1 G91 A10 X0.0001 F100
the F value programmed in N110 is evaluated as a rotary axis feedrate in deg/min, while the
feedrate weighting in N120 is either 100 inch/min or 100 mm/min depending on the currently
active inch/metric setting.

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Feed control
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)

Path reference factors for orientation axes with FGREF

With orientation axes the mode of operation of the FGREF[ ] factors is dependent on
whether the change in the orientation of the tool is implemented by rotary axis or vector
interpolation.
In the case of rotary axis interpolation, the relevant FGREF factors of the orientation axes
are calculated, as for rotary axes, individually as reference radius for the axis paths.
In the case of vector interpolation, an effective FGREF factor, which is calculated as the
geometric mean value of the individual FGREF factors, is applied.
FGREF[eff] = nth root of:[(FGREF[A] * FGREF[B]...)]
They are:
A: Axis identifier of 1st orientation axis
B: Axis identifier of 2nd orientation axis
C: Axis identifier of 3rd orientation axis Number of orientation axes
Example: There are two orientation axes for a standard 5-axis transformation, and the
effective factor is thus the root of the product of the two axial factors:
FGREF[eff] = square root of:[(FGREF[A] * FGREF[B])]

Note
With the effective factor for orientation axes FGREF, it is therefore possible to define a
reference point on the tool, to which the programmed path feedrate refers.

7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP,

WAITMC)

Function
Positioning axes are traversed independently of the path axes at a separate, axis-specific
feedrate. There are no interpolation commands. With the POS/POSA/POSP commands, the
positioning axes are traversed and the sequence of motions coordinated at the same time.
The following are typical examples of positioning axes: pallet feed equipment, gauging
stations or similar.
WAITP enables you to identify a position in the NC program where the program is to wait
until an axis programmed with POSA in a previous NC block has reached its end position.
With WAITMO, the next NC block is loaded immediately when the wait marker is received.

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 Feed control
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)

Syntax
POS[axis]=...
POSA [axis]=…
POSP [axis]=(…,…,…)
FA [axis]=...
WAITP (axis)=… (programming must be written in a separate NC block)
WAITMC(marker)=…

Meaning

POS[axis]= Position the axis; the next NC block is not enabled until the position
has been reached
POSA[axis]= Position the axis; the next NC block is enabled, even if the position has
not been reached
POSP Approach end position in sections. The first value indicates the end
[axis]=(,,)
position; the second the length of the section. Approaching the end
position is defined in the third value with 0 or 1
FA[axis]= Feedrate for the positioning axis, up to five per NC block
WAITP(axis) Waiting for end of travel of axis. With WAITP, an axis can be made
available for traversing as a reciprocating axis or as a concurrent
positioning axis (by PLC)
WAITMC(marker) During the braking ramp, WAIITMC loads the next NC block
immediately when the WAIT marker is received
Axis Channel axes or geometry axes
Marker, An axis is only decelerated if the marker has not yet been reached or if
a different search criterion prevents the block change.

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Feed control
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)

Example of traveling with POSA[…]=

On accessing status data of the machine ($A...), the control generates an internal
preprocessing stop, processing is halted until all blocks, which have already been
preprocessed and, have been executed in full.

Program code Comment

N40 POSA[X]=100
N50 IF $AA_IM[X]==R100 GOTOF LABEL1 ; Access to machine status data
N60 G0 Y100
N70 WAITP(X)
N80 LABEL1:
N...

Example of waiting for end of travel with WAITP(...)

Pallet feed equipment
Axis U: Pallet store, transporting the pallet to the working area
Axis V: Transfer line to a measuring station, where sampling checks are carried out:

Program code Comment

N10 FA[U]=100 FA[V]=100 ; Axis-specific feedrate
specifications for the individual
positioning axes U and V
N20 POSA[V]=90 POSA[U]=100 G0 X50 Y70 ; Traverse positioning and path axes
N50 WAITP(U) ; The program execution is only
continued when axis U has reached
the
end point programmed in N20.
N60 …

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 Feed control
7.2 Traversing positioning axes (POS, POSA, POSP, FA, WAITP, WAITMC)

Traveling with POSA[…]=

The axis indicated in square brackets is traversed to the end position. The block step enable
or program execution is not affected by POSA. The movement to the end position can be
performed during execution of subsequent NC blocks.

CAUTION
Internal preprocessing stop
If a command, which implicitly causes a preprocessing stop, is read in a following block,
this block is not executed until all other blocks, which are already preprocessed and stored
have been executed. The preceding block is halted in exact stop (as with G9).

Traveling with POS[…]=

The next block is only executed when all axes programmed under POS have reached their
end positions.

Traveling with POSP[...]=

POSP is deployed especially for programming oscillating motions, see
/PGA/Programming Manual Advanced; "Asynchronous Oscillation"

Wait for end of travel with WAITP(...)

After WAITP, assignment of the axis to the NC program is no longer valid; this applies until
the axis is programmed again. This axis can then be operated as a positioning axis through
the PLC, or as a reciprocating axis from the NC program/PLC or HMI.

Block change in the braking ramp with IPOBRKA and WAITMC(...)

An axis is only decelerated if the marker has not yet been reached or if a different search
criterion prevents the block change. After a WAITMC, the axes start immediately if no other
search criterion prevents block change.

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Feed control
7.3 Position-controlled spindle operation (SPCON, SPCOF)

7.3 Position-controlled spindle operation (SPCON, SPCOF)

Function
In some cases, position-controlled operation of the spindle may be advisable, e.g. in
conjunction with large-pitch thread cutting with G33, higher quality can be achieved.

Note
The command requires max. three interpolation cycles.

Syntax
SPCON or SPCON(n) Activate position control
SPCOF or SPCOF(n) Deactivate position control, switch to speed control
SPCON(n, m, 0) Activate position control for multiple spindles in a block
SPCOF(n, m, 0) Deactivate position control for multiple spindles in a block

Meaning

SPCON Switch master spindle or spindle with number n from speed control to
SPCON(n)
position control
SPCOF Switch master spindle or spindle with number n back from position
SPCOF(n)
control to speed control
SPCON Several spindles with number n can be switched back from speed control
SPCON
(n, m, 0) to position control in one block
SPCOF Several spindles with number n can be switched back from position
SPCOF(n, m,
0) control to speed control in one block
n Integers from 1 ... n of spindle number
m
Integers from 1 ... m of master spindle

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 Feed control
7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Note
SPCON is modal and is retained until SPCOF.
The speed is specified with S…. M3, M4 and M5 apply in respect of the directions of rotation
and spindle stop.
With synchronized spindle setpoint value linkage, the master spindle must be operated in
position-control mode.

7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Function
With SPOS, M19 and SPOSA, you can position spindles at specific angular positions, e.g.
during tool change. In order to synchronize spindle movements, WAITS can be used to wait
until the spindle position is reached.

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The spindle can also be operated as a path axis, synchronized axis or positioning axis at the
address defined in the machine data. When the axis identifier is specified, the spindle is in
axis mode. M70 switches the spindle directly to axis mode.

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Feed control
7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Switching off
SPOS, M19 and SPOSA effect a temporary switchover to position-controlled operation until
the next M3 or M4 or M5 or M41 to M45. If the position control was activated with SPCON
prior to SPOS, then this remains active until SPCOF is issued.

Syntax
SPOS=… or SPOS[n]=…
M19 or M[n]=19
SPOSA=… or SPOSA[n]=…
M70 or Mn=7
FINEA=… or FINEA[n]=…
COARSEA=… or COARSEA[n]=…
IPOENDA=… or IPOENDA[n]=…
IPOBRKA=… or IPOBRKA(axis[,REAL]) (programmed in a separate NC block)
WAITS or WAITS(n,m) (programmed in a separate NC block)

Meaning

SPOS= Position master spindle (SPOS or SPOS[0]) or spindle number n

SPOS[n]= (SPOS[n]); the next NC block is not enabled until the position
has been reached.
M19 Position master spindle (M19 or M[0]=19) or spindle number n
M[n]=19 (M[n]=19); the next NC block is not enabled until the position has
been reached.
SPOSA= Position master spindle (SPOSA or SPOSA[0]) or spindle with
SPOSA[n]= number n (SPOSA[n]); the next NC block is enabled, even if the
position has not been reached.
M70 Switch over master spindle (M70) or spindle number n (Mn=70)
Mn=70 to axis operation. No defined position is approached. The NC
block is enabled after the switchover has been performed.

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7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

FINEA= Motion end when "Exact stop fine" reached

FINEA[Sn]=
End of positioning for specified spindle Sn
COARSEA= Motion end when "Exact stop coarse" reached
COARSEA[Sn]=
End of positioning for specified spindle Sn
IPOENDA= End of motion when “IPO stop” is reached
IPOENDA[Sn]=
End of positioning for specified spindle Sn
IPOBRKA= End of motion criterion from moment of application of braking
IPOBRKA(axis[,Real ramp at 100% down to end of braking ramp at 0% and identical
])=
to IPOENDA.
IPOBKRA must be programmed in round parenthesis "()".
WAITS Wait for spindle position to be reached, spindle stop after M5,
WAITS(n,m) spindle speed after M3/M4
WAITS applies to the master spindle, WAITS( ..., ...) for the
specified spindle numbers
n Integers from 1 ... n of spindle number
m
Sn Integers from 1 ... m of master spindle
nth Spindle number, 0 to max. spindle number
Axis Channel identifier
Real
Percentage specification 100-0% referred to the braking ramp
for block changes. If no % is specified, the current value of the
setting data is applied.

Specify spindle position

The spindle position is specified in degrees. Three spindle positions are possible for each
NC block. If nothing is specified, traversing automatically takes place as for DC. With
incremental dimensioning IC (INC), spindle positioning can take place over several
revolutions.

AC(…) Absolute dimension, value range AC: 0…359.9999 degrees

IC(…) Absolute dimension, value range IC: 0…±99 999.999 degrees
DC(…) Approach absolute value directly
ACN(…) Absolute dimension, approach in negative direction
ACP(…) Absolute dimension, approach in positive direction

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7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Example of positioning spindle with negative direction of rotation

Position spindle 2 at 250° in negative direction of rotation.

Programming Comment
N10 SPOSA[2]=ACN(250) ; The spindle decelerates if necessary and accelerates in
the opposite direction to the positioning
movement

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7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Example, spindle positioning in the axis mode

Programming Comment
...
N10 M3 S500 ;
...
N90 SPOS[2]=0 or ; Position control on, spindle 2 positioned to 0, axis mode
can be used in the next block.
M2=70 ; Spindle 2 is switched to axis mode
N100 X50 C180 ; Spindle 2 (C axis) is traversed with linear interpolation
synchronous to X.
N110 Z20 SPOS[2]=90 ; Spindle 2 is positioned to 90 degrees.

Example of drilling cross holes in turned part

Cross holes are to be drilled in this turned part. The running drive spindle (master spindle) is
stopped at zero degrees and then successively turned through 90°, stopped and so on.

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Feed control
7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

; ;

Programming Comment
.... ;
N110 S2=1000 M2=3 ; Switch on cross drilling attachment
N120 SPOSA=DC(0) ; Position main spindle directly at 0°,
the program will advance to the next block immediately
N125 G0 X34 Z-35 ; Switch on the drill while the spindle is being positioned
N130 WAITS ; Wait until the main spindle reaches its position
N135 G1 G94 X10 F250 ; Feedrate in mm/min (G96 is suitable only for the multi-edge
turning
tool and synchronous spindle, but not for
power tools on the cross slide)
N140G0 X34 ;
N145 SPOS=IC(90) ; The spindle is positioned through 90° with read halt in a
positive direction
N150 G1 X10 ;
N155 G0 X34 ;
N160 SPOS=AC(180) ; The spindle is positioned at 180° with respect to the
spindle zero point
N165 G1 X10 ;
N170 G0 X34 ;
N175 SPOS=IC(90) ; The spindle turns in
a positive direction through 90° from the absolute 180°
position, ending up in the
absolute 270° position.
N180 G1 X10 ;
N185 G0 X50 ;
... ;

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7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Requirements
The spindle must be capable of operation in position-control mode.

Position with SPOSA=, SPOSA[n]=

The block step enable or program execution is not affected by SPOSA. The spindle
positioning can be performed during execution of subsequent NC blocks. The program
moves onto the next block if all the functions (except for spindle) programmed in the current
block have reached their block end criterion. The spindle positioning operation may be
programmed over several blocks (see WAITS).

NOTICE
If a command, which implicitly causes a preprocessing stop, is read in a following block,
execution of this block is delayed until all positioning spindles are stationary.

Positioning with SPOS=, SPOS[n]= and positioning with M19=, M19[n]=

The block step enabling condition is fulfilled when all functions programmed in the block
have reached their block end criterion (e.g., all auxiliary functions acknowledged by the PLC,
all axes have reached end point) and the spindle has reached the programmed position.
Speed of the movements
The speed or delay response for positioning is stored in the machine data and can be
programmed.
Specify spindle position
As the commands G90/G91 have no effect here, the corresponding units of measurements
such as AC, IC, ACN, ACP explicitly apply. If nothing is specified, traversing automatically
takes place as for DC.

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Feed control
7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

End of positioning
Programmable by means of the following commands: FINEA [Sn], COARSEA [Sn],
IPOENDA [Sn].
Settable block change time
For single axis interpolation mode, a new end of motion can be set in addition to the existing
end of motion criteria based on FINEA, COARSEA, IPOENDA.The new criterion can be set
within the braking ramp (100-0%) using IPOBRKA.
The program advances to the next block if the end of motion criteria for all spindles or axes
programmed in the current block plus the block change criterion for path interpolation are
fulfilled. Example:
N10 POS[X]=100
N20 IPOBRKA(X,100)
N30 POS[X]=200
N40 POS[X]=250
N50 POS[X]=0
N60 X10 F100
N70 M30
Block changes if the X axis has reached position 100 and exact stop fine. Activate block
change criterion IPOBRKA braking ramp. Block change commences as soon as the X axis
starts to decelerate. The X axis does not brake at position 200, but moves on to position 250;
as soon as the X axis starts to brake, the block changes. The X axis brakes and returns to
position 0, the block is changed at position 0 and exact stop fine.

Synchronizing spindle motions WAITS, WAITS(n,m)

WAITS can be used to identify a point at which the NC program waits until one or more
spindles programmed with SPOSA in a previous NC block have reached their positions.
Example: The block waits until spindles 2 and 3 have reached the positions specified in
block N10.
N10 SPOSA[2]=180 SPOSA[3]=0
N20…N30
N40 WAITS(2,3)
WAITS can be used after M5 to wait until the spindle(s) has(have) stopped. WAITS can be
used after M3/M4 to wait until the spindle(s) has(have) reached the specified speed/direction
of rotation.

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7.4 Positioning spindles (SPOS, M19 and SPOSA, WAITS)

Note
If the spindle has not yet been synchronized with synchronization marks, the positive
direction of rotation is taken from the machine data (state on delivery).

Position spindle from rotation (M3/M4)

When M3 or M4 is active, the spindle comes to a standstill at the programmed value.

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There is no difference between DC and AC dimensioning. In both cases, rotation continues

in the direction selected by M3/M4 until the absolute end position is reached. With ACN and
ACP, deceleration takes place if necessary, and the appropriate approach direction is
followed. With IC, the spindle rotates additionally to the specified value starting at the current
spindle position.
When M3 or M4 is active, the spindle decelerates if necessary, and accelerates in the
programmed direction of rotation.
Position a spindle from standstill (M5)
The exact programmed distance is traversed from standstill (M5).

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Feed control
7.5 Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF)

7.5 Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF)

Function
Positioning axes, such as workpiece transport systems, tool turrets and end supports, are
traversed independently of the path and synchronized axes. A separate feedrate is therefore
defined for each positioning axis. Example: FA[A1]=500.
FPRAON can be used to axially activate the revolutional feedrate for positioning axes and
spindles, and FPRAOF can be used to deactivate the respective axis again.

Syntax
FA [axis]=...
FA[SPI(spindle)]=… or FA[S…]=…
FPR (rotary axis ) or FPR(SPI(spindle)) or FPR(S…)
FPRAON (axis, rotary axis)
FPRAON(axis,SPI(spindle)) or FPRAON(axis,S…)
FPRAON(SPI(spindle),rotary axis) or FPRAON(S…,rotary axis)
FPRAON(SPI(spindle),SPI(spindle)) or FPRAON(S…,S…)
FPRAOF(axis,SPI(spindle),…) or FPRAOF(axis,S…,…)

Meaning

FA[axis] Feedrate for the specified positioning axis in mm/min or inch/min or

deg/min
FA[SPI(spind Positioning velocity (axial feed)
le)]
FA[S…] for the specified spindles in deg/min.
FPR Identification of the rotary axis or spindle whose revolutional feedrate
programmed in G95 is to be used as the basis for the revolutional
feedrate of the path and synchronized axes.

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7.5 Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF)

FPRAON Activate revolutional feedrate for positioning axes and spindles axially.
The first command identifies the positioning axis/spindle that is to be
traversed at a revolutional feedrate. The second command identifies the
rotary axis/spindle from which the feedrate must be derived.
FPRAOF Deactivate revolutional feedrate. Specification of axis or spindle that is to
stop traversing at a revolutional feedrate.
SPI Converts the spindle number into an axis identifier; the transfer
parameter must contain a valid spindle number. SPI is used for the
indirect definition of a spindle number.
Axis Positioning axes or geometry axes
Value range …999 999.999 mm/min, degree/min
…39 999.9999 inch/min

Note
The programmed feedrate FA[...] is modal.
Up to five feedrates for positioning axes or spindles can be programmed in each NC block.

Example of synchronous spindle link

With synchronous spindle link, the positioning speed of the following spindle can be
programmed independently of the master spindle – for example, for positioning operations.
Example: FA[S2]=100
The spindle identifiers SPI(…) and S… are identical in terms of function

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Feed control
7.5 Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF)

Example of calculating the derived feedrate FPR

The derived feedrate is calculated according to the following formula:
Derived feedrate = programmed feedrate * Absolute master feedrate
Example: Path axes X, Y must be traversed at the revolutional feedrate derived from rotary
axis A:

Program code Comment

N40 FPR(A)
N50 G95 X50 Y50 F500

Feedrate FA[…]
The feedrate is always G94. When G70/G71 is active, the unit of measurement is
metric/inches according to the default setting in the machine data. G700/G710 can be used
to modify the unit of measurement in the program.

NOTICE
If no FA is programmed, the value defined in the machine data applies.

Feedrate FPR[...]
As an extension of the G95 command (revolutional feedrate referring to the master spindle),
FPR allows the revolutional feedrate to be derived from any chosen spindle or rotary axis.
G95 FPR(...) is valid for path and synchronized axes.
If the rotary axis/spindle specified in the FPR command is operating on position control, then
the setpoint linkage is active. Otherwise the actual-value linkage is effective.

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7.5 Feedrate for positioning axes/spindles (FA, FPR, FPRAON, FPRAOF)

Feedrate FPRAON(…,…), FPRAOF(…,…)

The FPRAON command makes it possible to derive the revolutional feedrate for specific
positioning axes and spindles from the current feedrate of another rotary axis or spindle.
The first command identifies the axis/spindle that must be traversed at a revolutional
feedrate. The second command identifies the rotary axis/spindle that is to supply the
feedrate. The command need not be specified a second time. If it is not, the feedrate is
derived from the master spindle.
The revolutional feedrate can be deactivated for one or several axes/spindles simultaneously
with the FPRAOF command. The feedrate is calculated in the same way as for FPR(...).
Examples: The revolutional feedrate for master spindle 1 must be derived from spindle 2.

Program code Comment

N30 FPRAON(S1,S2)
N40 SPOS=150SPOS
N50 FPRAOF(S1)

The revolutional feedrate for positioning axis X must be derived from the master spindle. The
positioning axis is traversing at 500 mm/revolution of the master spindle.

Program code Comment

N30 FPRAON(X)
N40 POS[X]=50 FA[X]=500POS
N50 FPRAOF(S1)

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Feed control
7.6 Percentage feedrate override (OVR, OVRRAP, OVRA)

7.6 Percentage feedrate override (OVR, OVRRAP, OVRA)

Function
You can use the programmable feedrate override to change the velocity of path axes,
positioning axes, and spindles via a command in the NC program.

Syntax
OVR=<value>
OVRRAP=<value>
OVRA[<axis>]=<value>
OVRA[SPI(<spindle number>)]=<value>
OVRA[S…]=<value>

Meaning

OVR Feedrate change in percent for path feedrate F.

OVRRAP Feedrate change in percent for rapid traverse velocity.
OVRA Feedrate change in percent for positioning feedrate FA or for
spindle speed S.
SPI Converts spindle number into axis identifier, the transfer
parameter must contain a valid spindle number. The spindle
identifiers SPI(…) and S… are identical in terms of function.
<axis> Positioning axes or geometry axes.
<value> The programmable feedrate change refers to the feedrate
override set on the machine control panel or is overridden by
this.
Range of values: …200%, integers
With path and rapid traverse override, the maximum velocities
set in the machine data are not overshot.

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7.6 Percentage feedrate override (OVR, OVRRAP, OVRA)

Examples
Example 1:
Set feedrate override: 80%

Program code Comment

N10 ... F1000
N20 OVR=50 ; The programmed path feedrate F1000 is changed in F400 (1000 *
0.8 * 0.5).
...

Example 2:

Program code Comment

N10 OVRRAP=5 ; The rapid traverse velocity is reduced to 5%.
...
N100 OVRRAP=100 ; The rapid traverse velocity is reset to 100% (= default
setting).

Example 3:

Program code Comment

N.. OVR=25 OVRA[A1]=70 ; Path feedrate 25%, positioning feedrate for A1 70%

Example 4:

Program code Comment

N.. OVRA[SPI(1)]=35 ; Speed for spindle 1 35%

or

Program code Comment

N.. OVRA[S1]=35 ; Speed for spindle 1 35%

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Feed control
7.7 Feedrate with handwheel override (FD, FDA)

7.7 Feedrate with handwheel override (FD, FDA)

Function
With these functions, you can use the handwheel to traverse path and positioning axes
(position parameter) or change the axis velocities (speed override) during program
execution. The handwheel override is frequently used for grinding operations.

NOTICE
Only speed override can be used for path axes. The path feedrate F and the handwheel
override FD may not be programmed in the same NC block.

Syntax
FD=…
FDA[axis]=0 or FDA[axis]=…
FDA[axis]=…

Meaning

FD=… Handwheel travel for path axes with feedrate override

FDA[axis] = Handwheel travel for positioning axes according to path
definition
FDA[axis]=… Handwheel travel for positioning axes with feedrate override
Axis Positioning axes or geometry axes

The handwheel override function is non-modal. The function is deactivated in the following
NC block and the NC program processed further.

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 Feed control
7.7 Feedrate with handwheel override (FD, FDA)

Example
Path definition: The grinding wheel oscillating in the Z direction is traversed to the workpiece
in the X direction with the handwheel.

The operator can continue to feed manually until the sparks are flying uniformly. With
activation of "Delete distance-to-go", the transition is made to the next NC block and
machining continued in NC mode.

Requirements
A handwheel must be assigned to the axes to be traversed for the handwheel override
function. For the precise approach see HMI Operator's Guide. The number of handwheel
pulses per graduated position is defined in machine data.

Traverse path axes with handwheel override, FD

The following preconditions apply to handwheel overrides for path axes:
in the NC block with the programmed handwheel override
● a G1, G2 or G3 motion command must be active,
● exact stop G60 must be switched on, and
● the path feedrate must be specified with G94 mm/min or inch/min.

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Feed control
7.7 Feedrate with handwheel override (FD, FDA)

Feed override
The feed override acts only on the programmed feed, not on the travel movement generated
by the handwheel (except if feed override = 0).
Example:
N10 G1 X… Y… F500…
N50 X… Y… FD=700
The feedrate is accelerated to 700 mm/min in block N50. The path velocity can be increased
or reduced according to the direction of rotation on the handwheel.

Note
It is not possible to traverse in the opposite direction.

Handwheel travel with path default for positioning axes, FDA[axis]=0

In NC blocks with programmed FDA[axis]=0, the feed is set to zero in order that the program
does not generate any travel movement. The programmed travel movement to the target
position is now controlled exclusively by the operator rotating the handwheel.

Example: N20 POS[V]=90 FDA[V]=0

The automatic travel movement is stopped in block N20. The operator can now move the
axis manually using the handwheel.

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7.7 Feedrate with handwheel override (FD, FDA)

Direction of movement, travel velocity

The axes accurately follow the path set by the handwheel in the direction of the leading sign.
Depending on the direction of rotation, you can travel forwards or backwards – the faster you
turn the handwheel, the higher the travel velocity.
Traversing range
The traversing range is limited by the starting position and the end point programmed with
the positioning command.

Handwheel travel with velocity overlay, FDA[axis]=...

In NC blocks with programmed FDA[...], the feedrate from the last programmed FA value is
accelerated or decelerated to the value programmed under FDA. Starting from the current
feedrate FDA, you can turn the handwheel to accelerate the programmed movement to the
target position or delay it to zero. The values defined in the machine data are used for the
maximum velocity.
Example:
N10 POS[U]=10 FDA[U]=100
POSA[V]=20 FDA[V]=150

Note
With velocity override of path axes, you always control the path velocity with the handwheel
of the 1st geometry axis.

Traversing range
The traversing range is limited by the starting position and the programmed end point.

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Feed control
7.8 Percentage acceleration correction (ACC) (option)

Manual override in automatic mode

The manual override function in automatic mode for POS/A axes has two different effects
that are analogous to Jog functions.
1. Path override: FDA [ax] = 0
The axis does not move. Handwheel impulses received for each IPO cycle are traversed
directionally and path-specifically. When the target position is achieved, the axis
decelerates.
2. Velocity override FDA [ax] > 0
The axis approaches the target position at the programmed axis speed. This enables
target position to be reached even without handwheel impulses. Pulses received for each
IPO cycle are converted to an accumulative change in the existing velocity. Impulses in
the traversing direction increase the velocity. Velocity is limited to the maximum axis
velocity MAX_AX_VELO. Impulses away from the traversing direction decrease the
velocity. The minimum velocity is 0.

7.8 Percentage acceleration correction (ACC) (option)

Function
In critical program sections, it may be necessary to limit the acceleration to below the
maximum values, e.g. to prevent mechanical vibrations from occurring.
You can use the programmable acceleration override to change the acceleration for each
path axis or spindle via a command in the NC program. The limit is effective for all types of
interpolation. The values defined in the machine data determine the 100% acceleration.

Syntax
ACC[axis]=…
Switching off
ACC[axis]=100 program start, reset
ACC[SPI(spindle)]=… or ACC(S…)

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7.8 Percentage acceleration correction (ACC) (option)

Syntax

ACC Acceleration change in percent for the specified path axis or speed
change for the specified spindle.
Value range: 1…200%, integers
SPI Converts spindle number into axis identifier, the transfer parameter must
contain a valid spindle number. The spindle identifiers SPI(…) and S…
are identical in terms of function
Axis Channel axis name of the path axis, e.g. with X

Note
Note that with a greater acceleration, the values permitted by the manufacturer may be
exceeded.

Example

Program code Comment

N50 ACC[X]=80 ; Means: The axis slide in the X direction should only be
traversed with 80% acceleration

N60 ACC[SPI(1)]=50 ; Means: Spindle 1 should only accelerate or decelerate

or with 50% of the possible acceleration. The spindle
identifiers SPI(…) and S… are identical in terms of
ACC[S1]=50
function.

Acceleration override programmed with ACC

The acceleration override programmed with ACC[] is always taken into consideration on
output in system variable $AA_ACC. Readout in the parts program and in synchronized
actions takes place at different times in the NC processing run.

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Feed control
7.9 Feedrate optimization for curved path sections (CFTCP, CFC, CFIN)

In the part program

The value described in the parts program is only considered in the system variables
$AA_ACC as described in the parts program, if ACC was not changed in the meantime by a
synchronized action.

In synchronized actions
The following thus applies: the value written to the synchronized action is only considered in
the system variables $AA_ACC as written to the synchronized action if ACC was not
changed in the meantime by a parts program.
The defined acceleration can also be changed via synchronized actions. See /FBSY/,
Synchronized Actions.
Example: N100 EVERY $A_IN[1] DO POS[X]=50 FA[X]=2000 ACC[X]=140
The current acceleration value can be called with the system variables $AA_ACC[<axis>].
Machine data can be used to determine whether the ACC value last set should apply on
RESET/parts program end or whether it should be set to 100%.

7.9 Feedrate optimization for curved path sections (CFTCP, CFC, CFIN)

Function
With activated correction mode G41/G42, the programmed feedrate for the milling tool radius
first refers to the milling tool center path (refer to "Frames" section).
When you mill a circle – the same applies to polynomial and spline interpolation – the extent
of the change in feedrate at the cutter edge is such that it can have a considerable effect on
the quality of the machined part.
Example: You are milling a small outside radius with a large tool. The path that the outside of
the milling tool must travel is considerably longer than the path along the contour.

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 Feed control
7.9 Feedrate optimization for curved path sections (CFTCP, CFC, CFIN)

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Because of this, you are machining at the contour with a very small feedrate. To prevent
such effects, you should control the feedrate accordingly for curved contours.

Syntax
CFTCP Constant feedrate at the milling tool center path, deactivate feedrate override
CFC Constant feedrate only at the contour
CFIN Constant feedrate only at the inside radii, there is no increase for outside radii

Meaning

CFTCP Constant feedrate at the milling tool center path.

The control maintains a constant feedrate, feedrate overrides
are deactivated.
CFC Constant feedrate only at the contour (tool cutting edge).
This function is preset per default.
CFIN Constant feedrate at the tool cutting edge only at concave
contours, otherwise at the milling tool center path. The
feedrate is reduced for inside radii.

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Feed control
7.9 Feedrate optimization for curved path sections (CFTCP, CFC, CFIN)

Milling example
In this example, the contour is first produced with CFC-corrected feedrate. During finishing,
the cutting base is also machined with CFIN. This prevents the cutting base being damaged
at the outside radii by a feedrate that is too high.

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Program code Comment

N10 G17 G54 G64 T1 M6
N20 S3000 M3 CFC F500 G41
N30 G0 X-10
N40 Y0 Z-10 ; Feed to first cutting depth
N50 CONTOUR1 ; Subroutine call
N40 CFIN Z-25 ; Feed to second cutting depth
N50 CONTOUR1 ; Subroutine call
N60 Y120
N70 X200 M30

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 Feed control
7.10 Several feedrate values in one block (F, ST, SR, FMA, STA, SRA)

Constant feedrate on contour with CFC

FRQVWDQW

DQW
VW
Q
FR

UHGXFHG

LQFUHDVHG

The feedrate is reduced for inside radii and increased for outside radii. This ensures a
constant speed at the tool edge and thus at the contour.

7.10 Several feedrate values in one block (F, ST, SR, FMA, STA, SRA)

Function
The "Several feedrates in one block" function can be used independent of external analog
and/or digital inputs to activate
● Different feedrates of an NC block,
● Dwell time, and
● Retraction
in synchronism with the movement.
The HW input signals are combined in one input byte.

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Feed control
7.10 Several feedrate values in one block (F, ST, SR, FMA, STA, SRA)

Syntax
F2= to F7= Multiple path motions in one block
ST=
SR=
FMA[2,x]= to FMA[7,x]=Multiple axial motions in one block
STA=
SRA=

Meaning

F2=... to In addition to the path feed, you can program up to six further
F7=...==
feedrates in the block; non-modal
ST=... Dwell time (for grinding technology: sparking-out time); non modal
SR=... Return path; non modal. The unit for the retraction path refers to the
current valid unit of measurement (mm or inch).
FMA[2,x]=... to In addition to the path feed, you can program up to six further
FMA[7,x]=...
feedrates per axis in the block; non modal
STA=... Axial dwell time (for grinding technology: sparking-out time); non-modal
SRA=... Axial return path; non-modal

FA, FMA and F value

The axial feedrate (FA or FMA value) or path feedrate (F value) corresponds to 100%
feedrate. You can use this function to realize feedrates that are smaller than or equal to the
axial feedrate or the path feedrate.

Note
If feedrates, dwell time or return path are programmed for an axis on account of an external
input, this axis must not be programmed as POSA axis (positioning axis over multiple blocks)
in this block.
Look Ahead is also active for multiple feedrates in one block. In this way, the current
feedrate is restricted by the Look Ahead value.

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 Feed control
7.10 Several feedrate values in one block (F, ST, SR, FMA, STA, SRA)

Example of programming path motion

The path feed is programmed under the address F and remains valid until an input signal is
present. The numerical expansion indicates the bit number of the input that activates the
feedrate when changed:

Program code Comment

F7=1000 ; 7 corresponds to input bit 7
F2=20 ; 2 corresponds to input bit 2
ST=1 ; Dwell time (s) input bit 1
SR=0.5 ; Return path (mm) input bit 0

Example of programming axial motion

The axial path feed is programmed under the address FA and remains valid until an input
signal is present.
FMA[7,x]= to FMA[2,x]= can be used to program up to six further feeds per axis in the block.
The first expression in the square brackets indicates the bit number of the input; the second
the axis for which the feedrate is to apply

Program code Comment

FMA[3, x]=1000 ; Axial feedrate with the value 1000 for X axis, 3
;corresponds to input bit 3

Example of axial dwell time and return path

Dwell time and return path are programmed under the following additional addresses:

Program code Comment

STA[x]=... ; Axial dwell time (s) input bit 1
SRA[x]=... ; Axial return path (mm) input bit 0

If input bit 1 is activated for the dwell time or bit 0 for the return path, the distance to go for
the path axes or the relevant single axes is deleted and the dwell time or return started.

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Feed control
7.11 Non-modal feedrate (FB)

Example of several operations in one block

Program code Comment

N20 T1 D1 F500 G0 X100 ; Initial setting
N25 G1 X105 F=20 F7=5 F3=2.5 ; Normal feedrate with F, roughing with F7,
F2=0.5 ST=1.5 SR= 0.5 finishing with
F3, smooth-finishing with F2, dwell time 1.5
s,
return path 0.5 mm
N30 ...
…

7.11 Non-modal feedrate (FB)

Function
You can use the function "Non-modal feedrate" to define a separate feedrate for a single
block.
Only the feedrate value for the current block is specified at address FB. After this block, the
previous modal feedrate is active again.

Syntax
FB=<value> Feed motion only in one block

Meaning

FB= Instead of the modal feedrate active in the previous block, you can program a
separate feedrate for this block; in the block that follows, the previously
active modal feedrate applies.
<VALUE> The programmed value of FB=<value> must be greater than zero.

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 Feed control
7.11 Non-modal feedrate (FB)

Feed value
Only the feedrate value for the current block is specified at address FB. After this block, the
previous modal feedrate is active again.
The feedrate is interpreted according to the active feedrate type:
● G94: feedrate in mm/min or degrees/min
● G95: feedrate in mm/rev or inch/rev
● G96: Constant cutting rate
References: /FB1/Function Manual Basic Functions; Feedrates (V1)

Note
If no traversing motion is programmed in the block (e.g. computation block), the FB has no
effect.
If no explicit feed for chamfering/rounding is programmed, then the value of FB also applies
for any contour element chamfering/rounding in this block.
Feedrate interpolations FLIN, FCUB, etc., are also possible without restriction.
Simultaneous programming of FB and FD (handwheel travel with feed overlay) or F (modal
path feedrate) is not possible.

Example

Program code Comment

N10 G0 X0 Y0 G17 F100 G94 ; Initial setting
N20 G1 X10 ; Feedrate 100 mm/min
N30 X20 FB=80 ; Feedrate 80 mm/min
N40 X30 ; Feedrate is 100 mm/min again
N50 ... ;
…

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Feed control
7.11 Non-modal feedrate (FB)

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Geometry settings 8
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA,
G153)

Function
The workpiece zero in relation to the zero point of the basic coordinate system is set up by
the settable zero offset (G54 to G57 and G505 to G599) in all axes.
In this way it is possible to call zero points program-wide per G command (e.g. for different
devices).
Milling:

= <
=

<

*

;
;

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 155
Geometry settings
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA, G153)

Turning:

0 :

*

Note
During turning, for example, the offset value for returning of the chuck is entered in G54.

Syntax
Activating settable zero offset:
G54
...
G57
G505
...
G599
Deactivating settable zero offset:
G500
G53
G153
SUPA

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 Geometry settings
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA, G153)

Meaning

G54 ... G57 Call of the 1st to 4th settable zero offset (ZO)
G505 ... G599 Call of the 5th to 99th settable zero offset
G500 Deactivation of the current settable zero offset
G500=zero frame Deactivation of the settable zero
(default setting; contains no offset until the next call, activation of
offset, rotation, mirroring or the entire basic frame
scaling) ($P_ACTBFRAME).
G500 not equal to 0 Activation of the first settable zero
offset ($P_UIFR[0]) and activation of
the entire basic frame
($P_ACTBFRAME) or possibly a
modified basic frame is activated.
G53 G53 suppresses the settable zero offset and the programmable
zero offset block-by-block.
G153 G153 has the same effect as G53 and also suppresses the entire
basic frame.
SUPA SUPA has the same effect as G153 and also suppresses:
• Handwheel offsets (DRF)
• Overlaid movements
• External zero offset
• PRESET offset
References:
See Section "Coordinate transformations (frames)" for the programmable zero offset.

Note
The basic setting at the start of the program, e.g. G54 or G500, can be set via machine data.

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Geometry settings
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA, G153)

Example
Three workpieces that are arranged on a pallet in accordance with the zero offset values
G54 to G56 are to be machined in succession. The machining sequence is programmed in
subroutine L47.

<
0
<

< <

; ;

*

*


;
0
*

75$16;0

Program code Comment

N10 G0 G90 X10 Y10 F500 T1 ; Approach
N20 G54 S1000 M3 ; Call of the first ZO, spindle clockwise
N30 L47 ; Program pass as subroutine
N40 G55 G0 Z200 ; Call of the second ZO, Z via obstruction
N50 L47 ; Program pass as subroutine
N60 G56 ; Call of the third ZO
N70 L47 ; Program pass as subroutine
N80 G53 X200 Y300 M30 ; Suppress zero offset, end of program

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 Geometry settings
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA, G153)

Further information
Setting offset values
On the operator panel or universal interface, enter the following values in the internal control
zero offset table:
● Coordinates for the offset
● Angle for rotated clamping
● Scaling factors (if required)

<

6FDOLQJ

<

;
5RWD
WH

W
2IIVH
;

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 159
Geometry settings
8.1 Settable zero offset (G54 to G57, G505 to G599, G53, G500, SUPA, G153)

Zero offset G54 to G57

The call of one of the four commands G54 to G57 in the NC program moves the zero point
from the basic coordinate system to the workpiece coordinate system.

<

<

< ;

; <

In the next NC block with a programmed movement, all of the positional parameters and thus
the tool movements refer to the workpiece zero, which is now valid.

Note
With the four available zero offsets, it is possible (e.g. for multiple machining) to
simultaneously describe four workpiece clampings and call them in the program.

Further settable zero offsets: G505 to G599

The command numbers G505 to G599 are available for further settable zero offsets.
Therefore, a total of 100 settable zero offsets can be created in the zero point memory via
machine data including the four preset zero offsets G54 to G57.

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 Geometry settings
8.2 Selection of working plane (G17 to G19)

8.2 Selection of working plane (G17 to G19)

Function
The specification of the working plane, in which the desired contour is to be machined also
defines the following functions:
● The plane for tool radius compensation
● The infeed direction for tool length compensation depending on the tool type
● The plane for circular interpolation

=
,QIHHG

* <
; 
*  
 *

,Q
IH
HG
HHG
,QI

Syntax
G17
G18
G19

Meaning

G17 Working plane X/Y

Infeed direction Z, plane selection 1st - 2nd geometry axis
G18 Working plane Z/X
Infeed direction Y, plane selection 3rd - 1st geometry axis
G19 Working plane Y/Z
Infeed direction X, plane selection 2nd - 3rd geometry axis

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 161
Geometry settings
8.2 Selection of working plane (G17 to G19)

Note
In the default setting, G17 (X/Y plane) is defined for milling and G18 (Z/X plane) is defined for
turning.
When calling the tool path correction G41/G42 (see Section "Tool radius compensation"), the
working plane must be defined so that the control can correct the tool length and radius.

Example: Milling
The "conventional" approach with milling tool:
1. Define working plane (G17 default setting for milling).
2. Select tool type (T) and tool offset values (D).
3. Switch on path correction (G41).
4. Program traversing movements.

Program code Comment

N10 G17 T5 D8 ; G17 Call the working plane, in this case: X/Y
T, D tool call. Tool length compensation is
performed in the Z direction. X Y Z.
N20 G1 G41 X10 Y30 Z-5 F500 ; Radius compensation is performed in the X/Y
plane.
N30 G2 X22.5 Y40 I50 J40 ; Circular interpolation / tool radius
compensation in the X/Y plane.

Further information

General
It is recommended that the working plane G17 to G19 be selected at the start of the program.
In the default setting, the Z/X plane is preset for turning G18.

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 Geometry settings
8.2 Selection of working plane (G17 to G19)

Turning:

<
 ;
*

*


*


The control requires the specification of the working plane for the calculation of the direction
of rotation (see circular interpolation G2/G3).
Machining on inclined planes
Rotate the coordinate system with ROT (see Section "Coordinate system offset") to position
the coordinate axes on the inclined surface. The working planes rotate accordingly.
Tool length compensation on inclined planes
As a general rule, the tool length compensation always refers to the fixed, non-rotated
working plane.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 163
Geometry settings
8.2 Selection of working plane (G17 to G19)

Milling:

Note
The tool length components can be calculated according to the rotated working planes with
the functions for "Tool length compensation for orientable tools".

The offset plane is selected with CUT2D, CUT2DF. For further information on this and for the
description of the available calculation methods, refer to Section "Tool offsets"
The control provides convenient coordinate transformation functions for the spatial definition
of the working plane.
For further information, see Section "Coordinate system offset".

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 Geometry settings
8.3 Dimensions

8.3 Dimensions
The basis of most NC programs is a workpiece drawing with specific dimensions.
These dimensions can be:
● In absolute dimensions or in incremental dimensions
● In millimeters or inches
● In radius or diameter (for turning)
Specific programming commands are available for the various dimension options so that the
data from a dimension drawing can be transferred directly (without conversion) to the NC
program.

8.3.1 Absolute dimensions (G90, AC)

Function
With absolute dimensions, the position specifications always refer to the zero point of the
currently valid coordinate system, i.e. the absolute position is programmed, on which the tool
is to traverse.
Modal absolute dimensions
Modal absolute dimensions are activated with the G90 command. Generally it applies to all
axes programmed in subsequent NC blocks.
Non-modal absolute dimensions
With preset incremental dimensions (G91), the AC command can be used to set non-modal
absolute dimensions for individual axes.

Note
Non-modal absolute dimensions (AC) are also possible for spindle positioning (SPOS, SPOSA)
and interpolation parameters (I, J, K).

Syntax
G90
<axis>=AC(<value>)

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Geometry settings
8.3 Dimensions

Meaning

G90 Command for the activation of modal absolute dimensions

AC Command for the activation of non-modal absolute dimensions
<axis> Axis identifier of the axis to be traversed
<value> Position setpoint of the axis to be traversed in absolute dimensions

Examples
Example 1: Milling

= ;


<



;
 

Program code Comment

N10 G90 G0 X45 Y60 Z2 T1 S2000 M3 ; Absolute dimension input, in rapid
traverse to position XYZ, tool
selection, spindle on with clockwise
direction of rotation.
N20 G1 Z-5 F500 ; Linear interpolation, feed of the tool.
N30 G2 X20 Y35 I=AC(45) J=AC(35) ; Clockwise circular interpolation, circle
end point and circle center point in
absolute dimensions.
N40 G0 Z2 ; Traverse
N50 M30 ; End of block

Note
For information on the input of the circle center point coordinates I and J, see Section
"Circular interpolation".

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 Geometry settings
8.3 Dimensions

Example 2: Turning



š

=





Program code Comment

N5 T1 D1 S2000 M3 ; Loading of tool T1, spindle on with
clockwise direction of rotation.
N10 G0 G90 X11 Z1 ; Absolute dimension input, in rapid
traverse to position XZ.
N20 G1 Z-15 F0.2 ; Linear interpolation, feed of the tool.
N30 G3 X11 Z-27 I=AC(-5) K=AC(-21) ; Counterclockwise circular interpolation,
circle end point and circle center point
in absolute dimensions.
N40 G1 Z-40 ; Traverse
N50 M30 ; End of block

Note
For information on the input of the circle center point coordinates I and J, see Section
"Circular interpolation".

See also
Absolute and incremental dimensions for turning and milling (G90/G91) (Page 172)

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Geometry settings
8.3 Dimensions

8.3.2 Incremental dimensions (G91, IC)

Function
With incremental dimensions, the position specification refers to the last point approached,
i.e. the programming in incremental dimensions describes by how much the tool is to be
traversed.
Modal incremental dimensions
Modal incremental dimensions are activated with the G91 command. Generally it applies to
all axes programmed in subsequent NC blocks.
Non-modal incremental dimensions
With preset absolute dimensions (G90), the IC command can be used to set non-modal
incremental dimensions for individual axes.

Note
Non-modal incremental dimensions (IC) are also possible for spindle positioning (SPOS,
SPOSA) and interpolation parameters (I, J, K).

Syntax
G91
<axis>=IC(<value>)

Meaning

G91 Command for the activation of modal incremental dimensions

IC Command for the activation of non-modal incremental dimensions
<axis> Axis identifier of the axis to be traversed
<value> Position setpoint of the axis to be traversed in incremental dimensions

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 Geometry settings
8.3 Dimensions

G91 extension
For certain applications, such as scratching, it is necessary that only the programmed
distance is traversed in incremental dimensions. The active zero offset or tool length
compensation is not traversed.
This behavior can be set separately for the active zero offset and tool length compensation
via the following setting data:
SD42440 $SC_FRAME_OFFSET_INCR_PROG (zero offsets in frames)
SD42442 $SC_TOOL_OFFSET_INCR_PROG (tool length compensations)

Value Meaning
0 With incremental programming (incremental dimensions) of an axis, the zero offset or the
tool length compensation is not traversed.
1 With incremental programming (incremental dimensions) of an axis, the zero offset or the
tool length compensation is traversed.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 169
Geometry settings
8.3 Dimensions

Examples
Example 1: Milling

= ;


<



;
 

Program code Comment

N10 G90 G0 X45 Y60 Z2 T1 S2000 M3 ; Absolute dimension input, in rapid
traverse to position XYZ, tool
selection, spindle on with clockwise
direction of rotation
N20 G1 Z-5 F500 ; Linear interpolation, feed of the tool.
N30 G2 X20 Y35 I0 J-25 ; Clockwise circular interpolation, circle
end point in absolute dimensions, circle
center point in incremental dimensions.
N40 G0 Z2 ; Traverse
N50 M30 ; End of block

Note
For information on the input of the circle center point coordinates I and J, see Section
"Circular interpolation".

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 Geometry settings
8.3 Dimensions

Example 2: Turning



š

=





Program code Comment

N5 T1 D1 S2000 M3 ; Loading of tool T1, spindle on with clockwise
direction of rotation.
N10 G0 G90 X11 Z1 ; Absolute dimension input, in rapid
traverse to position XZ.
N20 G1 Z-15 F0.2 ; Linear interpolation, feed of the tool.
N30 G3 X11 Z-27 I-8 K-6 ; Counterclockwise circular interpolation, circle end
point in absolute dimensions, circle center point
in incremental dimensions.
N40 G1 Z-40 ; Traverse
N50 M30 ; End of block

Note
For information on the input of the circle center point coordinates I and J, see Section
"Circular interpolation".

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Geometry settings
8.3 Dimensions

Example 3: Incremental dimensions without traversing of the active zero offset

Settings:
● G54 contains an offset in X of 25
● SD42440 $SC_FRAME_OFFSET_INCR_PROG = 0

Program code Comment

N10 G90 G0 G54 X100
N20 G1 G91 X10 ; Incremental dimensions active, traversing in X of 10 mm
(the zero offset is not traversed).
N30 G90 X50 ; Absolute dimensions active, traverse to position X75 (the
zero offset is traversed).

See also
Absolute and incremental dimensions for turning and milling (G90/G91) (Page 172)

8.3.3 Absolute and incremental dimensions for turning and milling (G90/G91)
The two following figures illustrate the programming with absolute dimensions (G90) or
incremental dimensions (G91) using turning and milling technology examples.
Milling:

<
*
 
*




;
 
*

*

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 Geometry settings
8.3 Dimensions

Turning:

*
*
š
=
* 

*

Note
On conventional turning machines, it is usual to consider incremental traversing blocks in the
transverse axis as radius values, while diameter specifications apply for the reference
dimensions. This conversion for G90 is performed using the commands DIAMON, DIAMOF or
DIAM90.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 173
Geometry settings
8.3 Dimensions

8.3.4 Absolute dimension for rotary axes (DC, ACP, ACN)

Function
The non-modal and G90/G91-independent commands DC, ACP and ACN are available for the
positioning of rotary axes in absolute dimensions.
DC, ACP and ACN differ in the basic approach strategy:

'& 0D[LPXP
WUDYHUVLQJUDQJH

$&3 $&1

Syntax
<rotary axis>=DC(<value>)
<rotary axis>=ACP(<value>)
<rotary axis>=ACN(<value>)

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 Geometry settings
8.3 Dimensions

Meaning

<rotary axis> Identifier of the rotary axis that is to be traversed

(e.g. A, B or C)
DC() Command for the direct approach to the position
The rotary axis approaches the programmed position directly on the
shortest path. The rotary axis traverses a maximum range of 180°.
ACP() Command to approach the position in a positive direction
The rotary axis traverses to the programmed position in the positive
direction of axis rotation (counterclockwise).
ACN() Command to approach the position in a negative direction
The rotary axis traverses to the programmed position in the negative
direction of axis rotation (clockwise).
<value> Rotary axis position to be approached in absolute dimensions
Range of values: 0 - 360 degrees

Note
The positive direction of rotation (clockwise or counterclockwise) is set in the machine data.

Note
The traversing range between 0° and 360° must be set in the machine data (modulo
behavior) for positioning with direction specification (ACP, ACN). G91 or IC must be
programmed to traverse modulo rotary axes more than 360° in a block.

Note
The commands DC, ACP and ACN can also be used for spindle positioning (SPOS, SPOSA)
from standstill.
Example: SPOS=DC(45)

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Geometry settings
8.3 Dimensions

Example: Milling on a rotary table

The tool is stationary, the table turns to 270° in a clockwise direction to produce a circular
groove.

= ;


<

;
r

Program code Comment

N10 SPOS=0 ; Spindle in position control
N20 G90 G0 X-20 Y0 Z2 T1 ; Absolute dimensions, feed tool T1 in rapid
traverse.
N30 G1 Z-5 F500 ; Lower tool during feed
N40 C=ACP(270) ; Table turns clockwise to 270 degrees (positive),
the tool mills a circular groove.
N50 G0 Z2 M30 ; Retraction, end of program

References
Function Manual, Extended Functions; Rotary Axes (R2)

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 Geometry settings
8.3 Dimensions

8.3.5 Inch or metric dimensions (G70/G700, G71/G710)

Function
Depending on the entries in the production drawings, workpiece-related geometric
dimensions can be programmed either in millimeters (metric) or in inches.

Syntax
G70
G71
G700
G710

Meaning

G70 Command to activate the inch system for geometric dimensions

Length: [inch]
G71 Command to activate the metric system for geometric dimensions
Length: [mm]
G700 Command to activate the inch system for geometric and technological
dimensions (e.g. feedrates F)
Length: [inch]
Feedrate: [inch/min]
G710 Command to activate the metric system for geometric and technological
dimensions (e.g. feedrates F)
Metric dimensions (length [mm]; feedrate F [mm/min])
Length: [mm]
Feedrate: [mm/min]

Note
The programmed feedrate value is modal and therefore does not change automatically for
the following G70/G71/G700/G710 changeovers.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 177
Geometry settings
8.3 Dimensions

Example: Changeover between inch system and metric system

Default setting: metric

<
*

* *



*


;





Program code Comment

N10 G0 G90 X20 Y30 Z2 S2000 M3 T1 ; Default setting metric
N20 G1 Z-5 F500 ; Feedrate in Z [mm/min]
N30 X90
N40 G70 X2.75 Y3.22 ; Input of the positions in inches, G70 is
active until deselection with G71 or end
of program
N50 X1.18 Y3.54
N60 G71 X 20 Y30 ; Input of the positions in mm
N70 G0 Z2 M30 ; Traversing in rapid traverse, end of
program

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 Geometry settings
8.3 Dimensions

Further information
G70 or G71
You can instruct the control to convert the following geometrical dimensions (with necessary
deviations) into the measuring system not set and enter them directly:
● Position data (X, Y, Z, …)
● Circular-path programming:
– Interpolation point coordinates (I1, J1, K1)
– Interpolation parameters (I, J, K)
– Circle radius (CR)
● Pitch (G34, G35)
● Programmable zero offset (TRANS)
● Polar radius (RP)
All other parameters such as feedrates, tool offsets or settable zero offsets are interpreted in
the default dimension system (MD10240 $MN_SCALING_SYSTEM_IS_METRIC) when
using G70/G71.
The display of system variables and machine data is also independent of the G70/G71
context.
G700 or G710
For G700/G710, all length-related NC data, machine and setting data is always read and
written in the programmed context of G700/G710.
Feedrate
If the feedrate in the G70/G71/G700/G710 context is to be activated, a new F value must be
programmed explicitly.
Synchronized actions
If positioning tasks are solved in synchronized actions and G70/G71/G700/G710 has not
been programmed in the synchronized action, then the G70/G71/G700/G710 context active
at the time of execution decides which dimension system is used.

References
● Function Manual, Basic Functions; Speeds, Setpoint/Actual-Value System, Closed-Loop
Control (G2), Section "Metric/inch dimension system"
● Programming Manual, Job Planning; Section "Motion-synchronous actions"
● Function Manual, Synchronized Actions

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 179
Geometry settings
8.3 Dimensions

8.3.6 Channel-specific diameter/radius programming (DIAMON, DIAM90, DIAMOF)

Function
When turning, the dimensions for the transverse axis can be specified in the diameter or in
the radius. The channel-specific diameter or radius programming is activated via the modal
commands DIAMON, DIAM90 and DIAMOF so that the data from a technical drawing can be
transferred directly (without conversion) to the NC program.

',$021 ; ',$02) ;
5

5

: :
= =
'
'

Note
The channel-specific diameter/radius programming refers to the geometry axis defined as
transverse axis via MD20100 $MC_DIAMETER_AX_DEF (→ see machine manufacturer's
specifications).
Only one transverse axis per channel can be defined via MD20100.

Syntax
DIAMON
DIAM90
DIAMOF

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 Geometry settings
8.3 Dimensions

Meaning

DIAMON Command for the activation of the independent channel-specific diameter

programming
The affect of DIAMON is independent of the programmed traversing method
(absolute dimensions G90 or incremental dimensions G91):
G90 Dimensions in the diameter
G91 Dimensions in the diameter
DIAM90 Command for the activation of the dependent channel-specific diameter
programming
The affect of DIAM90 depends on the programmed traversing method:
G90 Dimensions in the diameter
G91 Dimensions in the radius
DIAMOF Command for the deactivation of the channel-specific diameter
programming
The radius programming takes effect when the diameter programming is
deactivated.

Note
With DIAMON or DIAM90, the transverse-axis actual values will always be displayed as a
diameter. This also applies to reading of actual values in the workpiece coordinate system
with MEAS, MEAW, $P_EP[x] and $AA_IW[x].

Example

Program code Comment

N10 G0 X0 Z0 ; Approach starting point.
N20 DIAMOF ; Diameter programming off.
N30 G1 X30 S2000 M03 F0.7 ; X axis = transverse axis, radius programming
active; traverse to radius position X30.
N40 DIAMON ; The diameter programming is active for the
transverse axis.
N50 G1 X70 Z-20 ; Traverse to diameter position X70 and Z-20.
N60 Z-30
N70 DIAM90 ; Diameter programming for absolute dimensions
and radius programming for incremental
dimensions.
N80 G91 X10 Z-20 ; Incremental dimensions active.
N90 G90 X10 ; Absolute dimensions active.
N100 M30 ; End of program.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 181
Geometry settings
8.3 Dimensions

Further information
Diameter values (DIAMON/DIAM90)
The diameter values apply for the following data:
● Actual value display of the transverse axis in the workpiece coordinate system
● JOG mode: Increments for incremental dimensions and handwheel travel
● Programming of end positions:
Interpolation parameters I, J, K for G2/G3, if these have been programmed absolutely
with AC.
If I, J, K are programmed incrementally (IC), the radius is always calculated.
● Reading actual values in the workpiece coordinate system for:
MEAS, MEAW, $P_EP[X], $AA_IW[X]

References
Programming Manual, Job Planning; Section "Special travel commands and motion-
synchronous actions"

8.3.7 Axis-specific diameter/radius programming (DIAMONA, DIAM90A, DIAMOFA,

DIAMCHANA, DIAMCHAN, DAC, DIC, RAC, RIC)

Function
In addition to channel-specific diameter programming, the axis-specific diameter
programming function enables the modal or non-modal dimensions and display in the
diameter for one or more axes.

Note
The axis-specific diameter programming is only possible for axes that are permitted as
further transverse axes for the axis-specific diameter programming via
MD30460 $MA_BASE_FUNCTION_MASK (→ see machine manufacturer's specifications).

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 Geometry settings
8.3 Dimensions

Syntax
Modal axis-specific diameter programming for several transverse axes in the channel:
DIAMONA[<axis>]
DIAM90A[<axis>]
DIAMOFA[<axis>]
Acceptance of the channel-specific diameter/radius programming:
DIAMCHANA[<axis>]
DIAMCHAN
Non-modal axis-specific diameter/radius programming:
<axis>=DAC(<value>)
<axis>=DIC(<value>)
<axis>=RAC(<value>)
<axis>=RIC(<value>)

Meaning

Modal axis-specific diameter programming

DIAMONA Command for the activation of the independent axis-specific diameter
programming
The affect of DIAMONA is independent of the programmed traversing
method (G90/G91 or AC/IC):
G90, AC Dimensions in the diameter
G91, IC Dimensions in the diameter
DIAM90A Command for the activation of the dependent axis-specific diameter
programming
The affect of DIAM90A depends on the programmed traversing method:
G90, AC Dimensions in the diameter
G91, IC Dimensions in the radius
DIAMOFA Command for the deactivation of the axis-specific diameter programming
The radius programming takes effect when the the diameter
programming is deactivated.

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Geometry settings
8.3 Dimensions

<axis> Axis identifier of the axis for which the axis-specific diameter
programming is to be activated
Permitted axis identifiers are as follows:
• Geometry/channel axis name
or
• Machine axis name
Range of values: The axis specified must be a known axis in the
channel.
Other conditions:
• The axis must be permitted for the axis-specific
diameter programming via
MD30460 $MA_BASE_FUNCTION_MASK.
• Rotary axes are not permitted to serve as
transverse axes.

Acceptance of the channel-specific diameter/radius programming

DIAMCHANA With the DIAMCHANA[<axis>] command, the specified axis accepts
the channel status of the diameter/radius programming and is then
assigned to the channel-specific diameter/radius programming.
DIAMCHAN With the DIAMCHAN command, all axes permitted for the axis-specific
diameter programming accept the channel status of the diameter/radius
programming and are then assigned to the channel-specific
diameter/radius programming.

Non-modal axis-specific diameter/radius programming

The non-modal axis-specific diameter/radius programming specifies the dimension type as
a diameter or radius value in the part program and synchronized actions. The modal status
of diameter/radius programming remains unchanged.
DAC The DAC command sets the following dimensions to non-modal for the
specified axis:
Diameter in absolute dimensions
DIC The DIC command sets the following dimensions to non-modal for the
specified axis:
Diameter in incremental dimensions

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 Geometry settings
8.3 Dimensions

RAC The RAC command sets the following dimensions to non-modal for the
specified axis:
Radius in absolute dimensions
RIC The RIC command sets the following dimensions to non-modal for the
specified axis:
Radius in incremental dimensions

Note
With DIAMONA[<axis>] or DIAM90A[<axis>], the transverse-axis actual values are
always displayed as a diameter. This also applies to reading of actual values in the
workpiece coordinate system with MEAS, MEAW, $P_EP[x] and $AA_IW[x].

Note
During the replacement of an additional transverse axis because of a GET request, the status
of the diameter/radius programming in the other channel is accepted with
RELEASE[<axis>].

Examples
Example 1: Modal axis-specific diameter/radius programming
X is the transverse axis in the channel, axis-specific diameter programming is permitted for
Y.

Program code Comment

N10 G0 X0 Z0 DIAMON ; Channel-specific diameter programming active for X.
N15 DIAMOF ; Channel-specific diameter programming off.
N20 DIAMONA[Y] ; Modal axis-specific diameter programming active for Y.
N25 X200 Y100 ; Radius programming active for X.
N30 DIAMCHANA[Y] ; Y accepts the status of the channel-specific
diameter/radius programming and is assigned to this.
N35 X50 Y100 ; Radius programming active for X and Y.
N40 DIAMON ; Channel-specific diameter programming on.
N45 X50 Y100 ; Diameter programming active for X and Y.

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Geometry settings
8.3 Dimensions

Example 2: Non-modal axis-specific diameter/radius programming

X is the transverse axis in the channel, axis-specific diameter programming is permitted for
Y.

Program code Comment

N10 DIAMON ; Channel-specific diameter
programming on.
N15 G0 G90 X20 Y40 DIAMONA[Y] ; Modal axis-specific diameter
programming active for Y.
N20 G01 X=RIC(5) ; Dimensions effective in this
block for X: Radius in
incremental dimensions.
N25 X=RAC(80) ; Dimensions effective in this
block for X: Radius in absolute
dimensions.
N30 WHEN $SAA_IM[Y]> 50 DO POS[X]=RIC(1) ; X is command axis.
Dimensions effective in this
block for X: Radius in
incremental dimensions.
N40 WHEN $SAA_IM[Y]> 60 DO POS[X]=DAC(10) ; X is command axis.
Dimensions effective in this
block for X: Radius in absolute
dimensions.
N50 G4 F3

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 Geometry settings
8.3 Dimensions

Further information
Diameter values (DIAMONA/DIAM90A)
The diameter values apply for the following data:
● Actual value display of the transverse axis in the workpiece coordinate system
● JOG mode: Increments for incremental dimensions and handwheel travel
● Programming of end positions:
Interpolation parameters I, J, K for G2/G3, if these have been programmed absolutely
with AC.
If I, J, K are programmed incrementally (IC), the radius is always calculated.
● Reading actual values in the workpiece coordinate system for:
MEAS, MEAW, $P_EP[X], $AA_IW[X]
References:
Programming Manual, Job Planning; Section: "Special travel commands and motion-
synchronous actions"

Non-modal axis-specific diameter programming (DAC, DIC, RAC, RIC)

The statements DAC, DIC, RAC, RIC are permissible for any commands for which channel-
specific diameter programming is relevant:
● Axis position: X..., POS, POSA
● Oscillating: OSP1, OSP2, OSS, OSE, POSP
● Interpolation parameters: I, J, K
● Contour definition: Straight line with specified angle
● Rapid retraction: POLF[AX]
● Movement in tool direction: MOVT
● Smooth approach and retraction:
G140 to G143, G147, G148, G247, G248, G347, G348, G340, G341

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Geometry settings
8.4 Position of workpiece for turning

8.4 Position of workpiece for turning

Axis identifiers
The two geometry axes perpendicular to one another are usually called:

Longitudinal axis = Z axis (abscissa)

Transverse axis = X axis (ordinate)

Workpiece zero
Whereas the machine zero is permanently defined, the workpiece zero can be freely
selected on the longitudinal axis. Generally the workpiece zero is on the front or rear side of
the workpiece.
Both the machine and the workpiece zero are on the turning center. The settable offset on
the X axis is therefore zero.

; 0DFKLQH ;
:RUNSLHFH

:RUNSLHFH 0 :
]HUR
IURQW =
:RUNSLHFH

**RU75$16

; ; :RUNSLHFH
0DFKLQH

:RUNSLHFH 0
]HUR
UHDU =
:RUNSLHFH

**

RU75$16

M Machine zero
W Workpiece zero
Z Longitudinal axis
X Transverse axis
G54 to G599 Call for the position of the workpiece zero
or TRANS

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 Geometry settings
8.4 Position of workpiece for turning

Transverse axis
Generally the dimensions for the transverse axis are diameter specifications (double path
dimension compared to other axes):

;

7UDQVYHUVHD[LV
0 :

=
'

'
/RQJLWXGLQDOD[LV

The geometry axis that is to serve as transverse axis is defined in the machine data
(→ machine manufacturer).

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Geometry settings
8.4 Position of workpiece for turning

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Motion commands 9
Contour elements
The programmed workpiece contour can be made up of the following contour elements:
● Straight lines
● Circular arcs
● Helical curves (through overlaying of straight lines and circular arcs)

Travel commands
The following travel commands are available for the creation of these contour elements:
● Rapid traverse motion (G0)
● Linear interpolation (G1)
● Circular interpolation clockwise (G2)
● Circular interpolation counterclockwise (G3)
The travel commands are modal.

Target positions
A motion block contains the target positions for the axes to be traversed (path axes,
synchronized axes, positioning axes).
The target positions can be programmed in Cartesian coordinates or in polar coordinates.

CAUTION
The axis address may only be programmed once per block.

Starting point - target point

The traversing motion is always for the last point reached to the programmed target position.
This target position is then the starting position for the next travel command.

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Motion commands
8.4 Position of workpiece for turning

Workpiece contour
The motion blocks produce the workpiece contour when performed in succession:

;







Figure 9-1 Motion blocks for turning







Figure 9-2 Motion blocks for milling

NOTICE
Before machining, the workpiece must be positioned in such a way that the tool or
workpiece cannot be damaged.

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 Motion commands
9.1 Travel commands with Cartesian coordinates (G0, G1, G2, G3, X..., Y..., Z...)

9.1 Travel commands with Cartesian coordinates (G0, G1, G2, G3, X...,
Y..., Z...)

Function
The position specified in the NC block with Cartesian coordinates can be approached with
rapid traverse motion G0, linear interpolation G1 or circular interpolation G2 /G3.

Syntax
G0 X... Y... Z...
G1 X... Y... Z...
G2 X... Y... Z... ...
G3 X... Y... Z... ...

Meaning

G0 Command for the activation of the rapid traverse motion

G1 Command for the activation of the linear interpolation
G2 Command for the activation of the clockwise circular interpolation
G3 Command for the activation of the counterclockwise circular interpolation
X... Cartesian coordinate of the target position in the X direction
Y... Cartesian coordinate of the target position in the Y direction
Z... Cartesian coordinate of the target position in the Z direction

Note
In addition to the coordinates of the target position X..., Y..., Z..., the circular
interpolation G2 / G3 also requires further data (e.g. the circle center point coordinates; see
"Circular interpolation types (Page 210)").

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Motion commands
9.1 Travel commands with Cartesian coordinates (G0, G1, G2, G3, X..., Y..., Z...)

Example

; ;



< < =

 


; ;

Program code Comment

N10 G17 S400 M3 ; Selection of the working plane, spindle clockwise
N20 G0 X40 Y-6 Z2 ; Approach of the starting position specified with Cartesian
coordinates in rapid traverse
N30 G1 Z-3 F40 ; Activation of the linear interpolation, feed of the tool
N40 X12 Y-20 ; Travel on an inclined line to an end position specified
with Cartesian coordinates
N50 G0 Z100 M30 ; Retraction in rapid traverse for tool change

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 Motion commands
9.2 Travel commands with polar coordinates

9.2 Travel commands with polar coordinates

9.2.1 Reference point of the polar coordinates (G110, G111, G112)

Function
The point from which the dimensioning starts is called the pole.
The pole can be specified in Cartesian or polar coordinates.
The reference point for the pole coordinates is clearly defined with the G110 to G112
commands. Absolute or incremental dimension inputs therefore have no effect.

Syntax
G110 X… Y… Z…
G110 AP=… RP=…
G111 X… Y… Z…
G111 AP=… RP=…
G112 X… Y… Z…
G112 AP=… RP=…

Meaning

G110 ... With the command G110, the following pole coordinates refer to the last
position reached.
G111 ... With the command G111, the following pole coordinates refer to the zero
point of the current workpiece coordinate system.
G112 ... With the command G112, the following pole coordinates refer to the last
valid pole.
Note:
The commands G110...G112 must be programmed in a separate NC
block.
X… Y… Z… Specification of the pole in Cartesian coordinates

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Motion commands
9.2 Travel commands with polar coordinates

AP=… RP=… Specification of the pole in polar coordinates

AP=… Polar angle
Angle between the polar radius and the horizontal axis of the
working plane (e.g. X axis for G17). The positive direction of
rotation runs counterclockwise.
Range of values: ± 0…360°
RP=… Polar radius
The specification is always in absolute positive values in [mm]
or [inch].

Note
It is possible to switch block-by-block in the NC program between polar and Cartesian
dimensions. It is possible to return directly to the Cartesian system by using Cartesian
coordinate identifiers (X..., Y..., Z...). The defined pole is moreover retained up to program
end.

Supplementary conditions
● If no pole has been specified, the zero point of the current workpiece coordinate system
applies.

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 Motion commands
9.2 Travel commands with polar coordinates

Example

<
*;

3ROH
r
*<

3ROH *<

r
3ROH
*< ;

*; *;

Poles 1 to 3 are defined in the example as follows:

● Pole 1 with G111 X… Y…
● Pole 2 with G110 X… Y…
● Pole 3 with G112 X… Y…

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 197
Motion commands
9.2 Travel commands with polar coordinates

9.2.2 Travel commands with polar coordinates (G0, G1, G2, G3, AP, RP)

Function
Travel commands with polar coordinates are useful when the dimensions of a workpiece or
part of the workpiece are measured from a central point and the dimensions are specified in
angles and radii (e.g. for drilling patterns).

<

r

r r
Q

r r ;

Syntax
G0 AP=… RP=…
G1 AP=… RP=…
G2 AP=… RP=… ...
G3 AP=… RP=… ...

Meaning

G0 Command for the activation of the rapid traverse motion

G1 Command for the activation of the linear interpolation
G2 Command for the activation of the clockwise circular interpolation
G3 Command for the activation of the counterclockwise circular interpolation

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 Motion commands
9.2 Travel commands with polar coordinates

AP Polar angle
Angle between the polar radius and the horizontal axis of the working plane (e.g.
X axis for G17). The positive direction of rotation runs counter-clockwise.
Range of values: ± 0…360°
The angle can be specified either incremental or absolute:
AP=AC(...) Absolute dimension input
AP=IC(...) Incremental dimension input
With incremental dimension input, the last programmed angle
applies as reference.
The polar angle remains stored until a new pole is defined or the working plane is
changed.
RP Polar radius
The specification is always in absolute positive values in [mm] or [inch].
The polar radius remains stored until a new value is entered.

Note
The polar coordinates refer to the pole specified with G110 ... G112 and apply in the working
plane selected with G17 to G19.

Note
The 3rd geometry axis, which lies perpendicular to the working plane, can also be specified
in Cartesian coordinates.

53

$3

This enables spatial parameters to be programmed in cylindrical coordinates.

Example: G17 G0 AP… RP… Z…

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Motion commands
9.2 Travel commands with polar coordinates

Supplementary conditions
● No Cartesian coordinates such as interpolation parameters, axis addresses, etc. may be
programmed for the selected working plane in NC blocks with polar end point
coordinates.
● If a pole has not been defined with G110 ... G112, then the zero point of the current
workpiece coordinate system is automatically considered as the pole:

<





,&
$3

$3


$3

r

r

● Polar radius RP = 0
The polar radius is calculated from the distance between the starting point vector in the
pole plane and the active pole vector. The calculated polar radius is then saved as modal.
This applies irrespective of the selected pole definition (G110 ... G112). If both points
have been programmed identically, this radius = 0 and alarm 14095 is generated.
● Only polar angle AP has been programmed
If no polar radius RP has been programmed in the current block, but a polar angle AP,
then when there is a difference between the current position and pole in the workpiece
coordinates, this difference is used as polar radius and saved as modal. If the difference
= 0, then the pole coordinates are specified again and the modal polar radius remains at
zero.

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200 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.2 Travel commands with polar coordinates

Example: Creation of a drilling pattern

The positions of the holes are specified in polar coordinates:

<

r r


r

r


r
;



Each hole is machined with the same production sequence:

Rough-drilling, drilling as dimensioned, reaming …
The machining sequence is stored in the subroutine.

Program code Comment

N10 G17 G54 ; Working plane X/Y, workpiece zero
N20 G111 X43 Y38 ; Specification of the pole
N30 G0 RP=30 AP=18 Z5G0 ; Approach starting point, specification in
cylindrical coordinates
N40 L10 ; Subroutine call
N50 G91 AP=72 ; Approach next position in rapid traverse, polar
angle in incremental dimensions, polar radius from
block N30 remains saved and does not have to be
specified
N60 L10 ; Subroutine call
N70 AP=IC(72) …
N80 L10 …
N90 AP=IC(72)
N100 L10 …
N110 AP=IC(72)
N120 L10 …
N130 G0 X300 Y200 Z100 M30 ; Retract tool, end of program
N90 AP=IC(72)
N100 L10 …

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 201
Motion commands
9.3 Rapid traverse movement (G0, RTLION, RTLIOF)

See also
Circular interpolation types (G2/G3, ...) (Page 210)

9.3 Rapid traverse movement (G0, RTLION, RTLIOF)

Function
You can use the rapid traverse movements to position the tool rapidly, to travel around the
workpiece or to approach tool change locations.
Non-linear interpolation is activated with the part program command RTLIOF, linear
interpolation is activated with the part program command RTLION.

Note
This function is not suitable for workpiece machining!

Syntax
G0 X… Y… Z…
G0 AP=…
G0 RP=…
RTLIOF
RTLION

Meaning

G0 Command for the activation of the rapid traverse motion

Active: modal
X Y Z End point in Cartesian coordinates
AP= End point in polar coordinates, in this case polar angle
RP= End point in polar coordinates, in this case polar radius
RTLIOF Nonlinear interpolation
(each path axis interpolates as a single axis)
RTLION Linear interpolation (path axes are interpolated together)

Note
G0 cannot be replaced by G.

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 Motion commands
9.3 Rapid traverse movement (G0, RTLION, RTLIOF)

Examples
Example 1: Milling

<

1

1




;



Starting positions or tool change points, tool retraction, etc. are approached with G0:

Program code Comment

N10 G90 S400 M3 ; Absolute dimension input, spindle clockwise
N20 G0 X30 Y20 Z2 ; Approach of the starting position
N30 G1 Z-5 F1000G1 ; Feed of the tool
N40 X80 Y65 ; Travel on a straight line
N50 G0 Z2
N60 G0 X-20 Y100 Z100 M30 ; Retract tool, end of program

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 203
Motion commands
9.3 Rapid traverse movement (G0, RTLION, RTLIOF)

Example 2: Turning

1


1

š
š
. =



Program code Comment

N10 G90 S400 M3 ; Absolute dimension input, spindle clockwise
N20 G0 X25 Z5 ; Approach of the starting position
N30 G1 G94 Z0 F1000G1 ; Feed of the tool
N40 G95 Z-7.5 F0.2
N50 X60 Z-35 ; Travel on a straight line
N60 Z-50
N70 G0 X62
N80 G0 X80 Z20 M30 ; Retract tool, end of program

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 Motion commands
9.3 Rapid traverse movement (G0, RTLION, RTLIOF)

Further information
Rapid traverse velocity
The tool movement programmed with G0 is executed at the highest possible speed (rapid
traverse). The rapid traverse speed is defined separately for each axis in machine data. If
the rapid traverse movement is executed simultaneously on several axes, the rapid traverse
speed is determined by the axis, which requires the most time for its section of the path.

=

<
YHUVH
WUD
SLG
IUD
D WKR HQW
3
YHP
PR

3DWK
FRPSRQHQW=

3DWKFRPSRQHQW<
3DWKFRPSRQHQW;

;

Traverse path axes as positioning axes with G0

Path axes can travel in one of two different modes to execute movements in rapid traverse:
● Linear interpolation (previous behavior):
The path axes are interpolated together.
● Non-linear interpolation:
Each path axis interpolates as a single axis (positioning axis) independently of the other
axes of the rapid traverse motion.
With non-linear interpolation, the setting for the appropriate positioning axis BRISKA, SOFTA
or DRIVEA applies, with reference to the axial jerk.

NOTICE
Since a different contour can be traversed in nonlinear interpolation mode, synchronized
actions that refer to coordinates of the original path are not operative in some cases!

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 205
Motion commands
9.3 Rapid traverse movement (G0, RTLION, RTLIOF)

Linear interpolation applies in the following cases:

● With a G code combination including G0, which does not permit positioning movements
(e.g. G40/41/42).
● With a combination of G0 and G64
● When the compressor is active
● When a transformation is active
Example:

Program code
G0 X0 Y10
G0 G40 X20 Y20
G0 G95 X100 Z100 M3 S100
Path POS[X]=0 POS[Y]=10 is traversed in path mode. No revolutional feedrate is active if
path POS[X]=100 POS[Z]=100 is traversed.
Settable block change time with G0
For single axis interpolations, a new movement end criterion
FINEA
or
COARSEA
or
IPOENDA
can already be set for block change inside the braking ramp.
Consecutive axes are handled in G0 like positioning axes.
With the combination of
● "Block change settable in the braking ramp of the single axis interpolation" and
● "Traversing path axes in rapid traverse movement as positioning axes with G0"
all axes can travel to their end point independently of one another. In this way, two
sequentially programmed X and Z axes are treated like positioning axes in conjunction with
G0.
The block change to axis Z can be initiated by axis X as a function of the braking ramp time
setting (100-0%). Axis Z starts to move while axis X is still in motion. Both axes approach
their end point independently of one another.
For further information, please refer to "Feed control and spindle motion".

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 Motion commands
9.4 Linear interpolation (G1)

9.4 Linear interpolation (G1)

Function
With G1 the tool travels on paraxial, inclined or straight lines arbitrarily positioned in space.
Linear interpolation permits machining of 3D surfaces, grooves, etc.
Milling:

Syntax
G1 X… Y… Z … F…
G1 AP=… RP=… F…

Meaning

G1 Linear interpolation with feedrate (linear interpolation)

X Y Z End point in Cartesian coordinates
AP= End point in polar coordinates, in this case polar angle
RP= End point in polar coordinates, in this case polar radius

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Motion commands
9.4 Linear interpolation (G1)

F Feedrate in mm/min. The tool travels at feedrate F along a straight line from
the current starting point to the programmed destination point. You can enter
the destination point in Cartesian or polar coordinates. The workpiece is
machined along this path.
Example: G1 G94 X100 Y20 Z30 A40 F100
The end point on X, Y, Z is approached at a feedrate of 100 mm/min; the
rotary axis A is traversed as a synchronized axis, ensuring that all four
movements are completed at the same time.

Note
G1 is modal.
Spindle speed S and spindle direction M3/M4 must be specified for the machining.
Axis groups, for which path feedrate F applies, can be defined with FGROUP. You will find
more information in the "Path behavior" section.

Example: Milling
Machining of a groove: The tool travels from the starting point to the end point in the X/Y
direction. Infeed takes place simultaneously in the Z direction.

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 Motion commands
9.4 Linear interpolation (G1)

Program code Comment

N10 G17 S400 M3 ; Selection of the working plane, spindle clockwise
N20 G0 X20 Y20 Z2 ; Approach of the starting position
N30 G1 Z-2 F40 ; Feed of the tool
N40 X80 Y80 Z-15 ; Travel on an inclined
line
N50 G0 Z100 M30 ; Retraction for tool change

Example: Turning

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Program code Comment

N10 G17 S400 M3 ; Selection of the working plane, spindle clockwise
N20 G0 X40 Y-6 Z2 ; Approach of the starting position
N30 G1 Z-3 F40 ; Feed of the tool
N40 X12 Y-20 ; Travel on an inclined
line
N50 G0 Z100 M30 ; Retraction for tool change

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Motion commands
9.5 Circular interpolation

9.5 Circular interpolation

9.5.1 Circular interpolation types (G2/G3, ...)

Possibilities of programming circular movements

The control provides a range of different ways to program circular movements. This allows
you to implement almost any type of drawing dimension directly. The circular movement is
described by the:
● Center point and end point in the absolute or incremental dimension (default)
● Radius and end point in Cartesian coordinates
● Opening angle and end point in Cartesian coordinates or center point under the
addresses
● Polar coordinates with the polar angle AP= and the polar radius RP=
● Intermediate and end point
● End point and tangent direction at the start point.

Syntax

G2/G3 X… Y… Z…
I=AC(…) J=AC(…) K=AC(…) Absolute center point and end point
with reference to the workpiece zero
G2/G3 X… Y… Z… I… J… K… Center point in incremental
dimensions with reference to the
circle starting point
G2/G3 X… Y… Z… CR=… Circle radius CR= and circle end
position in Cartesian coordinates
X..., Y..., Z...
G2/G3 X… Y… Z… AR=… Opening angle AR= end point in
Cartesian coordinates X..., Y..., Z...
G2/G3 I… J… K… AR=… Opening angle AR= center point at
addresses I..., J..., K...
G2/G3 AP=… RP=… Polar coordinates with the polar
angle AP= and the polar radius RP=
CIP X… Y… Z… I1=AC(…) J1=AC(…) The intermediate point at addresses
K1=(AC…)
I1=, J1=, K1=
CT X… Y… Z… Circle through starting and end point
and tangent direction at starting
point

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 Motion commands
9.5 Circular interpolation

Meaning

G2 Circular interpolation, clockwise

G3 Circular interpolation, counterclockwise
CIP Circular interpolation through intermediate point
CT Circle with tangential transition defines the circle
X Y Z End point in Cartesian coordinates
I J K Circle center point in Cartesian coordinates in X, Y, Z
direction
CR= Circle radius
AR= Opening angle
AP= End point in polar coordinates, in this case polar angle
RP= End point in polar coordinates, in this case polar radius
corresponding to circle radius
I1= J1= K1= Intermediate points in Cartesian coordinates in X, Y, Z
direction

Example: Milling
The following program lines contain an example for each circular-path programming
possibility. The necessary dimensions are shown in the production drawing on the right.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 211
Motion commands
9.5 Circular interpolation

Program code Comment

N10 G0 G90 X133 Y44.48 S800 M3 ; Approach starting point
N20 G17 G1 Z-5 F1000 ; Feed of the tool
N30 G2 X115 Y113.3 I-43 J25.52 ; Circle end point, center point in
incremental dimensions
N30 G2 X115 Y113.3 I=AC(90) J=AC(70) ; Circle end point, center point in
absolute dimensions
N30 G2 X115 Y113.3 CR=-50 ; Circle end point, circle radius
N30 G2 AR=269.31 I-43 J25.52 ; Opening angle, center point in
incremental dimensions
N30 G2 AR=269.31 X115 Y113.3 ; Opening angle, circle end point
N30 N30 CIP X80 Y120 Z-10 ; Circle end point and intermediate
point
I1=IC(-85.35) J1=IC(-35.35) K1=-6 ; Coordinates for all three geometry
axes
N40 M30 ; End of program

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 Motion commands
9.5 Circular interpolation

Example: Turning

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Program code Comment

N.. ...
N120 G0 X12 Z0
N125 G1 X40 Z-25 F0.2
N130 G3 X70 Y-75 I-3.335 K-29.25 ; Circle end point, center point
in incremental dimensions
N130 G3 X70 Y-75 I=AC(33.33) K=AC(-54.25) ; Circle end point, center point
in absolute dimensions
N130 G3 X70 Z-75 CR=30 ; Circle end point, circle
radius
N130 G3 X70 Z-75 AR=135.944 ; Opening angle, circle end
point
N130 G3 I-3.335 K-29.25 AR=135.944 ; Opening angle, center point in
incremental dimensions
N130 G3 I=AC(33.33) K=AC(-54.25) AR=135.944 ; Opening angle, center point in
absolute dimensions
N130 G111 X33.33 Z-54.25 ; Polar coordinates
N135 G3 RP=30 AP=142.326 ; Polar coordinates
N130 CIP X70 Z-75 I1=93.33 K1=-54.25 ; Circular arc with intermediate
point and end point
N140G1 Z-95
N.. ...
N40 M30 ; End of program

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 213
Motion commands
9.5 Circular interpolation

9.5.2 Circular interpolation with center point and end point (G2/G3, X... Y... Z..., I... J...
K...)

Function
Circular interpolation enables machining of full circles or arcs.

The circular movement is described by:

● The end point in Cartesian coordinates X, Y, Z and
● The circle center point at addresses I, J, K.
If the circle is programmed with a center point but no end point, the result is a full circle.

Syntax
G2/G3 X… Y… Z… I… J… K…
G2/G3 X… Y… Z… I=AC(…) J=AC(…) K=(AC…)

Meaning

G2 Circular interpolation, clockwise

G3 Circular interpolation, counterclockwise
X Y Z End point in Cartesian coordinates
I Coordinates of the circle center point in the X direction
J Coordinates of the circle center point in the Y direction
K Coordinates of the circle center point in the Z direction
=AC(…) Absolute dimensions (non-modal)

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 Motion commands
9.5 Circular interpolation

Note
G2 and G3 are modal.
The default settings G90/G91 absolute and incremental dimensions are only valid for the
circle end point.
Per default, the center point coordinates I, J, K are entered in incremental dimensions in
relation to the circle starting point.
You can program the absolute center point dimensions in relation to the workpiece zero
block-by-block with: I=AC(…), J=AC(…), K=AC(…). One interpolation parameter I, J, K with
value 0 can be omitted, but the associated second parameter must always be specified.

Examples: Milling

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Incremental dimension
N10 G0 X67.5 Y80.211
N20 G3 X17.203 Y38.029 I–.5 J–.211 F500
Absolute dimensions
N10 G0 X67.5 Y80.211
N20 G3 X17.203 Y38.029 I=AC(50) J=AC(50)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 215
Motion commands
9.5 Circular interpolation

Examples: Turning

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Incremental dimensions
N120 G0 X12 Z0
N125 G1 X40 Z-25 F0.2
N130 G3 X70 Z-75 I-3.335 K-29.25
N135 G1 Z-95
Absolute dimensions
N120 G0 X12 Z0
N125 G1 X40 Z-25 F0.2
N130 G3 X70 Z-75 I=AC(33.33) K=AC(-54.25)
N135 G1 Z-95

Indication of working plane

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Fundamentals
216 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.5 Circular interpolation

The control needs the working plane parameter (G17 to G19) in order to calculate the
direction of rotation for the circle – G2 is clockwise or G3 is counterclockwise.

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It is advisable to specify the working plane generally.

Exception:
You can also machine circles outside the selected working plane (not with arc angle and
helix parameters). In this case, the axis addresses that you specify as an end point
determine the circle plane.

Programmed feedrate
You can use FGROUP to specify, which axes are to be traversed with a programmed
feedrate. For more information please refer to the Path behavior section.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 217
Motion commands
9.5 Circular interpolation

9.5.3 Circular interpolation with radius and end point (G2/G3, X... Y... Z.../ I... J... K...,
CR)

The circular motion is described by the:

● Circle radius CR=and
● End point in Cartesian coordinates X, Y, Z.
In addition to the circle radius, you must also specify the leading sign +/– to indicate whether
the traversing angle is to be greater than or less than 180°. A positive leading sign can be
omitted.

Note
There is no practical limitation on the maximum size of the programmable radius.

Syntax
G2/G3 X… Y… Z… CR=
G2/G3 I… J… K… CR=

Meaning

G2 Circular interpolation, clockwise

G3 Circular interpolation, counterclockwise
X Y Z End point in Cartesian coordinates. These specifications depend on the
travel commands G90/G91 or ...=AC(...)/...=IC(..)
I J K Circle center point in Cartesian coordinates (in X, Y, Z direction)
The identifiers have the following meanings:
I: Coordinate of the circle center point in the X direction
J: Coordinate of the circle center point in the Y direction
K: Coordinate of the circle center point in the Z direction
CR= Circle radius
The identifiers have the following meanings:
CR=+…: Angle less than or equal to 180°
CR=–…: Angle more than 180°

Note
You don't need to specify the center point with this procedure. Full circles (traversing angle
360°) are not programmed with CR=, but via the circle end position and interpolation
parameters.

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 Motion commands
9.5 Circular interpolation

Example: Milling
Circular-path programming with radius and end point
N10 G0 X67.5 Y80.511
N20 G3 X17.203 Y38.029 CR=34.913 F500

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Example: Turning
Circular-path programming with radius and end point
N125 G1 X40 Z-25 F0.2
N130 G3 X70 Z-75 CR=30
N135 G1 Z-95

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 219
Motion commands
9.5 Circular interpolation

9.5.4 Circular interpolation with opening angle and center point (G2/G3, X... Y... Z.../ I...
J... K..., AR)

The circular movement is described by:

● The opening angle AR = and
● The end point in Cartesian coordinates X, Y, Z or
● The circle center at addresses I, J, K

Syntax
G2/G3 X… Y… Z… AR=
G2/G3 I… J… K… AR=

Meaning

G2 Circular interpolation, clockwise

G3 Circular interpolation, counterclockwise
X Y Z End point in Cartesian coordinates
I J K Circle center point in Cartesian coordinates (in X, Y, Z direction)
The identifiers have the following meanings:
I: Coordinate of the circle center point in the X direction
J: Coordinate of the circle center point in the Y direction
K: Coordinate of the circle center point in the Z direction
AR= Opening angle, range of values 0° to 360°
=AC(…) Absolute dimensions (non-modal)

Note
Full circles (traversing angle 360°) cannot be programmed with AR=, but must be
programmed using the circle end position and interpolation parameters. The center point
coordinates I, J, K are normally entered in incremental dimensions with reference to the
circle starting point.
You can program the absolute center point dimensions in relation to the workpiece zero
block-by-block with: I=AC(…), J=AC(…), K=AC(…). One interpolation parameter I, J, K with
value 0 can be omitted, but the associated second parameter must always be specified.

Fundamentals
220 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.5 Circular interpolation

Milling example

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N10 G0 X67.5 Y80.211
N20 G3 X17.203 Y38.029 AR=140.134 F500
N20 G3 I–17.5 J–30.211 AR=140.134 F500

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 221
Motion commands
9.5 Circular interpolation

Example of turning

2 .3 2 6 °
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Ø 33.33
25

Ø 40
54.25
95

Programming a circle with opening angle and center point or end point
N125 G1 X40 Z-25 F0.2
N130 G3 X70 Z-75 AR=135.944
N130 G3 I-3.335 K-29.25 AR=135.944
N130 G3 I=AC(33.33) K=AC(-54.25) AR=135.944
N135 G1 Z-95

Fundamentals
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 Motion commands
9.5 Circular interpolation

9.5.5 Circular interpolation with polar coordinates (G2/G3, AP, RP)

The circular movement is described by:

● The polar angle AP= and
● The polar radius RP=
The following rule applies:
The pole lies at the circle center.
The polar radius corresponds to the circle radius.

Syntax
G2/G3 AP= RP=

Meaning

G2 Circular interpolation, clockwise

G3 Circular interpolation, counterclockwise
X Y Z End point in Cartesian coordinates
AP= End point in polar coordinates, in this case polar angle
RP= End point in polar coordinates, in this case polar radius corresponds to circle
radius

Milling example

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 223
Motion commands
9.5 Circular interpolation

Circular-path programming with polar coordinates

N10 G0 X67.5 Y80.211
N20 G111 X50 Y50
N30 G3 RP=34.913 AP=200.052 F500

Example of turning

2 .3 2 6 °
14

30

Z
Ø 33.33

25
Ø 40

54.25
95

Circular-path programming with polar coordinates

N125 G1 X40 Z-25 F0.2
N130 G111 X33.33 Z-54.25
N135 G3 RP=30 AP=142.326
N140 G1 Z-95

Fundamentals
224 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.5 Circular interpolation

9.5.6 Circular interpolation with intermediate point and end point (CIP, X... Y... Z..., I1...
J1... K1...)

You can use CIP to program arcs. These arcs can also be inclined in space. In this case,
you describe the intermediate and end points with three coordinates.
The circular movement is described by:
● The intermediate point at addresses I1=, J1=, K1= and
● The end point in Cartesian coordinates X, Y, Z.

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The traversing direction is determined by the order of the starting point, intermediate point
and end point.

Syntax
CIP X… Y… Z… I1=AC(…) J1=AC(…) K1=(AC…)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 225
Motion commands
9.5 Circular interpolation

Meaning

CIP Circular interpolation through intermediate point

XYZ End point in Cartesian coordinates. These specifications
depend on the travel commands G90/G91 or
...=AC(...)/...=IC(..)
I1= J1= K1= Circle center point in Cartesian coordinates (in X, Y, Z
direction)
The identifiers have the following meanings:
I: Coordinate of the circle center point in the X direction
J: Coordinate of the circle center point in the Y direction
K: Coordinate of the circle center point in the Z direction
=AC(…) Absolute dimensions (non-modal)
=IC(...) Incremental dimensions (non-modal)

Note
CIP is modal.

Input in absolute and incremental dimensions

The G90/G91 defaults for absolute or incremental dimensions are valid for the intermediate
and circle end points.
With G91, the circle starting point is used as the reference for the intermediate point and end
point.

Milling example

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Fundamentals
226 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.5 Circular interpolation

In order to machine an inclined circular groove, a circle is described by specifying the

intermediate point with three interpolation parameters, and the end point with 3 coordinates.

Program code Comment

N10 G0 G90 X130 Y60 S800 M3 ; Approach starting point
N20 G17 G1 Z-2 F100 ; Feed of the tool
N30 CIP X80 Y120 Z-10 ; Circle end point and intermediate point
I1= IC(-85.35)J1=IC(-35.35) ; Coordinates for all three geometry axes
K1=-6
N40 M30 ; End of program

Example of turning

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Program code Comment

N125 G1 X40 Z-25 F0.2 ;
N130 CIP X70 Z-75 I1=IC(26.665) K1=IC(-29.25) ;
N130 CIP X70 Z-75 I1=93.33 K1=-54.25 ;
N135 G1 Z-95 ;

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 227
Motion commands
9.5 Circular interpolation

9.5.7 Circular interpolation with tangential transition (CT, X... Y... Z...)

Function
The Tangential transition function is an expansion of the circle programming.
The circle is defined by:
● The start and end point and
● The tangent direction at the start point.
The G code CT produces an arc that lies at a tangent to the contour element programmed
previously.

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Determination of the tangent direction

The tangent direction in the starting point of a CT block is determined from the end tangent
of the programmed contour of the last block with a traversing motion.
There can be any number of blocks without traversing information between this block and
the current block.

Syntax
CT X… Y… Z…

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 Motion commands
9.5 Circular interpolation

Meaning

CT Circle with tangential transition

X... Y... Z... End point in Cartesian coordinates

Note
CT is modal.
As a rule, the circle is clearly defined by the tangent direction as well as the starting point
and end point.

Milling example

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Program code Comment

N10 G0 X0 Y0 Z0 G90 T1 D1
N20 G41 X30 Y30 G1 F1000 ; Activation of the TRC
N30 CT X50 Y15 ; Circular-path programming with tangential
transition
N40 X60 Y-5
N50 G1 X70
N60 G0 G40 X80 Y0 Z20
N70 M30

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 229
Motion commands
9.5 Circular interpolation

Example of turning

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Program code Comment

N110 G1 X23.293 Z0 F10
N115 X40 Z-30 F0.2
N120 CT X58.146 Z-42 ; Circular-path programming with tangential transition
N125 G1 X70

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 Motion commands
9.5 Circular interpolation

Description
In the case of splines, the tangential direction is defined by the straight line through the last
two points. This direction is generally not the same as the direction at the end point of the
spline with A and C splines with active ENAT or EAUTO.
The transition of B splines is always tangential, the tangent direction is defined as for A or C
splines and active ETAN.
Frame change
If a frame change takes place between the block defining the tangent and the CT block, the
tangent is also subjected to this change.
Limit case
If the extension of the start tangent runs through the end point, a straight line is produced
instead of a circle (limit case: circle with infinite radius). In this special case, TURN must
either not be programmed or the value must be TURN=0.

Note
When the values tend towards this limit case, circles with an unlimited radius are produced
and machining with TURN unequal 0 is generally aborted with an alarm due to violation of
the software limits.

Position of the circle plane

The position of the circle plane depends on the active plane (G17-G19).
If the tangent of the previous block does not lie in the active plane, its projection in the active
plane is used.
If the start and end points do not have the same position components perpendicular to the
active plane, a helix is produced instead of a circle.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 231
Motion commands
9.6 Helical interpolation (G2/G3, TURN)

9.6 Helical interpolation (G2/G3, TURN)

Function "
The helical interpolation enables, for example, the production of threads or oil grooves.

With helical interpolation, two motions are superimposed and executed in parallel:
● A plane circular motion on which
● A vertical linear motion is superimposed.

Syntax
G2/G3 X… Y… Z… I… J… K… TURN=
G2/G3 X… Y… Z… I… J… K… TURN=
G2/G3 AR=… I… J… K… TURN=
G2/G3 AR=… X… Y… Z… TURN=
G2/G3 AP… RP=… TURN=

Meaning

G2 Travel on a circular path in clockwise direction

G3 Travel on a circular path in counterclockwise direction
X Y Z End point in Cartesian coordinates
I J K Circle center point in Cartesian coordinates
AR Opening angle

Fundamentals
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 Motion commands
9.6 Helical interpolation (G2/G3, TURN)

TURN= Number of additional circular passes in the range from 0 to

999
AP= Polar angle
RP= Polar radius

Note
G2 and G3 are modal.
The circular motion is performed in those axes that are defined by the specification of the
working plane.

Example

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Program code Comment

N10 G17 G0 X27.5 Y32.99 Z3 ; Approach of the starting position
N20 G1 Z-5 F50 ; Feed of the tool
N30 G3 X20 Y5 Z-20 I=AC(20) ; Helix with the specifications: Execute two full
J=AC (20) TURN=2 circles after the starting position,
then travel to end point
N40 M30 ; End of program

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 233
Motion commands
9.6 Helical interpolation (G2/G3, TURN)

Sequence of motions
1. Approach starting point
2. With TURN= execute the full circles programmed
3. Approach circle end position, e.g., as part rotation
4. Execute steps 2 and 3 across the infeed depth.
The pitch, with which the helix is to be machined is calculated from the number of full circles
plus the programmed circle end position (executed across the infeed depth).

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Programming the end point for helical interpolation

Please refer to circular interpolation for a detailed description of the interpolation parameters.

Programmed feedrate
For helical interpolation, it is advisable to specify a programmed feedrate override (CFC).
You can use FGROUP to specify, which axes are to be traversed with a programmed
feedrate. For more information please refer to the Path behavior section.

Fundamentals
234 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.7 Involute interpolation (INVCW, INVCCW)

9.7 Involute interpolation (INVCW, INVCCW)

Function
The involute of the circle is a curve traced out from the end point on a "piece of string"
unwinding from the curve.
Involute interpolation allows trajectories along an involute. It is executed in the plane in which
the basic circle is defined and runs from the programmed starting point to the programmed
end point.

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The end point can be programmed in two ways:

1. Directly via Cartesian coordinates
2. Indirectly by specifying an opening angle (also refer to the programming of the opening
angle for the circular-path programming)
If the starting point and the end point are in the plane of the basic circle, then, analogous to
the helical interpolation for circles, there is a superimposition to a curve in space.
With additional specification of paths perpendicular to the active plane, an involute can be
traversed in space (comparable to the helical interpolation for circles).

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 235
Motion commands
9.7 Involute interpolation (INVCW, INVCCW)

Syntax
INVCW X... Y... Z... I... J... K... CR=...
INVCCW X... Y... Z... I... J... K... CR=...
INVCW I... J... K... CR=... AR=...
INVCCW I... J... K... CR=... AR=...

Meaning

INVCW Command to travel on an involute in clockwise direction

INVCCW Command to travel on an involute in counterclockwise
direction
X... Y... Z... Direct programming of the end point in Cartesian coordinates
I... J... K... Interpolation parameters for the description of the center point
of the basic circle in Cartesian coordinates
Note:
The coordinate specifications refer to the starting point of the
involute.
CR=... Radius of the basic circle
AR=... Indirect programming of the end point through specification of
an opening angle (angle of rotation)
The origin of the opening angle is the line from the circle
center point to the starting point.
AR > 0 The path of the involute moves away from the
basic circle.
AR < 0 The path of the involute moves towards the basic
circle.
For AR < 0, the maximum angle of rotation is
restricted by the fact that the end point must
always be outside the basic circle.

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 Motion commands
9.7 Involute interpolation (INVCW, INVCCW)

NOTICE
With the indirect programming of the end point through specification of an opening angle
AR, the sign of the angle must be taken into account, as a sign change would result in
another involute and therefore another path.
This is demonstrated in the following example:
(QGSRLQWV

  


$5

6WDUWLQJSRLQW

The specifications of the radius and center point of the basic circle as well as the starting
point and direction of rotation (INVCW/INVCCW) are the same for involutes 1 and 2. The only
difference is in the sign of the opening angle:
• With AR > 0, the path is on involute 1 and end point 1 is approached.
• With AR < 0, the path is on involute 2 and end point 2 is approached.

Supplementary conditions
● Both the starting point and the end point must be outside the area of the basic circle of
the involute (circle with radius CR around the center point specified by I, J, K). If this
condition is not satisfied, an alarm is generated and the program processing is aborted.
● The two options for the programming of the end point (directly via Cartesian coordinates
or indirectly via the specification of an opening angle) are mutually exclusive.
Consequently, only one of the two programming options may be used in a block.

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Motion commands
9.7 Involute interpolation (INVCW, INVCCW)

● If the programmed end point does not lie exactly on the involute defined by the starting
point and basic circle, interpolation takes place between the two involutes defined by the
starting and end points (see following figure).

6WDUWLQJSRLQW
5DGLXV

%DVLFFLUFOH (QGSRLQW PD[

GHYLDWLRQ

The maximum deviation of the end point is determined by a machine data (→ machine
manufacturer). If the deviation of the programmed end point in the radial direction is
greater than that by the MD, then an alarm is generated and the program processing
aborted.

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 Motion commands
9.7 Involute interpolation (INVCW, INVCCW)

Examples
Example 1: Counterclockwise involute from the starting point to the programmed end point
and back again as clockwise involute

< 1(QGSRLQW
; < 

1

1
&5 

16WDUWLQJSRLQW ;
; < 

Program code Comment

N10 G1 X10 Y0 F5000 ; Approach of the starting position.
N15 G17 ; Selection of the X/Y plane as
working plane.
N20 INVCCW X32.77 Y32.77 CR=5 I-10 J0 ; Counterclockwise involute, end
point in Cartesian coordinates.
N30 INVCW X10 Y0 CR=5 I-32.77 J-32.77 ; Clockwise involute, starting point
is end point from N20, new end
point is starting point from N20,
new circle center point refers to
a new starting point and is the
same as the old circle center
point.
...

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 239
Motion commands
9.7 Involute interpolation (INVCW, INVCCW)

Example 2: Counterclockwise involute with indirect programming of the end point through
specification of an opening angle

<

&5 

6WDUWLQJSRLQW ;
; < 
$5 

Program code Comment

N10 G1 X10 Y0 F5000 ; Approach of the starting position.
N15 G17 ; Selection of the X/Y plane as working
plane.
N20 INVCCW CR=5 I-10 J0 AR=360 ; Counterclockwise involute and away from
the basic circle (as positive angle
specification) with one full revolution
(360 degrees).
...

References
For more information about machine data and supplementary conditions that are relevant to
involute interpolation, see:
Function Manual, Basic Functions; Various NC/PLC interface signals and functions (A2),
Section: "Settings for involute interpolation"

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 Motion commands
9.8 Contour definitions

9.8 Contour definitions

Function
The contour definition programming is used for the quick input of simple contours.
Programmable are contour definitions with one, two, three or more points with the transition
elements chamfer or rounding, through specification of Cartesian coordinates and/or angles.
Arbitrary further NC addresses can be used, e.g. address letters for further axes (single axes
or axis perpendicular to the machining plane), auxiliary function specifications, G codes,
velocities, etc. in the blocks that describe contour definitions.

Note
Contour calculator
The contour definitions can be programmed easily with the aid of the contour calculator. This
is a user interface tool that enables the programming and graphic display of simple and
complex workpiece contours. The contours programmed via the contour calculator are
transferred to the part program.
References:
Operating Manual

Assigning parameters
The identifiers for angle, radius and chamfer are defined via machine data:
MD10652 $MN_CONTOUR_DEF_ANGLE_NAME (name of the angle for contour definitions)
MD10654 $MN_RADIUS_NAME (name of the radius for contour definitions)
MD10656 $MN_CHAMFER_NAME (name of the chamfer for contour definitions)

Note
See machine manufacturer's specifications.

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Motion commands
9.8 Contour definitions

9.8.1 Contour definitions: One straight line (ANG)

Note
In the following description it is assumed that
• G18 is active (⇒ active working plane is the Z/X plane).
(However, the programming of contour definitions is also possible without restrictions for
G17 or G19.)
• The following identifiers have been defined for angle, radius and chamfer:
– ANG (angle)
– RND (radius)
– CHR (chamfer)

Function
The end point of the straight line is defined by the following specifications:
● Angle ANG
● One Cartesian end point coordinate (X2 or Z2)

;=

$1*

;=

ANG Angle of the straight line

X1, Z1 Start coordinates
X2, Z2 End point coordinates of the straight line

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 Motion commands
9.8 Contour definitions

Syntax
X… ANG=…
Z… ANG=…

Meaning

X... End point coordinate in the X direction

Z... End point coordinate in the Z direction
ANG Identifier for the angle programming
The specified value (angle) refers to the abscissa of the active working plane
(Z axis with G18).

Example

Program code Comment

N10 X5 Z70 F1000 G18 ; Approach of the starting position.
N20 X88.8 ANG=110 ; Straight line with angle specification.
N30 ...

or

Program code Comment

N10 X5 Z70 F1000 G18 ; Approach of the starting position.
N20 Z39.5 ANG=110 ; Straight line with angle specification.
N30 ...

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Motion commands
9.8 Contour definitions

9.8.2 Contour definitions: Two straight lines (ANG)

Note
In the following description it is assumed that
• G18 is active (⇒ active working plane is the Z/X plane).
(However, the programming of contour definitions is also possible without restrictions for
G17 or G19.)
• The following identifiers have been defined for angle, radius and chamfer:
– ANG (angle)
– RND (radius)
– CHR (chamfer)

Function
The end point of the first straight line can be programmed by specifying the Cartesian
coordinates or by specifying the angle of the two straight lines. The end point of the second
straight line must always be programmed with Cartesian coordinates. The intersection of the
two straight lines can be designed as a corner, curve or chamfer.

;
;=

$1*

&DQDOVREHUDGLXV
RUFKDPIHU

;=
$1*

;=

ANG1 Angle of the first straight line

ANG2 Angle of the second straight line
X1, Z1 Start coordinates of the first straight line
X2, Z2 End point coordinates of the first straight line or
start coordinates of the second straight line
X3, Z3 End point coordinates of the second straight line

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 Motion commands
9.8 Contour definitions

Syntax
1. Programming of the end point of the first straight line by specifying the angle
● Corner as transition between the straight lines:

ANG=…
X… Z… ANG=…

● Rounding as transition between the straight lines:

ANG=… RND=...
X… Z… ANG=…

● Chamfer as transition between the straight lines:

ANG=… CHR=...
X… Z… ANG=…

2. Programming of the end point of the first straight line by specifying the coordinates

● Corner as transition between the straight lines:

X… Z…
X… Z…

● Rounding as transition between the straight lines:

X… Z… RND=...
X… Z…

● Chamfer as transition between the straight lines:

X… Z… CHR=...
X… Z…

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Motion commands
9.8 Contour definitions

Meaning

ANG=... Identifier for the angle programming

The specified value (angle) refers to the abscissa of the active working
plane (Z axis with G18).
RND=... Identifier for the programming of a rounding
The specified value corresponds to the radius of the rounding:

5RXQGLQJ

51'

CHR=... Identifier for the programming of a chamfer

The specified value corresponds to the width of the chamfer in the
direction of motion:

&+5

&KDPIHU

$QJOHELVHFWRU

X... Coordinates in the X direction

Z... Coordinates in the Z direction

Note
For further information on the programming of a chamfer or rounding, see "Chamfer,
rounding (CHF, CHR, RND, RNDM, FRC, FRCM) (Page 278)".

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 Motion commands
9.8 Contour definitions

Example

Program code Comment

N10 X10 Z80 F1000 G18 ; Approach of the starting position.
N20 ANG=148.65 CHR=5.5 ; Straight line with angle and chamfer specification.
N30 X85 Z40 ANG=100 ; Straight line with angle and end point specification.
N40 ...

9.8.3 Contour definitions: Three straight line (ANG)

Note
In the following description it is assumed that
• G18 is active (⇒ active working plane is the Z/X plane).
(However, the programming of contour definitions is also possible without restrictions for
G17 or G19.)
• The following identifiers have been defined for angle, radius and chamfer:
– ANG (angle)
– RND (radius)
– CHR (chamfer)

Function
The end point of the first straight line can be programmed by specifying the Cartesian
coordinates or by specifying the angle of the two straight lines. The end point of the second
and third straight lines must always be programmed with Cartesian coordinates. The
intersection of the straight lines can be designed as a corner, a curve, or a chamfer.

Note
The programming described here for a three point contour definition can be expanded
arbitrarily for contour definitions with more than three points.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 247
Motion commands
9.8 Contour definitions

;
&DQDOVREHUDGLXV
RUFKDPIHU
;=

$1*

;=
;=
$1*

;=

ANG1 Angle of the first straight line

ANG2 Angle of the second straight line
X1, Z1 Start coordinates of the first straight line
X2, Z2 End point coordinates of the first straight line or
start coordinates of the second straight line
X3, Z3 End point coordinates of the second straight line or
start coordinates of the third straight line
X4, Z4 End point coordinates of the third straight line

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 Motion commands
9.8 Contour definitions

Syntax
1. Programming of the end point of the first straight line by specifying the angle
● Corner as transition between the straight lines:

ANG=…
X… Z… ANG=…
X… Z…

● Rounding as transition between the straight lines:

ANG=… RND=...
X… Z… ANG=… RND=...
X… Z…

● Chamfer as transition between the straight lines:

ANG=… CHR=...
X… Z… ANG=… CHR=...
X… Z…

2. Programming of the end point of the first straight line by specifying the coordinates

● Corner as transition between the straight lines:

X… Z…
X… Z…
X… Z…

● Rounding as transition between the straight lines:

X… Z… RND=...
X… Z… RND=...
X… Z…

● Chamfer as transition between the straight lines:

X… Z… CHR=...
X… Z… CHR=...
X… Z…

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Motion commands
9.8 Contour definitions

Meaning

ANG=... Identifier for the angle programming

The specified value (angle) refers to the abscissa of the active working
plane (Z axis with G18).
RND=... Identifier for the programming of a rounding
The specified value corresponds to the radius of the rounding:

5RXQGLQJ

51'

CHR=... Identifier for the programming of a chamfer

The specified value corresponds to the width of the chamfer in the
direction of motion:

&+5

&KDPIHU

$QJOHELVHFWRU

X... Coordinates in the X direction

Z... Coordinates in the Z direction

Note
For further information on the programming of a chamfer or rounding, see "Chamfer,
rounding (CHF, CHR, RND, RNDM, FRC, FRCM)".

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 Motion commands
9.8 Contour definitions

Example

Program code Comment

N10 X10 Z100 F1000 G18 ; Approach of the starting position.
N20 ANG=140 CHR=7.5 ; Straight line with angle and chamfer
specification.
N30 X80 Z70 ANG=95.824 RND=10 ; Straight line to intermediate point with angle
and chamfer specification.
N40 X70 Z50 ; Straight line to end point.

9.8.4 Contour definitions: End point programming with angle

Function
If the address letter A appears in an NC block, either none, one or both of the axes in the
active plane may also be programmed.
Number of programmed axes
● If no axis of the active plane has been programmed, then this is either the first or second
block of a contour definition consisting of two blocks.
If it is the second block of such a contour definition, then this means that the starting point
and end point in the active plane are identical. The contour definition is then at best a
motion perpendicular to the active plane.
● If exactly one axis of the active plane has been programmed, then this is either a single
straight line whose end point can be clearly defined via the angle and programmed
Cartesian coordinate or the second block of a contour definition consisting of two blocks.
In the second case, the missing coordinate is set to the same as the last (modal) position
reached.
● If two axes of the active plane have been programmed, then this is the second block of a
contour definition consisting of two blocks. If the current block has not been preceded by
a block with angle programming without programmed axes of the active plane, then this
block is not permitted.
Angle A may only be programmed for linear or spline interpolation.

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Motion commands
9.9 Thread cutting with constant lead (G33)

9.9 Thread cutting with constant lead (G33)

9.9.1 Thread cutting with constant lead (G33, SF)

Function
Threads with constant lead can be machined with G33:
● Cylinder thread
● Face thread
● Tapered thread

Note
Technical requirement for thread cutting with G33 is a variable-speed spindle with
position measuring system.

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 Motion commands
9.9 Thread cutting with constant lead (G33)

Multiple thread
Multiple thread (thread with offset cuts) can be machined by specifying a starting point offset.
The programming is performed in the G33 block at address SF.

;

6WDUWSRLQW
RIIVHWLQr
6WDUWDQJOH
IRUWKUHDG
VHWWLQJGDWD

Note
If no starting point offset is specified, the "starting angle for thread" defined in the setting
data is used.

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Motion commands
9.9 Thread cutting with constant lead (G33)

Thread chain
A thread chain can be machined with several G33 blocks programmed in succession:

;

U
ZL GVH
WK W
*
 QGVHW VWVHW
ZLWK* ZLWK*

=

Note
With continuous-path mode G64, the blocks are linked by the look-ahead velocity control in
such a way that there are no velocity jumps.

Direction of rotation of the thread

The direction of rotation of the thread is determined by the direction of rotation of the spindle:
● Clockwise with M3 produces a right-hand thread
● Counterclockwise with M4 produces a left-hand thread

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 Motion commands
9.9 Thread cutting with constant lead (G33)

Syntax
Cylinder thread:
G33 Z… K…
G33 Z… K… SF=…
Face thread:
G33 X… I…
G33 X… I… SF=…
Tapered thread:
G33 X… Z… K…
G33 X… Z… K… SF=…
G33 X… Z… I…
G33 X… Z… I… SF=…

Meaning

G33 Command for thread cutting with constant lead

X... Y... End point(s) in Cartesian coordinates
Z...
I... Thread lead in X direction
J... Thread lead in Y direction
K... Thread lead in Z direction
Z Longitudinal axis
X Transverse axis
Z... K... Thread length and lead for cylinder threads
X... I... Thread diameter and thread lead for face threads
I... or K... Thread lead for tapered threads
The specification (I... or K...) refers to the taper angle:
< 45° The thread lead is specified with K...
(thread lead in longitudinal direction).
> 45° The thread lead is specified with I..
(thread lead in transverse direction).
= 45° The thread lead can be specified with I... or K....
SF=... Starting point offset (only required for multiple threads)
The starting point offset is specified as an absolute angle position.
Value range: 0.0000 to 359.999 degrees

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Motion commands
9.9 Thread cutting with constant lead (G33)

Examples
Example 1: Double cylinder thread with 180° starting point offset

;

6WDUWSRLQWr

š
=

6WDUWSRLQWr
 

Program code Comment

N10 G1 G54 X99 Z10 S500 F100 M3 ; Zero offset, approach starting point,
activate spindle
N20 G33 Z-100 K4 ; Cylinder thread: end point in Z
N30 G0 X102 ; Retraction to starting position
N40 G0 Z10
N50 G1 X99
N60 G33 Z-100 K4 SF=180 ; 2nd cut: Starting point offset 180°
N70 G0 X110 ; Retract tool
N80 G0 Z10
N90 M30 ; End of program

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 Motion commands
9.9 Thread cutting with constant lead (G33)

Example 2: Tapered thread with angle less than 45°

š
š =


Program code Comment

N10 G1 X50 Z0 S500 F100 M3 ; Approach starting point, activate spindle
N20 G33 X110 Z-60 K4 ; Tapered thread: End point in X and Z,
specification of thread lead with K... in Z
direction (since angle < 45°)
N30 G0 Z0 M30 ; Retraction, end of program

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Motion commands
9.9 Thread cutting with constant lead (G33)

Description
Feedrate for thread cutting with G33
From the programmed spindle speed and the thread lead, the control calculates the required
feedrate with which the turning tool is traversed over the thread length in the longitudinal
and/or transverse direction. The feedrate F is not taken into account for G33, the limitation to
maximum axis velocity (rapid traverse) is monitored by the control.

DG
/H

)H
HG

6SLQGOHVSHHG

Cylinder thread
The cylinder thread is described by:
1. Thread length
2. Thread lead
The thread length is entered with one of the Cartesian coordinates X, Y or Z in absolute or
incremental dimensions (for turning machines preferably in the Z direction). Allowance must
also be made for the run-in and run-out paths, across which the feed is accelerated or
decelerated.

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 Motion commands
9.9 Thread cutting with constant lead (G33)

The thread lead is entered at the addresses I, J, K (for turning machines preferably with K).

;

5XQRXWSDWK

5XQLQSDWK
=

.

=

Face thread
The face thread is described by:
1. Thread diameter (preferably in the X direction)
2. Thread lead (preferably with I)

;
'LDPHWHU

,
/HDG

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Motion commands
9.9 Thread cutting with constant lead (G33)

Tapered thread
The tapered thread is described by:
1. End point in the longitudinal and transverse direction (taper contour)
2. Thread lead
The taper contour is entered in Cartesian coordinates X, Y, Z in absolute or incremental
dimensions - preferentially in the X and Z direction for machining on turning machines.
Allowance must also be made for the run-in and run-out paths, across which the feed is
accelerated or decelerated.
The specification of the lead depends on the taper angle (angle between the longitudinal axis
and the outside of the taper):

;
.

r

!r ,

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 Motion commands
9.9 Thread cutting with constant lead (G33)

9.9.2 Programmable run-in and run-out paths (DITS, DITE)

Function
The commands DITS (Displacement Thread Start) and DITE (Displacement Thread End)
can be used to define the path ramp for acceleration and deceleration, in order to modify the
feedrate if the tool run-in and run-out paths are too short:
● Run-in path too short
Because of the shoulder at the thread run-in, there is not much room for the tool starting
ramp - this must then be specified shorter via DITS.
● Run-out path too short
Because of the shoulder at the thread run-out, there is not much room for the tool
deceleration ramp, which results in a danger of collision between the workpiece and the
cutting edge.
The tool deceleration ramp can be specified shorter via DITE, but a collision can still
occur.
Solution: Program a shorter thread, reduce the spindle speed.

;

=

5XQLQUXQRXWSDWK
GHSHQGLQJRQGLUHFWLRQRI
PDFKLQLQJ

Syntax
DITS=value
DITE=value

Meaning

DITS Thread run-in path

DITE Thread run-out path
Value Specification of the run-in and run-out path: -1.0,...n

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Motion commands
9.9 Thread cutting with constant lead (G33)

Note
Only paths, and not positions, are programmed with DITS and DITE.

Machine manufacturer
The DITS and DITE commands are related to the setting data SD 42010:
THREAD_RAMP_DISP[0,1], in which the programmed paths are written. If no run-
in/deceleration path is programmed before or in the first thread block, the value is
determined by the setting in SD 42010, see:
References: /FB1/Function Manual Basic Functions; Feedrates (V1)

Example

Program code Comment

N...
N40 G90 G0 Z100 X10 SOFT M3 S500
N50 G33 Z50 K5 SF=180 DITS=1 DITE=3 ; Start of corner rounding with Z=53
N60 G0 X20

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 Motion commands
9.9 Thread cutting with constant lead (G33)

Description
If the run-in and/or run-out path is very short, the acceleration of the thread axis is higher
than the configured value. This causes an acceleration overload on the axis.
Alarm 22280 ("Programmed run-in path too short") is then issued for the thread run-in (with
the appropriate configuration in MD11411 $MN_ENABLE_ALARM_MASK). The alarm is
purely for information and has no effect on part program execution.
MD10710 $MN_PROG_SD_RESET_SAVE_TAB can be used to specify that the value
written by the part program is written to the corresponding setting data during RESET. The
values are therefore retained after power off/on.

Note
DITE acts at the end of the thread as an approximate distance. This achieves a smooth
change in the axis movement.
When a block with the DITS and/or DITE command is loaded to the interpolator, the path
programmed under DITS is taken into the SD42010 $SC_THREAD_RAMP_DISP[0] and the
path programmed under DITE is taken into the SD42010 $SC_THREAD_RAMP_DISP[1].
The programmed run-in path is handled according to the current setting (inches, metric).

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Motion commands
9.10 Thread cutting with increasing or decreasing lead (G34, G35)

9.10 Thread cutting with increasing or decreasing lead (G34, G35)

Function
With the commands G34 and G35, the G33 functionality has been extended with the option
of programming a change in the thread lead at address F. With G34, this results in a linear
increase and with G35 to a linear decrease of the thread lead. The commands G34 and G35
can therefore be used for the machining of self-tapping threads.

Syntax
Cylinder thread with increasing lead:
G34 Z… K… F...
Cylinder thread with decreasing lead:
G35 Z… K… F...
Face thread with increasing lead:
G34 X… I… F...
Face thread with decreasing lead:
G35 X… I… F...
Taper thread with increasing lead:
G34 X… Z… K… F...
G34 X… Z… I… F...
Taper thread with decreasing lead:
G35 X… Z… K… F...
G35 X… Z… I… F...

Meaning

G34 Command for thread cutting with linear increasing lead

G35 Command for thread cutting with linear decreasing lead
X... Y... End point(s) in Cartesian coordinates
Z...
I... Thread lead in X direction
J... Thread lead in Y direction
K... Thread lead in Z direction

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 Motion commands
9.10 Thread cutting with increasing or decreasing lead (G34, G35)

F... Thread lead change

If you already know the starting and final lead of a thread, you can calculate
the thread lead change to be programmed according to the following
equation:

NHND
) >PPUHY@
 ,*

The identifiers have the following meanings:

Ke: Thread lead (thread lead of axis target point coordinate) [mm/rev]
Ka: Starting thread lead (programmed under I, J, or K) [mm/rev]
IG: Thread length [mm]

Example

Program code Comment

N1608 M3 S10 ; Spindle speed
N1609 G0 G64 Z40 X216 ; Approach starting point and
N1610 G33 Z0 K100 SF=R14 ; Thread cutting with constant lead
(100 mm/rev)
N1611 G35 Z-200 K100 F17.045455 ; Lead decrease 17.0454 mm/rev2

Lead at block end 50 mm/rev
N1612 G33 Z-240 K50 ; Traverse thread block without jerk
N1613 G0 X218
N1614 G0 Z40
N1615 M17

References
Function Manual, Basic Functions; Feedrates (V1), Section "Linear increasing/decreasing
thread lead change with G34 and G35"

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Motion commands
9.11 Tapping without compensating chuck (G331, G332)

9.11 Tapping without compensating chuck (G331, G332)

Function
With G331/G332 you can tap a thread without compensating chuck.
The spindle prepared for tapping can make the following movements in position-controlled
operation with distance measuring system:
● G331: Tapping with thread lead in tapping direction up to end point
● G332: Retraction movement with the same lead as G331

Right-hand/left-hand threads
Right-hand or left-hand threads are defined in axis mode by the sign qualifying the lead:
● Positive lead, clockwise (same as M3)
● Negative lead, counterclockwise (same as M4)
The desired speed is also programmed at address S.

Syntax
G331 X… Y… Z… I… J… K…
G332 X… Y… Z… I… J… K…

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266 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.11 Tapping without compensating chuck (G331, G332)

Meaning

G331 Tapping. Tapping is described by the drilling depth (end point of the
thread) and the lead.
G332 Tapping retraction. This movement is described with the same lead as the
G331 movement. The reversal in the direction of the spindle is performed
automatically.
X Y Z Drilling depth (end point) in a Cartesian coordinate Drilling in
X direction, thread lead I
Y direction, thread lead J
Z direction, thread lead K
I Thread lead in X direction
J Thread lead in Y direction
K Thread lead in Z direction
Value range of lead:
±0.001 to 2000.00 mm/rev

Note
Both functions G331/G332 are modal.
After G332 (retraction), the next thread can be tapped with G331.

Equipment required: position-controlled spindle with position measurement system.

The spindle must be prepared for tapping with SPOS/SPOSA. It does not work in axis
operation, but as position-controlled spindle, see section Feed control and spindle movement
"Position-controlled spindle operation"

Note
Machine manufacturer
A second gear-stage data record can be preset for two additional configurable switching
thresholds (maximum speed and minimum speed) via axis-specific machine data (this record
can differ from the first gear-stage data record and the speed switching thresholds in the two
records are regarded as completely separate). Please see the machine manufacturer’s
specifications for further details.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 267
Motion commands
9.11 Tapping without compensating chuck (G331, G332)

Output the programmed drilling speed in the current gear stage

The programmed drilling speed, e.g. S800, is output in the current gear stage and, where
necessary, is limited to the maximum speed of the gear stage. No automatic gear-stage
change is possible following an SPOS operation. In order for an automatic M40 gear-stage
change to be performed, the spindle must be in speed-control mode.
The appropriate gear stage for M40 is determined on the basis of the first gear-stage data
record.

Program code Comment

N05 M40 S500 ; Gear stage 1 is engaged, as S500 (for example) is
within the range 20 to 1028 rpm.
...
N55 SPOS=0 ; Position tool
N60 G331 Z-10 K5 S800 ; Machine thread, spindle speed is 800 rpm in gear
stage 1

Note
If gear stage 2 is selected at a spindle speed of 800 rpm, then the switching thresholds for
the maximum and minimum speed must be configured in the relevant machine data, see
examples below.

Using the second gear-stage data record for specifying two switching thresholds
The switching thresholds of the second gear-stage data record for the maximum and
minimum speed are evaluated modally for G331/G332 and when programming an S value
for the active master spindle. Automatic M40 gear-stage change must be active.
The gear stage as determined in the manner described above is compared with the active
gear stage. If they are found to be different, a gear-stage change is performed.

Program code Comment

N05 M40 S500 ; Gear stage 1 is selected
...
N50 G331 S800 ; Master spindle with second gear-stage data record: Gear
stage 2 is selected
N55 SPOS=0 ; Align spindle
N60 G331 Z-10 K5 ; Modal tapping with G331, no reprogramming necessary,
spindle accelerated on basis of second data record

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 Motion commands
9.11 Tapping without compensating chuck (G331, G332)

If no speed programmed, gear stage is monitored

If no speed is programmed with G331, then the speed and gear stage last programmed will
be used to produce the thread.
In this case, monitoring is performed to check that the programmed speed is within the
speed range defined by the maximum and minimum speed thresholds for the active gear
stage. Otherwise, alarm 16748 is signaled.

Program code Comment

N05 M40 S800 ; Gear stage 1 is selected, the first gear-stage data record
is active.
...
N55 SPOS=0
N60 G331 Z-10 K5 ; Spindle speed S800 with second gear-stage data record is
monitored. Gear stage 2 should be active, alarm 16748 is
signaled.

No gear-stage change can be performed, gear stage is monitored.

If the spindle speed is programmed in the G331 block as well as the geometry, the gear
stage cannot be changed, as this would prevent the necessary path motion of the spindle
and infeed axis/axes from being achieved.
As in the example above, the speed and gear stage are monitored in the G331 block. Where
necessary, alarm 16748 can be signaled.

Program code Comment

N05 M40 S500 ; Gear stage 1 is selected.
...
N55 SPOS=0
N60 G331 Z-10 K5 S800 ; No gear-stage change possible, spindle speed S800
with second gear-stage data record is monitored. Gear
stage 2 should be active, alarm 16748 is signaled.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 269
Motion commands
9.12 Tapping with compensating chuck (G63)

9.12 Tapping with compensating chuck (G63)

Function
With G63 you can tap a compensating chuck. The following are programmed:
● Drilling depth in Cartesian coordinates
● Spindle speed and spindle direction
● Feedrate
The chuck compensates for any deviations occurring in the path.

Retraction movement
Programming also with G63, but with spindle rotation in the opposite direction.

Syntax
G63 X… Y… Z…

Meaning

G63 Tapping with compensating chuck

X Y Z Drilling depth (end point) in a Cartesian coordinate

Note
G63 is non-modal.
After a block with programmed G63, the last programmed interpolation command G0, G1,
G2… is active again.

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 Motion commands
9.12 Tapping with compensating chuck (G63)

Feedrate

Note
The programmed feed must match the ratio of the speed to the thread lead of the tap.
Thumb rule:
Feedrate F in mm/min = spindle speed S in rpm x thread lead in mm/rev
Not only the feedrate, but also the spindle speed override switch are set to 100% with G63.

Examples
Example 1:

Program code Comment

N10 SPOS[n]=0 ; Prepare tapping.
N20 G0 X0 Y0 Z2 ; Approach starting point.
N30 G331 Z-50 K-4 S200 ; Tapping, drilling depth 50, lead K
negative = counterclockwise spindle
rotation.
N40 G332 Z3 K-4 ; Retraction, automatic reversal of
direction.
N50 G1 F1000 X100 Y100 Z100 S300 M3 ; Spindle operates in spindle mode again.
N60 M30 ; End of program.

Example 2:
In this example, an M5 thread is to be drilled. The lead of an M5 thread is 0.8 (according to
the table).
With a selected speed of 200 rpm, the feedrate F is 160 mm/min.

Program code Comment

N10 G1 X0 Y0 Z2 S200 F1000 M3 ; Approach starting point, activate spindle.
N20 G63 Z-50 F160 ; Tapping, drilling depth 50.
N30 G63 Z3 M4 ; Retraction, programmed reversal of direction.
N40 M30 ; End of program.

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Motion commands
9.13 Stop during thread cutting

9.13 Stop during thread cutting

9.13.1 Retraction for thread cutting (LFOF, LFON, LIFTFAST, DILF, ALF)

Function error! Bookmark not defined.

The function enables a damage-free interruption during thread cutting (G33). The function
cannot be used with tapping (G331/G332). With mixed use of both functions, the response
can be parameterized for NC Stop/NC Reset via the machine data. If tapping was
interrupted, then there are several possibilities of programming the fast retraction to a certain
lift position. Both the length of the retraction path and the retraction direction can be defined
as target position.

Syntax
LFON
LFOF
LIFTFAST= (if enabled as option)
DILF=
ALF=

Meaning

LFON Enable fast retraction for thread cutting (G33)

LFOF Disable fast retraction for thread cutting (G33)
LIFTFAST Fast retraction option acts with LFON in every retraction direction
DILF Determine retraction path (length)
ALF Define retraction direction for plane to be executed (LFTXT)

Note
LFON or LFOF can always be programmed, but the evaluation is performed exclusively
during tapping (G33).

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 Motion commands
9.13 Stop during thread cutting

Example: Enable fast retraction for thread cutting

Program code Comment

N55 M3 S500 G90 G18 ; Active machining plane
... ; Approach of the starting position
N65 MSG ("thread cutting") ; Feed of the tool
MM_THREAD:
N67 $AC_LIFTFAST=0 ; Reset before starting the
thread
N68 G0 Z5
N68 X10
N70 G33 Z30 K5 LFON DILF=10 LFWP ALF=3 ; Enable fast retraction for thread
cutting
; Retraction path =10 mm, retraction
plane Z/X (due to G18)
Retraction direction -X (with ALF=3;
retraction direction +X)
N71 G33 Z55 X15 K5
N72 G1 ; Cancel thread cutting
N69 IF $AC_LIFTFAST GOTOB MM_THREAD ; If thread cutting has been
interrupted
N90 MSG ("")
...
N70 M30

Example: Switch off fast retraction before tapping

Program code Comment

N55 M3 S500 G90 G0 X0 Z0
...
N87 MSG ("tapping")
N88 LFOF ; Switch off fast retraction before tapping.
N89 CYCLE... ; Tapping cycle with G33.
N90 MSG ("")
...
N99 M30

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 273
Motion commands
9.13 Stop during thread cutting

Trigger criteria for retraction

● Fast inputs, programmable with SETINT LIFTFAST (if LIFTFAST option is enabled)
● NC Stop/NC Reset
If fast retraction is enabled with LFON, it is active for every movement

Retraction path (DILF)

The retraction path can be defined in the machine data or by programming. After NC Reset,
the value in MD 21200: LIFTFAST_DIST is still active.

Retraction direction (ALF)

The retraction direction is controlled in conjunction with ALF with keywords LFTXT, LFWP
and LFPOS . With LFTXT, the retraction is defined in the tool direction for ALF=1. LFTXT
(tangential lifting in tool direction) is set as default. See "Lifting in retraction with LFTXT,
LFWP, LFPOS, POLF, POLFMADK and POLFMLIN".

9.13.2 Lift during retraction (LFTXT, LFWP, LFPOS, POLF, POLFMASK, POLFMLIN)

Function
Starting form the retraction, you can specifically program the lift movement through to the lift
position with the commands LFTXT, LFWP, LFPOS, POLF.
The following are programmed:
● Retraction direction from the path tangent or the active working plane
● Retraction direction to the programmed position
● Absolute retraction position
In this case, the axis relation of the programmed path or the linear retracting movement is
not always guaranteed for a certain period of time. Depending on the dynamic response of
all the axes involved, the linear relation cannot always be established before the lift position
is reached. Axes can be enabled for independent retraction to axis position and to axis
position with linear relation.

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274 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.13 Stop during thread cutting

Syntax
LFTXT
LFWP
LFPOS
POLF[geometry axis name | machine axis name]=
POLFMASK(Axis name1, Axis name2,...)
POLFMLIN

Meaning

LFTXT Retraction direction when lifting from the path tangent, standard
LFWP Retraction direction from the active working plane G17, G18, G19
LFPOS Retraction direction to the position programmed with POLF
POLF Absolute retraction position of axis, also incremental with IC (value).
POLF is modal
POLFMASK Release of axes for independent retraction to absolute position
POLFMLIN Release of axes for retraction to absolute position in linear relation.
See also /FB3/Function Manual Special Functions; Coupled Axes and
ESR (M3)
X, Y, Z Geometry axes for POLF are interpreted as position in the workpiece
coordinate system (WCS)
X1, Y1, Z1 Machine axes for POLF are interpreted as position in the machine
coordinate system (MCS)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 275
Motion commands
9.13 Stop during thread cutting

Example
Here, the path interpolation of X is suppressed in the event of a stop and a motion
interpolated to position POLF[X] at maximum velocity instead. The motion of the other axes
is still determined by the programmed contour or the thread lead and the spindle speed.

Program code Comment

N10 G0 G90 X200 Z0 S200 M3
N20 G0 G90 X170
N22 POLF[X]=210 LFPOS
N23 POLFMASK(X) ; Activate (enable) the fast retraction from axis
X.
N25 G33 X100 I10 LFON
N30 X135 Z-45 K10
N40 X155 Z-128 K10
N50 X145 Z-168 K10
N55 X210 I10
N60 G0 Z0 LFOF
N70 POLFMASK() ; Disable lift for all axes.
M30

Description
The retraction direction in connection with ALF is controlled using the following keywords:
● LFTXT
The plane in which the fast retraction is executed is calculated from the path tangent and
the tool direction (default setting).
● LFWP
The plane in which the fast retraction is executed is the active working plane.
● LFPOS
Retraction of the axis declared with POLFMASK to the absolute axis position
programmed with POLF. See also NC-controlled retraction in /FB3/Function Manual
Special Functions; Coupled Axes and ESR (M3).
ALF has no influence on the retraction direction on several axes or on several axes in
linear relation.

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276 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.13 Stop during thread cutting

The direction is programmed as before in discrete steps of 45 degrees with ALF in the plane
of the retraction motion. With LFTXT, the retraction is defined in the tool direction for ALF=1.
With LFWP the direction in the working plane is derived from the following assignment:
● G17: X/Y plane
ALF=1 Retraction in X direction
ALF=3 Retraction in Y direction
● G18: Z/X plane
ALF=1 Retraction in Z direction
ALF=3 Retraction in X direction
● G19: Y/Z plane
ALF=1 Retraction in Y direction
ALF=3 Retraction in Z direction
Retraction velocity
Retraction with maximum axis velocity.
Can be configured via machine data.
The maximum permissible acceleration/jerk values are used for traversing; they are
configured via the machine data.

Note
POLF with POLFMASK/POLFMLIN are not restricted to thread cutting applications. See
/FB3/Function Manual Special Functions; Coupled Axes and ESR (M3).

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 277
Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

Function
You can insert the following elements in a contour corner:
● Chamfer or
● Rounding
If you wish to round several contour corners sequentially by the same method, use RNDM
"Modal rounding". With this address, you can insert a rounding between linear and circle
contours after every motion block. For example, for the deburring of sharp workpiece edges.
You can program the feedrate for the chamfer/rounding with FRC (non-modal) or FRCM
(modal).
If FRC/FRCM is not programmed, the normal path feedrate F is applied.

Syntax
CHF=…
CHR=…
RND=…
RNDM=…
FRC=…
FRCM=…

Meaning

CHF=… Chamfer the contour corner

Value = length of the chamfer (dimension unit corresponding to G70/G71)
CHR=… Chamfer the contour corner
Programming of the chamfer in the original direction of motion.
Value = width of the chamfer in the direction of motion (dimension unit as
above)
RND=… Round the contour corner
Value = radius of the rounding (dimension unit corresponding to G70/G71)
RNDM=… Modal rounding: Round several successive contour corners in the same way.
Value = radius of the roundings (dimension unit corresponding to G70/G71)
The rounding is deactivated with RNDM=0.

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 Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

FRC=… Non-modal feedrate for chamfer/rounding

Value = feedrate in mm/min (G94) or mm/rev (G95); FRC > 0
FRCM=… Modal feedrate for chamfer/rounding
Value = feedrate in mm/min (G94) or mm/rev (G95)
=0: The feedrate programmed at F for the chamfer/rounding is active.

Feedrate FRC (non-modal), FRCM (modal)

A separate feedrate can be programmed for the chamfer/rounding contour element to
optimize the surface quality. FRC is non-modal and FRCM is modal, see examples.

Example of chamfer, CHF/CHR

To bevel the edges, insert a further linear element, the chamfer, between any combination of
linear and circle contours. The following two options are available:
N30 G1 X… Z… F… CHR=2
N40 G1 X… Z…
N30 G1 X… Z… F… CHF=2(cos α ·2)
N40 G1 X… Z…

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The chamfer is inserted after the block in which it is programmed. The chamfer is always in
the plane activated with G17 to G19.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 279
Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

Example of rounding, RND

A circle contour element can be inserted with tangential connection between the linear and
circle contours in any combination.
N30 G1 X… Z… F… RND=2

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The rounding is always in the plane activated with G17 to G19. The above figure shows the
rounding between to straight lines.
This figure shows the rounding between a straight line and a circle.
N30 G1 X… Z… F… RND=2
N40 G3 X… Z… I… K…

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280 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

Example of modal rounding, RNDM

Deburring of sharp workpiece edges:
N30 G1 X… Z… F… RNDM=2 ;Modal rounding 2 mm
N40...
N120 RNDM=0 ;Switch off modal rounding

Example of chamfer CHF, rounding FRCM from the following block

MD CHFRND_MODE_MASK Bit0 = 0: Take technology from the following block (default)

Program code Comment

N10 G0 X0 Y0 G17 F100 G94
N20 G1 X10 CHF=2 ; Chamfer N20-N30 with F=100 mm/min
N30 Y10 CHF=4 ; Chamfer N30-N40 with FRC=200 mm/min
N40 X20 CHF=3 FRC=200 ; Chamfer N40-N60 with FRCM=50 mm/min
N50 RNDM=2 FRCM=50
N60 Y20 ; Modal rounding N60-N70 with FRCM=50 mm/min
N70 X30 ; Modal rounding N70-N80 with FRCM=50 mm/min
N80 Y30 CHF=3 FRC=100 ; Chamfer N80-N90 with FRC=50 mm/min (modal)
N90 X40 ; Modal rounding N90-N100 with F=100 mm/min
(deselection of FRCM)
N100 Y40 FRCM=0 ; Modal rounding N100-N120 with G95 FRC=1 mm/rev
N110 S1000 M3
N120 X50 G95 F3 FRC=1
...
M02

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 281
Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

Example of chamfer CHF, rounding FRCM from the previous block

MD CHFRND_MODE_MASK Bit0 = 1: Take technology from the previous block
(recommended)

Program code Comment

N10 G0 X0 Y0 G17 F100 G94
N20 G1 X10 CHF=2 ; Chamfer N20-N30 with F=100 mm/min
N30 Y10 CHF=4 FRC=120 ; Chamfer N30-N40 with FRC=120 mm/min
N40 X20 CHF=3 FRC=200 ; Chamfer N40-N60 with FRCM=200 mm/min
N50 RNDM=2 FRCM=50
N60 Y20 ; Modal rounding N60-N70 with FRCM=50 mm/min
N70 X30 ; Modal rounding N70-N80 with FRCM=50 mm/min
N80 Y30 CHF=3 FRC=100 ; Chamfer N80-N90 with FRC=100 mm/min (modal)
N90 X40 ; Modal rounding N90-N100 with
FRCM=50 mm/min
N100 Y40 FRCM=0 ; Modal rounding N100-N120 with F=100 mm/min
N110 S1000 M3
N120 X50 CHF=4 G95 F3 FRC=1 ; Chamfer N120-N130 with G95 FRC=1 mm/rev
N130 Y50 ; Modal rounding N130-N140 with F=3 mm/rev
N140 X60
...
M02

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 Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

Description

Note
Chamfer/rounding
If the programmed values for chamfer (CHF/CHR) or rounding (RND/RNDM) are too large
for the associated contour elements, then the chamfer or rounding are automatically reduced
to a suitable value.
No chamfer/rounding is inserted, if
No straight or circle contour is available in the plane,
A movement is taking place outside the plane,
A plane change is taking place, or
The number of blocks - which is specified in the machine data - not containing information for
traversing (e.g., only command output), is exceeded.

Note
FRC/FRCM
FRC/FRCM has no effect if a chamfer is being machined with G0; the command can be
programmed according to the F value without error message.
The reference to the blocks, in which chamfer and rounding are programmed and to the
technology is set in machine data.
FRC is operative only if a chamfer/rounding is programmed in the same block or if RNDM
has been activated.
FRC overwrites the F or FRCM value in the current block.
The feedrate programmed under FRC must be greater than zero.
FRCM=0 activates the feed programmed in F for the chamfer/rounding.
If FRCM is programmed, the FRCM value must be reprogrammed, analogous to F, on
changeover G94<->95, etc. If only a new F value is programmed, and if FRCM > 0 before
the feed type changes, error message 10860 (no feed programmed) will be activated.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 283
Motion commands
9.14 Chamfer, rounding (CHF, CHR, RND, RNDM, FRC, FRCM)

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284 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Tool radius compensation 10
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Function
When tool radius compensation is active, the control automatically calculates the equidistant
tool paths for different tools.

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You can generate equidistant paths with OFFN, e.g. for rough finishing.

Syntax
G40
G41
G42
OFFN=

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 285
Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Meaning

G4 Deactivate tool radius compensation.

G4 Activate tool radius compensation; tool operates in machining direction to the left
of the contour.
G4 Activate tool radius compensation, tool operates in machining direction to the
right of the contour.
OFFN= Allowance on the programmed contour (normal contour offset).

Example 1 milling

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N10 G0 X50 T1 D1
N20 G1 G41 Y50 F200
N30 Y100
Only tool length compensation is activated in block N10. X50 is approached without
compensation.
In block N20, the radius compensation is activated, point X50/Y50 is approached with
compensation.

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286 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Example 2 milling
The "conventional" approach:
Call tool, load tool, activate working plane and tool radius compensation.

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Program code Comment

N10 G0 Z100 ; Retraction for tool change
N20 G17 T1 M6 ; Tool change
N30 G0 X0 Y0 Z1 M3 S300 D1 ; Call tool offset values, select tool length
compensation
N40 Z-7 F500 ; Tool infeed
N50 G41 X20 Y20 ; Activate tool radius compensation, tool
machines to the left of the contour
N60 Y40 ; Contour milling
N70 X40 Y70
N80 X80 Y50
N90 Y20
N100 X20
N110 G40 G0 Z100 M30 ; Retract tool, end of program

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 287
Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Example 1: Turning

20

Ø 100
Ø 20

20 1

N20 T1 D1
N30 G0 X100 Z20
N40 G42 X20 Z1
N50 G1 Z-20 F0.2
Only tool length compensation is activated in block N20. X100 Z20 is approached without
compensation in block N30.
In block N40, the radius compensation is activated, point X20/Z1 is approached with
compensation.

Fundamentals
288 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Example 2: Turning

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Program code Comment

N5 G0 G53 X280 Z380 D0 ; Starting point
N10 TRANS X0 Z250 ; Zero offset
N15 LIMS=4000 ; Speed limitation (G96)
N20 G96 S250 M3 ; Select constant feedrate
N25 G90 T1 D1 M8 ; Select tool selection and offset
N30 G0 G42 X-1.5 Z1 ; Set tool with tool radius compensation
N35 G1 X0 Z0 F0.25
N40 G3 X16 Z-4 I0 K-10 ; Turn radius 10
N45 G1 Z-12
N50 G2 X22 Z-15 CR=3 ; Turn radius 3
N55 G1 X24
N60 G3 X30 Z-18 I0 K-3 ; Turn radius 3
N65 G1 Z-20
N70 X35 Z-40
N75 Z-57

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 289
Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Program code Comment

N80 G2 X41 Z-60 CR=3 ; Turn radius 3
N85 G1 X46
N90 X52 Z-63
N95 G0 G40 G97 X100 Z50 M9 ; Deselect tool radius compensation and approach tool
change location
N100 T2 D2 ; Call tool and select offset
N105 G96 S210 M3 ; Select constant cutting rate
N110 G0 G42 X50 Z-60 M8 ; Set tool with tool radius compensation
N115 G1 Z-70 F0.12 ; Turn diameter 50
N120 G2 X50 Z-80 I6.245 K-5 ; Turn radius 8
N125 G0 G40 X100 Z50 M9 ; Retract tool and deselect tool radius compensation
N130 G0 G53 X280 Z380 D0 M5 ; Approach tool change location
N135 M30 ; End of program

Description
The control requires the following information in order to calculate the tool paths:
● Tool no. T/edge no. D
● Direction of machining G41, G42
● Working plane G17 to G19

Fundamentals
290 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Tool no. T/edge no. D

Where appropriate, a tool offset number D is also required. The distance between the tool
path and the workpiece contour is calculated from the cutter and tool edge radii and the tool
point direction parameters.

G41

G42 G41

G42

G41

With flat D number structure it is only necessary to program the D number.

Direction of machining G41, G42

From this information, the control detects the direction, in which the tool path is to be
displaced.

Note
A negative offset value is the same as a change of offset side (G41, G42).
You can generate equidistant paths with OFFN, e.g., for rough-finishing.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 291
Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Working plane G17 toG19

From this information, the control detects the plane and therefore the axis directions for
compensation.

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Example of milling cutters

N10 G17 G41 …
The tool radius compensation is performed in the X/Y plane, the tool length compensation is
performed in the Z direction.

Note
On 2-axis machines, the tool radius compensation is only possible in "real" planes, in
general with G18 (see tool length compensation table).

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292 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Tool length compensation

The wear parameter assigned to the diameter axis on tool selection can be defined as the
diameter value (MD). This assignment is not automatically altered when the plane is
subsequently changed. To do this, the tool must be selected again after the plane has been
changed.
Turning:

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Using NORM and KONT you can determine the tool path for activation/deactivation of
compensation mode (see chapter "Contour approach and retraction", NORM, KONT, G450,
G451).

CAUTION
Activation/deactivation of tool radius compensation
A travel command must be programmed with G0 or G1 in an NC block with G40, G41 or
G42. This travel command must specify at least one axis in the selected working plane.

If you only specify one axis on activation, the last position on the second axis is added
automatically and traversed with both axes.
The two axes must be active as GEOAX in the channel. This can be achieved by
programming them with GEOAX.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 293
Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Intersection
Select intersection with SD 42496: CUTCOM_CLSD_CONT
FALSE:
If two intersections appear on the inside when offsetting an (virtually) closed contour, which
consists of two circle blocks following on from one another, or from one circle block and one
linear block, the intersection positioned closest to the end of block on the first partial contour
is selected, in accordance with standard procedure.
A contour is deemed to be (virtually) closed if the distance between the starting point of the
first block and the end point of the second block is less than 10% of the effective
compensation radius, but not more than 1000 path increments (equals 1 mm with three
decimal places).
TRUE:
In the same situation as described above, the intersection positioned on the first partial
contour closer to the block start is selected.

Changing the direction of compensation

G41/G42, G42/G41 can be programmed without an intermediate G40.

Changing the working plane

It is not possible to change the working plane G17 to G19 when G41/G42 is active.

G41

G42

Fundamentals
294 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Changing the offset number D

The offset number D can be changed in compensation mode.
A modified tool radius is active with effect from the block, in which the new D number is
programmed.

CAUTION
The radius change or compensation movement is performed across the entire block and
only reaches the new equidistance at the programmed end point.

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With linear movements, the tool travels along an inclined path between the starting point and
end point; with circular interpolation spiral movements are produced.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 295
Tool radius compensation
10.1 Tool radius compensation (G40, G41, G42, OFFN)

Changing the tool radius

This can be achieved, for example, using system variables. The execution is the same as for
changes in the D number.

CAUTION
The modified values only take effect the next time T or D is programmed. The change only
applies with effect from the next block.

Note
Compensation mode
Compensation mode may only be interrupted by a certain number of consecutive blocks or
M commands, which do not contain any travel commands or positional parameters in the
compensation plane: Standard 3.

Machine manufacturer
The number of consecutive blocks or M commands can be set in machine data 20250 (see
machine manufacturer).

Note
A block with a path distance of zero also counts as an interruption!

Fundamentals
296 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

Function
With this function, you can match the approach and retract paths, for example, to the
required contour profile or blank forms.
Only G1 blocks are permissible as original approach and retract blocks for the two functions
KONTC and KONTT. The control replaces these with polynomials for the appropriate
approach/retract path.

Syntax
NORM
KONT
KONTC
KONTT

Meaning

NORM Tool travels directly on a straight line and is perpendicular to the contour
point.
KONT The tool travels around the contour point according to the programmed
corner behavior G450 or G451.
KONTC Tool reaches/leaves contour point with constant curvature.
With constant curvature includes with constant tangent. See below. With
constant curvature means with constant acceleration.
KONTT Tool reaches/leaves contour point with constant tangent.
Generally, with constant tangent is not with constant acceleration.
KONTC
The contour point is approached/exited with constant curvature. There is no jump in
acceleration at the contour point. The path from the start point to the contour point is
interpolated as a polynomial.
KONTT
The contour point is approached/exited with constant tangent. A jump in the acceleration can
occur at the contour point. The path from the start point to the contour point is interpolated as
a polynomial.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 297
Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

Example for KONTC

The full circle is approached beginning at the circle center point. The direction and curvature
radius of the approach circle at the block end point are identical to the values of the next
circle. Infeed takes place in the Z direction in both approach/retraction blocks
simultaneously. The adjacent figure shows the vertical projection of the path.
The associated NC program segment is as follows:

Program code Comment

$TC_DP1[1,1]=121 ; Milling tool
$TC_DP6[1,1]=10 ; Radius 10 mm
N10 G1 X0 Y0 Z60 G64 T1 D1 F10000
N20 G41 KONTC X70 Y0 Z0 ; Approach
N30 G2 I-70 ; Full circle
N40 G40 G1 X0 Y0 Z60 ; Retract
N50 M30

Fundamentals
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 Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

3D representation: To simultaneously adapt the curvature to the circular path of the full
circle, traversing is performed from Z60 to the plane of the circle Z0.

Direct approach to perpendicular position, G41, G42, NORM

The tool travels in a straight line directly to the contour and is positioned perpendicular to the
path tangent at the starting point.
Selection of the approach point
When NORM is active, the tool travels directly to the compensated starting position
irrespective of the approach angle programmed for the travel movement (see diagram).
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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 299
Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

Deactivate compensation mode, G40, NORM

The tool is perpendicular to the last corrected path end point and then traverses directly in a
straight line to the next uncorrected position, e.g. tool change point.
Choosing the retraction point
When NORM is active, the tool travels directly to the uncompensated position irrespective of
the approach angle programmed for the travel movement (see diagram).

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WARNING
The following applies to approach and retraction movements:
You should make allowance for the modified angles of travel when programming in order to
avoid collisions.

Fundamentals
300 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

Travel around contour at starting point, G41, G42, KONT

Two cases are distinguished here:
1. Starting point lies in front of the contour
The approach strategy is the same as with NORM.
The path tangent at the starting point serves as a dividing line between the front and rear of
the contour.

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 301
Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

1. Starting point lies behind the contour

The tool travels around the starting point either along a circular path or over the intersection
of the equidistant paths depending on the programmed corner behavior G450/G451.
The commands G450/G451 apply to the transition from the current block to the next block.

G450 G451

G450 G451

Generation of the approach path

In both cases (G450/G451), the following approach path is generated:
A straight line is drawn from the uncompensated approach point. This line is a tangent to a
circle with circle radius = tool radius. The center point of the circle is on the starting point.

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Fundamentals
302 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

Deactivate compensation mode, G40, KONT

If the retraction point is located in front of the contour, the same retraction movement as for
NORM applies.
If the retraction point is located behind the contour, the retraction movement is the reverse of
the approach movement.

Precondition for KONTC and KONTT

The two functions KONTC and KONTT are available only if polynomial interpolation is
enabled in the control.

Description of KONTC and KONTT

The continuity conditions are observed in all three axes. It is therefore permissible to
program a path component perpendicular to the offset plane simultaneously.
Exception:
KONTT and KONTC are not available in the 3D variants of the tool radius compensation
(CUT3DC, CUT3DCC, CUT3DF).
If they are programmed, the control switches internally to NORM without an error message.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 303
Tool radius compensation
10.2 Contour approach and retraction (NORM, KONT, KONTC, KONTT)

Differences between KONTC and KONTT

This diagram shows the differences in approach/retract behavior between KONTT and
KONTC. A circle with a radius of 20 mm about the center point at X0 Y-40 is compensated
with a tool with an external radius of 20 mm. The tool center point therefore moves along a
circular path with radius 40 mm. The end point of the approach blocks is at X40 Y30. The
transition between the circular block and the retraction block is at the zero point. Due to the
extended continuity of curvature associated with KONTC, the retraction block first executes a
movement with a negative Y component. This will often be undesired. This response does
not occur with the KONTT retraction block. However, with this block, an acceleration step
change occurs at the block transition.
If the KONTT or KONTC block is the approach block rather than the retraction block, the
contour is exactly the same, but machined in the opposite direction.

Fundamentals
304 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.3 Compensation at the outside corners (G450, G451, DISC)

10.3 Compensation at the outside corners (G450, G451, DISC)

Function
The following is specified with G450/G451:
Firstly the approach path with active KONT and the approach point behind the contour (see
Section "Approaching and leaving contour").
Secondly the corrected tool path when traveling around outside corners.

Syntax
G450 DISC=…
G451

Meaning

G450 Transition circle, the tool travels around workpiece corners on a circular
path with tool radius
DISC= Flexible programming of the approach and retract command. In steps of 1
from DISC=0 circle to DISC=100 intersection
G451 Intersection, tool backs off from the workpiece corner

DISC=… only applies with call of G450, but can be programmed in a previous block without
G450. Both commands are modal.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 305
Tool radius compensation
10.3 Compensation at the outside corners (G450, G451, DISC)

Example
In this example, a transition radius is programmed for all outside corners (progr. in block
N30). This prevents the tool stopping and backing off at the change of direction.

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Program code Comment

N10 G17 T1 G0 X35 Y0 Z0 F500 ; Starting conditions
N20 G1 Z-5 ; Tool infeed
N30 G41 KONT G450 X10 Y10 ; Activate compensation mode
N40 Y60 ; Milling of the contour
N50 X50 Y30
N60 X10 Y10
N80 G40 X-20 Y50 ; Deactivate compensation mode, retraction on
transition circle
N90 G0 Y100
N100 X200 M30

Fundamentals
306 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.3 Compensation at the outside corners (G450, G451, DISC)

Corner behavior, transition circle, G41, G42, G450

The tool center point travels around the workpiece corner across an arc with tool radius.
At intermediate point P*, the control executes instructions such as infeed movements or
switching functions. These instructions are programmed in blocks inserted between the two
blocks forming the corner.

G450

P*

The transition circle belongs to the next travel command with respect to the data.

Corner behavior, selectable transitions G41, G42, G450 DISC=…

DISC distorts the transition circle, thus creating sharp contour corners.
The values have the following meanings:
DISC=0 transition circle
DISC=100 intersection of the equidistant paths (theoretical value)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 307
Tool radius compensation
10.3 Compensation at the outside corners (G450, G451, DISC)

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DISC is programmed in steps of 1.

When DISC values greater than 0 are specified, intermediate circles are shown with a
magnified height – the result is transition ellipses or parabolas or hyperbolas.
An upper limit can be defined in machine data – generally DISC=50.

Path action, depending on DISC values and contour angle

Depending on the angle of the contour that is traversed, with acute contour angles and high
DISC values the tool is lifted off the contour at the corners. With angles of 120° and more,
the contour is traversed evenly (see adjacent table).

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Fundamentals
308 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.3 Compensation at the outside corners (G450, G451, DISC)

Corner behavior, intersection, G41, G42, G451

The tool approaches the intersection of the two equidistants, which lie in the distance
between the tool radius and the programmed contour. G451 applies only to circles and
straight lines.
At intermediate point P*, the control executes instructions such as infeed movements or
switching functions. These instructions are programmed in blocks inserted between the two
blocks forming the corner.

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Note
Superfluous non-cutting tool paths can result from liftoff movements at acute contour angles.
A parameter can be used in the machine data to define automatic switchover to transition
circle in such cases.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 309
Tool radius compensation
10.4 Smooth approach and retraction

10.4 Smooth approach and retraction

10.4.1 Approach and retraction (G140 to G143, G147, G148, G247, G248, G347, G348,
G340, G341, DISR, DISCL, FAD)

Function
The SAR (Smooth Approach and Retraction) function is used to achieve a tangential
approach to the start point of a contour, regardless of the position of the start point.

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This function is used preferably in conjunction with the tool radius compensation, but this is
not mandatory.
The approach and retraction movement consists of a maximum of four sub-movements:
● Start point of the movement P0
● Intermediate points P1, P2 and P3
● End point P4
Points P0, P3 and P4 are always defined. Intermediate points P1 and P2 can be omitted,
according to the parameters defined and the geometrical conditions.

Fundamentals
310 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

Syntax
G140
G141 to G143
G147, G148
G247, G248
G347, G348
G340, G341
DISR=..., DISCL=..., FAD=...

Meaning

G140 Approach and retraction direction dependent on the current compensation side
(basic setting)
G141 Approach from the left or retraction to the left
G142 Approach from the right or retraction to the right
G143 Approach and retraction direction dependent on the relative position of the start
or end point to the tangent direction
G147 Approach with a straight line
G148 Retraction with a straight line
G247 Approach with a quadrant
G248 Retraction with a quadrant
G347 Approach with a semicircle
G348 Retraction with a semicircle
G340 Approach and retraction in space (basic setting)
G341 Approach and retraction in the plane
DISR Approach and retraction with straight lines (G147/G148)
Distance of the milling tool edge to the starting point of the contour
Approach and retraction along circles (G247, G347/G248, G348)
Radius of the tool center path
Notice: For REPOS with a semicircle, DISR is the circle diameter
DISCL DISCL=... distance of the end point of the
fast feed movement to the machining plane
DISCL=AC(...) specification of the absolute position of the end point of the
fast feed movement

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 311
Tool radius compensation
10.4 Smooth approach and retraction

FAD Speed of the slow feed movement

FAD=... the programmed value is applied corresponding to
the G code of group 15 (feedrate; G93, G94, etc.)
FAD=PM(...) the programmed value is interpreted independent of the active G
code, group 15 as linear feedrate (as G94)
FAD=PR(...) the programmed value is interpreted independent of the active G
code, group 15 as revolutional feedrate (as G95)

Example

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● Smooth approach (block N20 activated)

● Approach with quadrant (G247)
● Approach direction not programmed, G140 applies, i.e. TRC is active (G41)
● Contour offset OFFN=5 (N10)
● Current tool radius=10, and so the effective compensation radius for TRC=15, the radius
of the SAR contour =25, with the result that the radius of the tool center path is equal to
DISR=10
● The end point of the circle is obtained from N30, since only the Z position is programmed
in N20

Fundamentals
312 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

● Infeed movement
– From Z20 to Z7 (DISCL=AC(7)) with rapid traverse.
– Then to Z0 with FAD=200.
– Approach circle in X-Y-plane and following blocks with F1500 (for this velocity to take
effect in the following blocks, the active G0 in N30 must be overwritten with G1,
otherwise the contour would be machined further with G0).
● Smooth retraction (block N60 activated)
● Retraction with quadrant (G248) and helix (G340)
● FAD not programmed, since irrelevant for G340
● Z=2 in the starting point; Z=8 in the end point, since DISCL=6
● When DISR=5, the radius of the SAR contour=20, the radius of the tool center point
path=5
Retraction movements from Z8 to Z20 and the movement parallel to the X-Y plane to X70
Y0.

Program code Comment

$TC_DP1[1,1]=120 ; Tool definition T1/D1
$TC_DP6[1,1]=10 ; Radius
N10 G0 X0 Y0 Z20 G64 D1 T1 OFFN = 5 ; (P0app)
N20 G41 G247 G341 Z0 ; Approach (P3app)
DISCL = AC(7) DISR = 10 F1500 FAD=200
N30 G1 X30 Y-10 ; (P4app)
N40 X40 Z2
N50 X50 ; (P4ret)
N60 G248 G340 X70 Y0 Z20 DISCL = 6 DISR = 5 ; Retraction (P3ret)
G40 F10000
N70 X80 Y0 ; (P0ret)
N80 M30

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 313
Tool radius compensation
10.4 Smooth approach and retraction

Selecting the approach and retraction contour

The appropriate G command can be used
● to approach or retract with a straight line (G147, G148),
● a quadrant (G247, G248) or
● a semicircle (G347, G348).

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Fundamentals
314 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

Selecting the approach and retraction direction

Use the tool radius compensation (G140, basic setting) to determine the approach and
retraction direction with positive tool radius:
● G41 active → approach from left
● G42 active → approach from right
G141, G142 and G143 provide further approach options.

Description
The G codes are only significant when the approach contour is a quadrant or a semicircle.

Motion steps between start point and end point (G340 and G341).
The approach characteristic from P0 to P4 is shown in the adjacent figure.

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In cases which include the position of the active plane G17 to G19 (circular plane, helical
axis, infeed motion perpendicular to the active plane), any active rotating FRAME is taken
into account.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 315
Tool radius compensation
10.4 Smooth approach and retraction

Length of the approach straight line or radius for approach circles (DISR) (see figure when
selecting approach/retraction contour)
● Approach/retract with straight line
DISR specifies the distance of the cutter edge from the starting point of the contour, i.e.
the length of the straight line when TRC is active is the sum of the tool radius and the
programmed value of DISR. The tool radius is only taken into account if it is positive.
The resultant line length must be positive, i.e. negative values for DISR are allowed
provided that the absolute value of DISR is less than the tool radius.
● Approach/retraction with circles
DISR indicates the radius of the tool center point path. If TRC is activated, a circle is
produced with a radius that results in the tool center point path with the programmed
radius.
Distance of the point from the machining plane (DISCL) (see figure when selecting
approach/retraction contour)
If the position of point P2 is to be specified by an absolute reference on the axis
perpendicular to the circle plane, the value must be programmed in the form DISCL=AC(...).
The following applies for DISCL=0:
● With G340: The whole of the approach motion now only consists of two blocks (P1, P2
and P3 are combined). The approach contour is formed by P1 to P4.
● With G341: The whole approach contour consists of three blocks (P2 and P3 are
combined). If P0 and P4 are on the same plane, only two blocks result (infeed movement
from P1 to P3 is omitted).
● The point defined by DISCL is monitored to ensure that it is located between P1 and P3,
i.e. the sign must be identical for the component perpendicular to the machining plane in
all motions that possess such a component.
● On detection of a direction reversal, a tolerance defined by the machine data
SAR_CLEARANCE_TOLERANCE is permitted.

Fundamentals
316 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

Programming the end point P4 for approach or P0 for retraction

The end point is generally programmed with X... Y... Z...
● Programming during approach
– P4 in SAR block.
– P4 is defined by the end point of the next traversing block.
Other blocks can be inserted between the SAR block and the next traversing block
without moving the geometry axes.
Example:

Program code Comment

$TC_DP1[1,1]=120 ; Milling tool T1/D1
$TC_DP6[1,1]=7 ; Tool with 7 mm radius
N10 G90 G0 X0 Y0 Z30 D1 T1
N20 X10
N30 G41 G147 DISCL=3 DISR=13 Z=0 F1000
N40 G1 X40 Y-10
N50 G1 X50
...
...

N30/N40 can be replaced by:

1.

Program code Comment

N30 G41 G147 DISCL=3 DISR=13 X40 Y-10 Z0 F1000

2.

Program code Comment

N30 G41 G147 DISCL=3 DISR=13 F1000
N40 G1 X40 Y-10 Z0

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 317
Tool radius compensation
10.4 Smooth approach and retraction

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● Programming during retraction

– For an SAR block without programmed geometry axis,
the contour ends in P2. The position in the axes that form the machining plane are
obtained from the retraction contour. The axis component perpendicular to this is
defined by DISCL. If DISCL=0, movement runs fully in the plane.
– If in the SAR block only the axis perpendicular to the machining plane is programmed,
the contour will end at P1. The positions of the remaining axes will result, as described
above. If the SAR block is also the TRC disable block, an additional path from P1 to P0
is inserted such that no motion results at the end of the contour when disabling the
TRC.
– If only one axis on the machining plane is programmed, the missing second axis is
modally added from its last position in the previous block.
– For an SAR block without programmed geometry axis, the contour ends in P2. The
position in the axes that form the machining plane are obtained from the retraction
contour. The axis component perpendicular to this is defined by DISCL. If DISCL=0,
movement runs fully in the plane.
– If in the SAR block only the axis perpendicular to the machining plane is programmed,
the contour will end at P1. The positions of the remaining axes will result, as described
above. If the SAR block is also the TRC disable block, an additional path from P1 to P0
is inserted such that no motion results at the end of the contour when disabling the
TRC.
– If only one axis on the machining plane is programmed, the missing second axis is
modally added from its last position in the previous block.

Fundamentals
318 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

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Approach and retraction velocities

● Velocity of the previous block (G0):

All motions from 0 up to P2 are executed at this velocity, i.e. the motion parallel to the
machining plane and the part of the infeed motion up to the safety clearance.
● Programming with FAD:
Specify the feedrate for
– G341: infeed movement perpendicular to the machining plane from P2 to P3
– G340: from point P2 or P3 to P4
If FAD is not programmed, this part of the contour is also traversed at the modally
active speed of the previous block, if no F word is programmed in the SAR block.
● Programmed feedrate F:
This feedrate value is effective as of P3 or P2 if FAD is not programmed. If no F word is
programmed in the SAR block, the speed of the previous block is active.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 319
Tool radius compensation
10.4 Smooth approach and retraction

Example:

Program code Comment

$TC_DP1[1,1]=120 ; Milling tool T1/D1
$TC_DP6[1,1]=7 ; Tool with 7 mm radius
N10 G90 G0 X0 Y0 Z20 D1 T1
N20 G41 G341 G247 DISCL=AC(5) DISR=13
FAD 500 X40 Y-10 Z=0 F200
N30 X50
N40 X60
...

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During retraction, the rolls of the modally active feedrate from the previous block and the
programmed feedrate value in the SAR block are changed around, i.e. the actual retraction
contour is traversed with the old feedrate value and a new speed programmed with the F
word applies from P2 up to P0.

Fundamentals
320 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

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Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 321
Tool radius compensation
10.4 Smooth approach and retraction

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Reading positions
Points P3 and P4 can be read in the WCS as a system variable during approach.
● $P_APR: reading P
● 3 (initial point)
● $P_AEP: reading P
● 4 (contour starting point)
● $P_APDV: read whether $P_APR and $P_AEP contain valid data

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322 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

10.4.2 Approach and retraction with enhanced retraction strategies (G460, G461, G462)

Function
In certain special geometrical situations, special extended approach and retraction
strategies, compared with the previous implementation with activated collision detection for
the approach and retraction block, are required in order to activate or deactivate tool radius
compensation. A collision detection can result, for example, in a section of the contour not
being completely machined, see following figure.

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Retraction behavior with G460

Syntax
G460
G461
G462

Meaning

G460 As previously (activation of the collision detection for the approach and retraction
block)
G461 Insertion of a circle in the TRC block, if it is not possible to have an intersection
whose center point is in the end point of the uncorrected block, and whose radius is
the same as the tool radius.
Up to the intersection, machining is performed with an auxiliary circle around the
contour end point (i.e. up to the end of the contour).
G462 Insertion of a circle in the TRC block, if it is not possible to have an intersection; the
block is extended by its end tangent (default setting).
Machining is performed up to the extension of the last contour element (i.e. until
shortly before the end of the contour).

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 323
Tool radius compensation
10.4 Smooth approach and retraction

Note
The approach behavior is symmetrical to the retraction behavior.
The approach/retraction behavior is determined by the state of the G command in the
approach/retraction block. The approach behavior can therefore be set independently of the
retraction behavior.

Example of retraction behavior with G460

Only the situation for deactivation of the tool radius compensation is described in the
following. The behavior for approach is exactly the same.

Program code Comment

G42 D1 T1 ; Tool radius 20 mm
...
G1 X110 Y0
N10 X0
N20 Y10
N30 G40 X50 Y50

Example of approach with G461

Program code Comment

N10 $TC_DP1[1,1]=120 ; Milling tool type
N20 $TC_DP6[1,1]=10 ; Tool radius
N30 X0 Y0 F10000 T1 D1
N40 Y20
N50 G42 X50 Y5 G461
N60 Y0 F600
N70 X30
N80 X20 Y-5
N90 X0 Y0 G40
N100 M30

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324 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

G461
If no intersection is possible between the last TRC block and a preceding block, the offset
curve of this block is extended with a circle whose center point lies at the end point of the
uncorrected block and whose radius is equal to the tool radius.
The control attempts to cut this circle with one of the preceding blocks.

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Retraction behavior with G461 (see example)

Collision monitoring CDON, CDOF
If CDOF is active (see section Collision monitoring, CDON, CDOF), the search is aborted
when an intersection is found, i.e., the system does not check whether further intersections
with previous blocks exist.
If CDON is active, the search continues for further intersections after the first intersection is
found.
An intersection point, which is found in this way, is the new end point of a preceding block
and the start point of the deactivation block. The inserted circle is used exclusively to
calculate the intersection and does not produce a traversing movement.

Note
If no intersection is found, alarm 10751 (collision danger) is output.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 325
Tool radius compensation
10.4 Smooth approach and retraction

G462
If no intersection is possible between the last TRC block and a preceding block, a straight
line is inserted, on retraction with G462 (initial setting), at the end point of the last block with
tool radius compensation (the block is extended by its end tangent).
The search for the intersection is then identical to the procedure for G461.

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Retraction behavior with G462 (see example)

With G462, the corner generated by N10 and N20 in the example program is not machined
to the full extent actually possible with the tool used. However, this behavior may be
necessary if the part contour (as distinct from the programmed contour), to the left of N20 in
the example, is not permitted to be violated even with y values greater than 10 mm.

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326 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.4 Smooth approach and retraction

Corner behavior with KONT

If KONT is active (travel round contour at start or end point), the behavior differs according to
whether the end point is in front of or behind the contour.
● End point in front of contour
If the end point is in front of the contour, the retraction behavior is the same as with
NORM. This property does not change even if the last contour block for G451 is extended
with a straight line or a circle.Additional circumnavigation strategies to avoid a contour
violation in the vicinity of the contour end point are therefore not required.
● Endpoint behind the contour
If the end point is behind the contour, a circle or straight line is always inserted depending
on G450/G451. In this case, G460-462 has no effect. If the last traversing block in this
situation has no intersection with a preceding block, an intersection with the inserted
contour element or with the straight line of the end point of the bypass circle to the
programmed endpoint can result.
If the inserted contour element is a circle (G450), and this forms an interface with the
preceding block, this is equal to the interface that would occur with NORM and G461. In
general, however, a remaining section of the circle still has to be traversed. For the linear
part of the retraction block, no further calculation of intersection is required.
In the second case, if no interface of the inserted contour element with the preceding
blocks is found, the intersection between the retraction straight line and a preceding block
is traversed.
Therefore, a behavior that deviates from G460 can only occur with active G461 or G462
either if NORM is active or the behavior with KONT is geometrically identical to that with
NORM.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 327
Tool radius compensation
10.5 Collision monitoring (CDON, CDOF, CDOF2)

10.5 Collision monitoring (CDON, CDOF, CDOF2)

Function
With the collision detection and active tool radius compensation, the tool paths are monitored
through look-ahead contour calculation. This Look Ahead function allows possible collisions
to be detected in advance and permits the control to actively avoid them.

Collision detection can be activated or deactivated in the NC program.

Syntax
CDON
CDOF
CDOF2

Meaning

CDON Command for the activation of the collision detection.

CDOF Command for the deactivation of the collision detection.
With deactivated collision detection, a search is made in the previous
traversing block (at inside corners) for a common intersection for the
current block; if necessary the search is extended to even earlier blocks .
Note:
CDOF can be used to avoid the faulty detection of bottlenecks, resulting,
for example, from missing information that is not available in the NC
program.

Fundamentals
328 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.5 Collision monitoring (CDON, CDOF, CDOF2)

CDOF2 Command for the deactivation of the collision detection during 3D

circumferential milling.
The tool offset direction is determined from adjacent block parts with
CDOF2. CDOF2 is only effective for 3D circumferential milling and has the
same significance as CDOF for all other types of machining (e.g. 3D face
milling).

Note
The number of NC blocks that are included in the collision detection, can be set via machine
data.

Example: Milling on the center point path with standard tool

The NC program describes the center point path of a standard tool. The contour for a tool
that is actually used results in undersize, which is shown unrealistically large to demonstrate
the geometric relationships in the following figure. The control also only has an overview of
three blocks in the example.

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Since an intersection exists only between the offset curves of the two blocks N10 and N40,
the two blocks N20 and N30 would have to be omitted. In the example, the control does not
know in block N40 if N10 has to be completely processed. Only a single block can therefore
be omitted.
With active CDOF2, the compensation motion shown in the figure is executed and not
stopped. In this situation, an active CDOF or CDON would result in an alarm.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 329
Tool radius compensation
10.5 Collision monitoring (CDON, CDOF, CDOF2)

Further information
Program test
To avoid program stops, the tool with the largest radius from the range of used tools should
always be used during the program test.
Examples of compensation motions for critical machining situations
The following examples show critical machining situations that are detected by the control
and compensated through modified tool paths. In all examples, a tool with too large a radius
has been used for the machining of the contour.
Example 1: Bottleneck detection

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As the tool radius selected for the machining of this inside contour is too large, the
"bottleneck" is bypassed.
An alarm is output.
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The tool bypasses the workpiece corner on a transition circle, then continues on the
programmed path.

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330 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.6 2D tool compensation (CUT2D, CUT2DF)

Example 3: Tool radius too large for internal machining

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In such cases, the contours are machined only as much as is possible without causing a
contour violation.

References
Function Manual, Basic Functions; Tool Offsets (W1); Section "Collision detection and
bottleneck detection"

10.6 2D tool compensation (CUT2D, CUT2DF)

Function
With CUT2D or CUT2DF you define how the tool radius compensation is to act or to be
interpreted when machining in inclined planes.
Tool length compensation
The tool length compensation generally always refers to the fixed, non-rotated working
plane.
2D tool radius compensation with contour tools
The tool radius compensation for contour tools is used for automatic cutting-edge selection
in the case of non-axially symmetrical tools that can be used for piece-by-piece machining of
individual contour segments.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 331
Tool radius compensation
10.6 2D tool compensation (CUT2D, CUT2DF)

Syntax
CUT2D
CUT2DF
2D tool radius compensation for contour tools is activated if either of the two machining
directions G41 or G42 is programmed with CUT2D or CUT2DF.

Note
If tool radius compensation is not activated, a contour tool will behave like a standard tool
with only the first cutting edge.

Meaning

CUT2D Activate 2 1/2 D radius compensation (default)

CUT2DF Activate 2 1/2 D radius compensation, tool radius compensation relative to the
current frame or to inclined planes

CUT2D is used when the orientation of the tool cannot be changed and the workpiece is
rotated for machining on inclined surfaces.
CUT2D is generally the standard setting and does not, therefore, have to be specified
explicitly.
Cutting-edge selection with contour tools
Up to a maximum of 12 cutting edges can be assigned to each contour tool in any order.
Machine manufacturer
The valid tool types for non-axially symmetrical tools and the maximum number of cutting
edges (Dn = D1 to D12) are defined by the machine manufacturer via machine data. Please
contact the machine manufacturer if not all of the 12 cutting edges are available.
References:/FB1/Function Manual Basic Functions; Tool Offset (W1)

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332 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.6 2D tool compensation (CUT2D, CUT2DF)

Tool radius compensation, CUT2D

As for many applications, tool length compensation and tool radius compensation are
calculated in the fixed working plane specified with G17 to G19.

= =

Example of G17 (X/Y plane):

Tool radius compensation is active in the non-rotated X/Y plane, tool length compensation in
the Z direction.
Tool offset values
For machining on inclined surfaces, the tool compensation values have to be defined
accordingly, or be calculated using the functions for "Tool length compensation for orientable
tools". For more information on this calculation method, see chapter "Tool orientation and
tool length compensation".

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 333
Tool radius compensation
10.6 2D tool compensation (CUT2D, CUT2DF)

Tool radius compensation, CUT2DF

In this case, it is possible to arrange the tool orientation perpendicular to the inclined working
plane on the machine.

= =

If a frame containing a rotation is programmed, the compensation plane is also rotated with
CUT2DF. The tool radius compensation is calculated in the rotated machining plane.

Note
The tool length compensation continues to be active relative to the non-rotated working
plane.

Definition of contour tools, CUT2D, CUT2DF

A contour tool is defined by the number of cutting edges (on the basis of D nos) associated
with a T no. The first cutting edge of a contour tool is the cutting edge that is selected when
the tool is activated. If, for example, D5 is activated on T3 D5, then it is this cutting edge and
the subsequent cutting edges that define the contour tool either partially or as a whole. The
previous cutting edges will be ignored.
References: /FB1/Function Manual Basic Function; Tool Offset (W1)

Fundamentals
334 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.7 Keep tool radius compensation constant (CUTCONON, CUTCONOF)

10.7 Keep tool radius compensation constant (CUTCONON, CUTCONOF)

Function
The "Keep tool radius compensation constant" function is used to suppress tool radius
compensation for a number of blocks, whereby a difference between the programmed and
the actual tool center path traveled set up by tool radius compensation in the previous blocks
is retained as the compensation. It can be an advantage to use this method when several
traversing blocks are required during line milling in the reversal points, but the contours
produced by the tool radius compensation (follow strategies) are not wanted. It can be used
independently of the type of tool radius compensation (21/2D, 3D face milling, 3D
circumferential milling).

Syntax
CUTCONON
CUTCONOF

Meaning

CUTCONON Command to activate the "Keep tool radius compensation constant"

function
CUTCONOF Command to deactivate the "Keep tool radius compensation constant"
function

Example

Program code Comment

N10 ; Definition of tool d1.
N20 $TC_DP1[1,1] = 110 ; Type
N30 $TC_DP6[1,1]= 10. ; Radius
N40
N50 X0 Y0 Z0 G1 G17 T1 D1 F10000
N60
N70 X20 G42 NORM
N80 X30
N90 Y20
N100 X10 CUTCONON ; Activation of the compensation
suppression.
N110 Y30 KONT ; If required, insert bypass circle
when deactivating the compensation
suppression.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 335
Tool radius compensation
10.7 Keep tool radius compensation constant (CUTCONON, CUTCONOF)

Program code Comment

N120 X-10 CUTCONOF
N130 Y20 NORM ; No bypass circle when deactivating
the TRC.
N140 X0 Y0 G40
N150 M30

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Further information
Tool radius compensation is normally active before the compensation suppression and is still
active when the compensation suppression is deactivated again. In the last traversing block
before CUTCONON, the offset point in the block end point is approached. All following blocks
in which offset suppression is active are traversed without offset. However, they are offset by
the vector from the end point of the last offset block to its offset point. These blocks can have
any type of interpolation (linear, circular, polynomial).
The deactivation block of the compensation suppression, i.e. the block that contains
CUTCONOF, is compensated normally. It starts in the offset point of the starting point. One
linear block is inserted between the end point of the previous block, i.e. the last programmed
traversing block with active CUTCONON, and this point.

Fundamentals
336 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Tool radius compensation
10.8 Tools with a relevant cutting edge position

Circular blocks, for which the circle plane is perpendicular to the compensation plane
(vertical circles), are treated as though they had CUTCONON programmed. This implicit
activation of the offset suppression is automatically canceled in the first traversing block that
contains a traversing motion in the offset plane and is not such a circle. Vertical circle in this
sense can only occur during circumferential milling.

10.8 Tools with a relevant cutting edge position

Function
In the case of tools with a relevant tool point direction (turning and grinding tools – tool types
400–599; see chapter "Sign evaluation wear"), a change from G40 to G41/G42 or vice-versa
is treated as a tool change. If a transformation is active (e.g., TRANSMIT), this leads to a
preprocessing stop (decoding stop) and hence possibly to deviations from the intended part
contour.
This original functionality changes with regard to:
1. Preprocessing stop on TRANSMIT
2. Calculation of intersection points at approach and retraction with KONT
3. Tool change with active tool radius compensation
4. Tool radius compensation with variable tool orientation at transformation

Description
This original functionality was changed as follows:
● A change from G40 to G41/G42 and vice-versa is no longer treated as a tool change.
Therefore, a preprocessing stop no longer occurs with TRANSMIT.
● The straight line between the tool edge center points at the block start and block end is
used to calculate intersection points with the approach and retraction block. The
difference between the tool edge reference point and the tool edge center point is
superimposed on this movement.
On approach and retraction with KONT (tool circumnavigates the contour point, see
above subsection "Contour approach and retraction"), superimposition takes place in the
linear part block of the approach or retraction motion. The geometric conditions are
therefore identical for tools with and without a relevant tool point direction. Differences
from the previous behavior occur only in relatively rare situations where the approach or
retraction block does not intersect with an adjacent motion block, see diagram below.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 337
Tool radius compensation
10.8 Tools with a relevant cutting edge position

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● In circle blocks and in motion blocks containing rational polynomials with a denominator
degree > 4, it is not permitted to change a tool with active tool radius compensation in
cases where the distance between the tool edge center point and the tool edge reference
point changes. With other types of interpolation, it is now possible to change when a
transformation is active (e.g., TRANSMIT).
● For tool radius compensation with variable tool orientation, the transformation from the
tool edge reference point to the tool edge center point can no longer be performed by
means of a simple zero offset. Tools with a relevant tool point direction are therefore not
permitted for 3D peripheral milling (an alarm is output).

Note
The subject is irrelevant with respect to face milling as only defined tool types without
relevant tool point direction are permitted for this operation anyway. (A tool with a type,
which has not been explicitly approved, is treated as a ball end mill with the specified
radius. A tool point direction parameter is ignored).

Fundamentals
338 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Path Action 11
11.1 Exact stop (G60, G9, G601, G602, G603)

Function
In exact stop traversing mode, all path axes and special axes involved in the traversing
motion that are not traversed modally, are decelerated at the end of each block until they
come to a standstill.
Exact stop is used when sharp outside corners have to be machined or inside corners
finished to exact dimensions.
The exact stop specifies how exactly the corner point has to be approached and when the
transition is made to the next block:
● "Exact stop fine"
The block change is performed as soon as the axis-specific tolerance limits for "Exact
stop fine" are reached for all axes involved in the traversing motion.
● "Exact stop coarse"
The block change is performed as soon as the axis-specific tolerance limits for "Exact
stop coarse" are reached for all axes involved in the traversing motion.
● "Interpolator end"
The block change is performed as soon as the control has calculated a set velocity of
zero for all axes involved in the traversing motion. The actual position or the following
error of the axes involved are not taken into account

Note
The tolerance limits for "Exact stop fine" and "Exact stop coarse" can be set for each axis
via the machine data.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 339
Path Action
11.1 Exact stop (G60, G9, G601, G602, G603)

Syntax
G60 ...
G9 ...
G601 ...
G602 ...
G603 ...

Meaning

G60 Command for activation of the modal exact stop

G9 Command for activation of the non-modal exact stop
G601 Command for activation of the exact stop criterion "Exact stop fine"
Note: Only effective with active G60 or G9!
G602 Command for activation of the exact stop criterion "Exact stop coarse"
Note: Only effective with active G60 or G9!
G603 Command for activation of the exact stop criterion "Interpolator end"
Note: Only effective with active G60 or G9!

Example

Program code Comment

N5 G602 ; Criterion "Exact stop coarse" selected.
N10 G0 G60 Z... ; Exact stop modal active.
N20 X... Z... ; G60 continues to act.
...
N50 G1 G601 ; Criterion "Exact stop fine" selected.
N80 G64 Z... ; Switchover to continuous-path mode.
...
N100 G0 G9 ; Exact stop acts only in this block.
N110 ... ; Continuous-path mode active again.

Fundamentals
340 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.1 Exact stop (G60, G9, G601, G602, G603)

Further information
G60, G9
G9 generates the exact stop in the current block, G60 in the current block and in all following
blocks.
Continuous-path-mode commands G64 or G641 are used to deactivate G60.
G601, G602

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The movement is decelerated and stopped briefly at the corner point.

Note
Recommendation: Only set the limits for the exact stop criteria as tight as necessary. The
tighter the limits, the longer it takes to position and approach the target position.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 341
Path Action
11.1 Exact stop (G60, G9, G601, G602, G603)

G603
The block change is initiated when the control has calculated a set velocity of zero for the
axes involved. At this point, the actual value lags behind by a proportionate factor depending
on the dynamic response of the axes and the path velocity. The workpiece corners can now
be rounded.

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Configured exact stop criteria

A machine data item can be set for specific channels which determines that default exact
stop criteria, which deviate from the programmed criteria, will be applied automatically. The
criteria can be stored separately for G0 and the other G commands of the first G code group
(see machine manufacturer's specifications).

References
Function Manual, Basic Functions, Continuouspath Mode, Exact Stop, Look Ahead (B1)

Fundamentals
342 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS,

ADISPOS)

Function
In continuous-path mode, the contour is machined with a constant path velocity. The uniform
velocity also establishes better cutting conditions, improves the surface quality and reduces
the machining time.

Note
Continuous-path mode is interrupted by blocks which implicitly trigger a preprocessing stop,
e.g. access to particular status data of the machine ($A...). The corresponding situation
applies for the auxiliary function outputs.

NOTICE
In continuous-path mode, the programmed contour transitions are not approached exactly.
If a rounding movement initiated by G641, G642, G643, G644 is interrupted, the corner
point of the original contour will be used for subsequent repositioning (REPOS), rather than
the interruption point.
Sharp corners can be produced with G60 or G9.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 343
Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

Syntax
G64
G641 ADIS=…
G641 ADISPOS=…
G642 ADIS=…
G642 ADISPOS=…
G643 ADIS=…
G643 ADISPOS=…
G644

Meaning

G64 Continuous-path mode

G641 Continuous-path mode with programmable transition rounding
G642 Corner rounding with axial tolerance; is activated modally
G643 Block-internal corner rounding
G644 Corner rounding with greatest possible dynamic response
Note:
G644 is not available with an active kinematic transformation. The
system switches internally to G642.
ADIS=... Rounding clearance for path functions G1, G2, G3, …
ADISPOS=... Rounding clearance for rapid traverse G0
ADISPOS is used between G0 blocks. This enables the axis
movement to be smoothed substantially and the traversing time to
be reduced during positioning.
Note:
If ADIS/ADISPOS is not programmed, a value of "zero" applies and
the traversing behavior therefore corresponds to G64. The rounding
clearance is automatically reduced (by up to 36%) for short
traversing distances.

Note
Rounding cannot be used as a substitute for smoothing (RND). The user should not make
any assumptions with respect to the appearance of the contour within the rounding area. The
type of rounding can depend on dynamic conditions, e.g. on the tool path velocity. Rounding
on the contour is therefore only practical with small ADIS values. RND must be used if a
defined contour is to be followed at the corner without exception.

Fundamentals
344 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

Note
During continuous-path mode, a message from the part program can also be output as
executable block. To do this, the MSG command must be programmed with the second call
parameter and the parameter value "1":
MSG("Text",1)
If MSG is programmed without the second parameter, the message is output with the next
executable block.

Example

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The two outside corners on the groove are to be approached exactly. Otherwise machining
should be performed in continuous-path mode.

Program code Comment

N05DIAMOF ; Radius as dimension.
N10 G17 T1 G41 G0 X10 Y10 Z2 S300 M3 ; Approach starting position, activate
spindle, path compensation.
N20 G1 Z-7 F8000 ; Tool infeed.
N30 G641 ADIS=0.5 ; Contour transitions are smoothed.
N40 Y40 ;
N50 X60 Y70 G60 G601 ; Approach position exactly with exact
stop fine.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 345
Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

Program code Comment

N60 Y50

N70 X80
N80 Y70
N90 G641 ADIS=0.5 X100 Y40 ; Contour transitions are smoothed.
N100 X80 Y 10
N110 X10
N120 G40 G0 X-20 ; Deactivate path compensation.
N130 Z10 M30 ; Retract tool, end of program.

Note
An example of corner rounding with G643 can be found in:
References:
Programming Manual, Job Planning; Section "Special travel commands" > "Settable path
reference (SPATH, UPATH)"

Continuous-path mode, G64

In continuous-path mode, the tool travels across tangential contour transitions with as
constant a path velocity as possible (no deceleration at block boundaries). Look Ahead
deceleration takes place before corners (G9) and blocks with exact stop ("Look Ahead", see
following pages).
Corners are also traversed at a constant velocity. In order to minimize the contour error, the
velocity is reduced according to an acceleration limit and an overload factor.
Reference:
/FB1/ Function Manual Basic Functions; Continuous Path Mode, Exact Stop and Look Ahead
(B1)

Fundamentals
346 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

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Note
The overload factor can be set in the MD32310. The extent of smoothing of the contour
transitions depends on the feedrate and the overload factor. With G641, you can specify the
desired rounding area explicitly.
Smoothing cannot and should not replace the functions for defined smoothing (RND, RNDM,
ASPLINE, BSPLINE, CSPLINE).

Continuous-path mode with programmable transition rounding, G641

With G641, the control inserts transition elements at contour transitions. With ADIS=… or
ADISPOS=…, you can specify the extent, to which the corners are rounded. The effect of
G641 is similar to RNDM; however, it is not restricted to the axes of the working plane.
Example: N10 G641 ADIS=0.5 G1 X... Y...
The rounding block must begin 0.5 mm before the programmed end of block at the earliest
and must be finished 0.5 mm after the end of the block. This setting remains modal.
G641 also operates with "Look Ahead" predictive velocity control. Corner rounding blocks
with a high degree of curvature are approached at reduced velocity.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 347
Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

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Continuous-path mode G64/G641 over several blocks

The following points should be noted in order to prevent an undesired stop in the path motion
(relief cutting):
● Auxiliary function outputs trigger a stop (exception: high-speed auxiliary functions and
auxiliary functions during movements).
● Intermediate blocks, which contain only comments, calculation blocks or subroutine calls
do not affect the movement.

Extensions of corner rounding

If FGROUP does not contain all the path axes, there is often a step change in the velocity at
block boundaries for those axes excluded from FGROUP; the control limits this change in
velocity to the permissible values set in MD32300 $MA_MAX_AX_ACCEL and MD32310
$MA_MAX_ACCEL_OVL_FACTOR. This braking operation can be avoided through the
application of a rounding function, which "smoothes" the specific positional interrelationship
between the path axes.

Corner rounding with G641

You can activate a modal corner rounding action by programming G641 and specifying a
rounding radius with ADIS (or ADISPOS in rapid traverse). Within this radius about the block
change point, the control is free to ignore the path construct and replace it with a dynamically
optimized path. Disadvantage: Only one ADIS value is available for all axes.

Fundamentals
348 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

Corner rounding with axial precision using G642

G642 activates corner rounding with modal axial tolerances. Smoothing is not made within a
defined ADIS range, but the axial tolerances, defined with MD33100
$MA_COMPRESS_POS_TOL are maintained. Otherwise, the mode of operation is identical
to G641.
With G642, the rounding travel is determined on the basis of the shortest rounding travel of
all axes. This value is taken into account when generating a rounding block.

Block-internal corner rounding with G643

The maximum deviations from the precise contour when smoothing with G643 are defined
for each axis using machine data MD33100 $MA_COMPRESS_POS_TOL[...]. G643 is not
used to generate a separate rounding block, but axis-specific block-internal rounding
movements are inserted. In the case of G643, the rounding travel of each axis may be
different.

Corner rounding with contour tolerance in G642 and G643

The expansions described below refine the response with G642 and G643 and rounding with
contour tolerance is introduced. When rounding with G642 and G643, the maximum
permissible deviations of each axis are normally specified.
MD20480 $MC_SMOOTHING_MODE can be used to configure rounding with G642 and
G643 so that instead of the axis-specific tolerances, a contour tolerance and an orientation
tolerance can be specified. In this case, the tolerance of the contour and of the orientation is
set using two independent setting data, programmed in the NC, so that setting data can be
specified differently for each block transition.

Setting data
SD42465 $SC_SMOOTH_CONTUR_TOL
This setting data is used to define the maximum tolerance for the contour when rounding.
SD42466 $SC_SMOOTH_ORI_TOL
This setting data is used to define the maximum tolerance for the contour when rounding for
the tool orientation (angle deviation).
This data is only effective if an orientation transformation is active. Very different
specifications for the contour tolerance and the tolerance of the tool orientation can only
have effect with G643.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 349
Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

Corner rounding with greatest possible dynamic response in G644

Corner rounding with maximum possible dynamic response is activated with G644 and
configured with MD20480 $MC_SMOOTHING_MODE in the thousands place:

Value Meaning
0 Specifying the maximum axial deviation using MD33100 $MA_COMPRESS_POS_TOL
1 Specify the maximum rounding travel by programming ADIS=... or ADISPOS=...
2 Specify the maximum possible frequencies for each axis in the rounding area using
MD32440 $MA_LOOKAH_FREQUENCY. The rounding area is defined such that no
frequencies in excess of the specified maximum can occur while the rounding motion is in
progress.
3 When rounding with G644, neither the tolerance nor the rounding distance are monitored.
Each axis traverses around a corner with the maximum possible dynamic response.
With SOFT, both the maximum acceleration and the maximum jerk of each axis is
maintained.
With the BRISK command, the jerk is not limited; instead, each axis travels at the maximum
possible acceleration.
Reference:
/FB1/ Function Manual Basic Functions; Continuous Path Mode, Exact Stop and Look Ahead
(B1)

No rounding block / no rounding movement

Command outputs
Auxiliary functions, which are enabled after the end of the movement or before the next
movement interrupt continuous-path mode.
Positioning axes
Positioning axes always traverse according to the exact stop principle, positioning window
fine (as for G601). If an NC block has to wait for positioning axes, continuous-path mode is
interrupted on the path axes.

Fundamentals
350 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

An intermediate rounding block is not inserted in the following situations:

● The axis stops between the two blocks.
This occurs when:
– The following block contains an auxiliary function output before the movement.
– The following block does not contain a path movement.
– An axis is traversed for the first time as a path axis for the following block when it was
previously a positioning axis.
– An axis is traversed for the first time as a positioning axis for the following block when
it was previously a path axis.
– The previous block traverses geometry axes and the following block does not.
– The following block traverses geometry axes and the previous block does not.
– Before tapping, the following block uses G33 as preparatory function and the previous
block does not.
– A change is made between BRISK and SOFT.
– Axes involved in the transformation are not completely assigned to the path motion
(e.g. for oscillation, positioning axes).
● The rounding block would slow down the part program execution.
This occurs when:
– A rounding block is inserted between very short blocks.
Since each block requires at least one interpolation cycle, the added intermediate
block would double the machining time.
– A block transition G64 (continuous-path mode without corner rounding) can be
traversed without a reduction in velocity.
Corner rounding would increase the machining time. This means that the value of the
permitted overload factor (MD32310 $MA_MAX_ACCEL_OVL_FACTOR) affects
whether a block transition is rounded or not. The overload factor is only taken into
account for corner rounding with G641/G642. The overload factor has no effect for
corner rounding with G643 (this behavior can also be set for G641 and G642 by
setting MD20490 $MC_IGNORE_OVL_FACTOR_FOR_ADIS to TRUE).

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 351
Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

● Rounding is not parameterized.

This occurs when:
– For G641 in G0 blocks ADISPOS== 0 (default!).
– For G641 in non-G0 blocks ADIS== 0 (default!).
– For G641 on transition from G0 and non-G0 or non-G0 and G0 respectively, the smaller
value from ADISPOS and ADIS applies.
– ForG642/G643, all axis-specific tolerances are zero.
● The block does not contain traversing motion (zero block).
This occurs when:
– Synchronized actions are active.
Normally, the interpreter eliminates zero blocks. However, if synchronous actions are
active, this zero block is included and also executed. In so doing, an exact stop is
initiated corresponding to the active programming. This allows the synchronous action
to also switch.
– Zero blocks are generated by program jumps.

Look Ahead speed control

In continuous-path mode with G64 or G641, the control automatically detects the velocity
control in advance for several NC blocks. This enables acceleration and deceleration across
multiple blocks with almost tangential transitions.
Look Ahead is particularly suitable for the machining of movement sequences comprising
short traverse paths with high path feedrates.
The number of NC blocks included in the Look Ahead calculation can be defined in machine
data.

Fundamentals
352 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

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Note
Look Ahead across more than one block is an option.

Continuous-path mode in rapid traverse G0

One of the functions G60/G9 or G64/G641 must also be specified for rapid traverse.
Otherwise, the default in the machine data is used.
Setting MD 20490: IGNORE_OVL_FACTOR_FOR_ADIS results in block transitions being
smoothed irrespective of the programmed overload factor.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 353
Path Action
11.2 Continuous-path mode (G64, G641, G642, G643, G644, ADIS, ADISPOS)

Fundamentals
354 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
Coordinate transformations (frames) 12
12.1 Frame system
The frame is a self-contained arithmetic rule that transforms one Cartesian coordinate
system into another Cartesian coordinate system.

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It is a spatial description of the workpiece coordinate system.

The following components are available in a frame:
● Zero offset
● Rotating
● Mirroring
● Scaling
These components can be used individually or in any combination.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 355
Coordinate transformations (frames)
12.1 Frame system

Mirroring of the Z axis

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Offset and rotate workpiece coordinate system

For the machining of inclined contours, you can either align the workpiece with suitable
equipment parallel to the machine axis ...

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... or generate a coordinate system that is related to the workpiece. The workpiece
coordinate system can be offset and/or rotated with programmable frames.

Fundamentals
356 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.2 Frame instructions

In this way, you can

● Offset the zero point to any position on the workpiece and
● Align the coordinate axes by rotating parallel to the desired working plane.
● And therefore machine inclined surfaces in a clamping, drill holes at various angles or
● Perform multiface machining.

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Depending on the machine kinematics, the conventions for working plane and tool offsets
must be taken into account for the machining in inclined working planes

12.2 Frame instructions

Function
For the possible frames the position of one of the target coordinate systems is defined:
● Basic frame (basic offset)
● Settable frames (G54...G599)
● Programmable frames

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 357
Coordinate transformations (frames)
12.2 Frame instructions

In addition to these frames, you can program replacing and additive statements or generate
frames as well as frame rotations for tool orientation. Certain set frames or superposed
movements and transformations can also be deselected.
Basic frame (basic offset)
The basic frame describes the coordinate transformation from the Basic Coordinate System
(BCS) to the Basic Zero System (BZS) and has the same effect as for settable frames.
Settable statements
Settable statements are the zero offsets, which can be called from any NC program with the
commands G54 to G599. The offset values are predefined by the user and stored in the zero
offset memory on the control. This is used to define the Workpiece Coordinate System
(WCS).
Programmable instructions
Programmable instructions (TRANS, ROT, etc.) are valid in the current NC program and
refer to the settable instructions. The programmable frame is used to define the Workpiece
Coordinate System (WCS).

Programming
TRANS X… Y… Z… or ATRANS X… Y… Z… or
G58 X… Y… Z… A… or G59 X… Y… Z… A… or
ROT X… Y… Z… or ROT RPL=… or AROTX… Y… Z… or AROT RPL=… or
ROTS X... Y... or AROTS X... Y... or CROTS X... Y... or
SCALE X… Y… Z… or ASCALE X… Y… Z… or
MIRROR X0 Y0 Z0 or AMIRROR X0 Y0 Z0 or
TOFRAME or TOFRAMEZ or TOFRAMEY or TOFRAMEX or
TOROTOF or TOROT or TOROTZ or TOROTY or TOROTX or
PAROT or PAROTOF or
CORROF(axis,string[axis,string]) or CORROF(axis,string) or
CORROF(axis) or CORROF()

CAUTION
The above frame instructions are programmed in separate NC blocks and executed in the
programmed order.

Fundamentals
358 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.2 Frame instructions

TRANS, ROT, SCALE and MIRROR instructions.

Substituting instructions
TRANS, ROT, SCALE and MIRROR are substituting instructions.

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Note
This means that each of these instructions cancels all other previously programmed frame
instructions.
The last called settable zero offset G54 to G599 is used as the reference.

Additive instructions
ATRANS, AROT, ASCALE and AMIRROR are additive instructions. The currently set zero
point or the last workpiece zero to be programmed with frame instructions is used as the
reference. The above instructions are added to existing frames.

Note
Additive statements are frequently used in subroutines. The basic functions defined in the
main program are not lost after the end of the subroutine if the subroutine has been
programmed with the SAVE attribute.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 359
Coordinate transformations (frames)
12.3 Programmable zero offset

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References:
/PGA/ Programming Manual, Job Planning; Section "Subroutines, Macros"

12.3 Programmable zero offset

12.3.1 Zero offset (TRANS, ATRANS)

Function
TRANS/ATRANS can be used to program translations for all path and positioning axes in the
direction of the specified axis. This allows you to work with different zero points, for example
when performing recurring machining processes at different workpiece positions.

Fundamentals
360 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.3 Programmable zero offset

Milling:

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Turning:

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Deactivate programmable zero offset:

For all axes: TRANS (without axis parameter)

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 361
Coordinate transformations (frames)
12.3 Programmable zero offset

Syntax
TRANS X… Y… Z… (substituting instruction programmed in a separate NC block)
ATRANS X… Y… Z… (additive instruction programmed in a separate NC block)

Meaning

TRANS Absolute zero offset, with reference to the currently valid workpiece zero set
with G54 to G599
ATRANS as TRANS, but with additive zero offset
X Y Z Offset value in the direction of the specified geometry axis

Example of milling
With this workpiece, the illustrated shapes recur several times in the same program.
The machining sequence for this shape is stored in a subroutine.
You use the translation to set only those workpiece zeroes and then call up the subroutine.

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Fundamentals
362 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.3 Programmable zero offset

Program code Comment

N10 G1 G54 ; Working plane X/Y, workpiece zero
N20 G0 X0 Y0 Z2 ; Approach starting point
N30 TRANS X10 Y10 ; Absolute offset
N40 L10 ; Subroutine call
N50 TRANS X50 Y10 ; Absolute offset
N60 L10 ; Subroutine call
N70 M30 ; End of program

Example of turning

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Program code Comment

N.. ...
N10 TRANS X0 Z150 ; Absolute offset
N15 L20 ; Subroutine call
N20 TRANS X0 Z140 (or ATRANS Z-10) ; Absolute offset
N25 L20 ; Subroutine call
N30 TRANS X0 Z130 (or ATRANS Z-10) ; Absolute offset
N35 L20 ; Subroutine call
N.. ...

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 363
Coordinate transformations (frames)
12.3 Programmable zero offset

Substituting instruction, TRANS X Y Z

Translation through the offset values programmed in the specified axis directions (path,
synchronized axes and positioning axes). The last specified settable zero offset (G54 to
G599) is used as a reference.

Note
The TRANS command cancels all frame components of the previously activated
programmable frame.

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75$16

Note
You can use ATRANS to program a translation, which is to be added to existing frames.

Fundamentals
364 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.3 Programmable zero offset

Additive instruction, ATRANS X Y Z

Translation through the offset values programmed in the specified axis directions. The
currently set or last programmed zero point is used as the reference.

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Note
Previously programmed frames are canceled. The settable zero offset remains programmed.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 365
Coordinate transformations (frames)
12.3 Programmable zero offset

12.3.2 Axial zero offset (G58, G59)

Function
G58 and G59 allow translation components of the programmable zero offset (frame) to be
replaced for specific axes. The translation function comprises:
● Absolute component (G58, coarse offset)
● Additive component (G59, fine offset)
Machine manufacturer
These functions can only be used when the fine offset is configured via machine data
MD24000 $MC_FRAME_ADD_COMPONENTS=1. If G58 or G59 is used without a
configured fine offset, alarm "18312 channel %1 block %2 frame: Fine offset not configured"
is output.

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Syntax
G58 X… Y… Z… A… (substituting statement programmed in separate NC block)
G59 X… Y… Z… A… (substituting statement programmed in separate NC block)

Fundamentals
366 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.3 Programmable zero offset

Meaning

G58 Replaces the absolute translation component of the programmable zero offset for
the specified axis, but the programmed additive offset remains valid, (in relation
to the workpiece zero set with G54 to G599)
G59 Replaces the absolute translation component of the programmable zero offset for
the specified axis, but the programmed absolute offset remains valid
X Y Z Offset value in the direction of the specified geometry axis

Example

Program code Comment

N...
N50 TRANS X10 Y10 Z10 ; Absolute translation component X10 Y10 Z10
N60 ATRANS X5 Y5 ; Additive translation component X5 Y5
= total offset X15 Y15 Z10
N70 G58 X20 ; Absolute translation component X20 + addit. X5 Y5
= total offset X15 Y15 Z10
N80 G59 X10 Y10 ; Additive translation component X10 Y10 + absolute X20 Y
10
= total offset X30 Y20 Z10
N...

Description
The absolute translation component is modified by the following commands:
● TRANS
● G58
● CTRANS
● CFINE
● $P_PFRAME[X,TR]

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 367
Coordinate transformations (frames)
12.3 Programmable zero offset

The additive translation component is modified by the following commands:

● ATRANS
● G59
● CTRANS
● CFINE
● $P_PFRAME[X,FI]
The table below describes the effect of various program commands on the absolute and
additive offsets.
Effect of the additive/absolute offset:

command Coarse or Fine or additive Comment

absolute offset offset
TRANS X10 10 unchanged Absolute offset for X
G58 X10 10 unchanged Overwrites absolute offset for X
$P_PFRAME[X,TR] = 10 unchanged Progr. offset in X
10
ATRANS X10 unchanged Fine (old) + 10 Additive offset for X
G59 X10 unchanged 10 Overwriting additive offset for X
$P_PFRAME[X,FI] = unchanged 10 Progr. fine offset in X
10
CTRANS(X,10) 10 0 Offset for X
CTRANS() 0 0 Deselection of offset (including fine
offset component)
CFINE(X,10) 0 10 fine offset in X

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 Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

12.4 Programmable rotation (ROT, AROT, RPL)

Function
ROT/AROT can be used to rotate the workpiece coordinate system around each of the
geometry axes X, Y, Z or through an angle RPL in the selected working plane G17 to G19
(or around the perpendicular infeed axis). This allows inclined surfaces or several workpiece
sides to be machined in one setting.

Syntax
ROT X… Y… Z… Replacing statement for rotation in space
ROT RPL=… Replacing statement for rotation in the plane
AROTX… Y… Z… Additive statement for rotation in space
AROT RPL=… Additive statement for rotation in the plane
All statements must be programmed in a separate NC block.

Meaning

ROT, Absolute rotation in relation to the currently valid workpiece zero set with G54 to
G599
RPL, Rotation in the plane: Angle through which the coordinate system is rotated
(plane set with G17-G19). The sequence in which the rotation is to be performed
can be specified via the machine data. The default setting is the RPY notation (=
Roll, Pitch, Yaw) with Z, Y, X

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Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

AROT, Additive rotation in relation to the currently valid set or programmed zero point
X Y Z Rotation in space: Geometry axes around which the rotation is performed

Example of plane rotation

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With this workpiece, the shapes shown recur in a program. In addition to the zero offset,
rotations have to be performed, as the shapes are not arranged paraxially.

Program code Comment

N10 G17 G54 ; Working plane X/Y, workpiece zero
N20 TRANS X20 Y10 ; Absolute offset
N30 L10 ; Subroutine call
N40 TRANS X55 Y35 ; Absolute offset
N50 AROT RPL=45 ; Rotation of the coordinate system through 45°
N60 L10 ; Subroutine call
N70 TRANS X20 Y40 ; Absolute offset
(resets all previous offsets)
N80 AROT RPL=60 ; Additive rotation through 60°
N90 L10 ; Subroutine call
N100 G0 X100 Y100 ; Retraction
N110 M30 ; End of program

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370 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Example of spatial rotation

In this example, paraxial and inclined workpiece surfaces are to be machined in a clamping.
Precondition: The tool must be aligned perpendicular to the inclined surface in the rotated Z
direction.

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Program code Comment

N10 G17 G54 ; Working plane X/Y, workpiece zero
N20 TRANS X10 Y10 ; Absolute offset
N30 L10 ; Subroutine call
N40 ATRANS X35 ; Additive offset
N50 AROT Y30 ; Rotation around the Y axis
N60 ATRANS X5 ; Additive offset
N70 L10 ; Subroutine call
N80 G0 X300 Y100 M30 ; Retraction, end of program

Example of multiface machining

In this example, identical shapes are machined in two workpiece surfaces perpendicular to
one another via subroutines. In the new coordinate system on the right-hand workpiece
surface, infeed direction, working plane and the zero point have been set up as on the top
surface. Therefore, the conditions required for the subroutine execution still apply: working
plane G17, coordinate plane X/Y, infeed direction Z.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 371
Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

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Program code Comment
N10 G17 G54 ; Working plane X/Y, workpiece zero
N20 L10 ; Subroutine call
N30 TRANS X100 Z-100 ; Absolute offset ;

N40 AROT Y90 ; Rotation of the coordinate system around Y

Y Y

AROT Y90
X Z

N50 AROT Z90 ; Rotation of the coordinate system around Z

X
Y

AROT Z90
Z Z

N60 L10 ; Subroutine call

N70 G0 X300 Y100 M30 ; Retraction, end of program

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372 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Rotation in the plane

The coordinate system is
● rotated in the plane selected with G17 to G19.
Substituting statement, ROT RPL or additive statement, AROT RPL
● current plane, about which there is rotation with RPL= programmed rotation angle.

Note
See "Rotation in space" for more information.

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Plane change

WARNING
If you program a change of plane (G17 to G19) after a rotation, the angles of rotation
programmed for the axes are retained and continue to apply in the new working plane. It is
therefore advisable to deactivate the rotation before a change of plane.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 373
Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Deactivate rotation
For all axes: ROT (without axis parameter)

CAUTION
In both cases, all frame components of the previously programmed frame are reset.

Substituting statement, ROT X Y Z

The coordinate system is rotated through the programmed angle around the specified axes.
The center of rotation is the last specified settable zero offset (G54 to G599).

CAUTION
The ROT command cancels all frame components of the previously activated
programmable frame.

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Note
A new rotation based on existing frames is programmed with AROT.

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374 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Additive statement, AROT X Y Z

Rotation through the angle values programmed in the axis direction parameters. The center
of rotation is the currently set or last programmed zero point.

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Note
For both statements, please note the order and direction of rotation, in which the rotations
are performed (see next page)!

Direction of rotation
The following is defined as the positive direction of rotation: The view in the direction of the
positive coordinate axis and clockwise rotation.

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Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Order of rotation
You can rotate up to three geometry axes simultaneously in one NC block.
The order of the RPY notation or Euler angle, through which the rotations are performed can
be defined in machine data.
MD 10600: FRAME_ANGLE_INPUT_MODE =
● RPY notation (RPY notation is the default setting)
● Euler angles
After that, the sequence Z, Y, X of the rotation is defined as follows:
Rotation around the 3rd geometry axis (Z)
Rotation around the 2nd geometry axis (Y)
Rotation around the 1st geometry axis (X)

Y
0

2
X

This order applies if the geometry axes are programmed in a single block. It also applies
irrespective of the input sequence. If only two axes are to be rotated, the parameter for the
3rd axis (value zero) can be omitted.

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 Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Value range with RPY angle

The angles are defined uniquely only within the following value ranges:
Rotation around 1st geometry axis: -180° ≤ X ≤ +180°
Rotation around 2nd geometry axis: -90° ≤ Y ≤ +90°
Rotation around 3rd geometry axis: -180° ≤ Z ≤ +180°
All possible rotations can be represented with this value range. Values outside the range are
normalized by the control into the above range during writing and reading. This value range
applies to all frame variables.

Examples of reading back in RPY

$P_UIFR[1] = CROT(X, 10, Y, 90, Z, 40)
returns on reading back
$P_UIFR[1] = CROT(X, 0, Y, 90, Z, 30)
$P_UIFR[1] = CROT(X, 190, Y, 0, Z, -200)
returns on reading back
$P_UIFR[1] = CROT(X, -170, Y, 0, Z, 160)
When frame rotation components are read and written, the value range limits must be
observed to ensure that the same results are obtained for read or write, or repeat write
operations.

Value range with Euler angle

The angles are defined uniquely only within the following value ranges:
Rotation around 1st geometry axis: 0° ≤ X ≤ +180°
Rotation around 2nd geometry axis: -180° ≤ Y ≤ +180°
Rotation around 3rd geometry axis: -180° ≤ Z ≤ +180°
All possible rotations can be represented with this value range. Values outside the range are
normalized by the control into the above range. This value range applies to all frame
variables.

CAUTION
To ensure the angles written are read back unambiguously, it is necessary to observe the
defined value ranges.

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Coordinate transformations (frames)
12.4 Programmable rotation (ROT, AROT, RPL)

Note
If you want to define the order of the rotations individually, program the desired rotation
successively for each axis with AROT.

References:
/FB1/Function Manual Basic Functions; Axes, Coordinate Systems, Frames (K2)

The working plane also rotates

The working plane defined with G17, G18 or G19 rotates with the spatial rotation.
Example: Working plane G17 X/Y, the workpiece coordinate system is positioned on the top
surface of the workpiece. Translation and rotation is used to move the coordinate system to
one of the side surfaces. Working plane G17 also rotates. This feature can be used to
program plane destination positions in X/Y coordinates and the infeed in the Z direction.

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Requirement:
The tool must be positioned perpendicular to the working plane. The positive direction of the
infeed axis points in the direction of the toolholder. Specifying CUT2DF activates the tool
radius compensation in the rotated plane. For more information please refer to Section "2D
Tool Compensation, CUT2D CUT2DF".

Fundamentals
378 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.5 Programmable frame rotations with solid angles (ROTS, AROTS, CROTS)

12.5 Programmable frame rotations with solid angles (ROTS, AROTS,

CROTS)

Function
You can specify orientations in space via frame rotations with solid angles ROTS, AROTS,
CROTS. The programming commands ROTS and AROTS have the same effect as ROT and
AROT.

Syntax
When programming the solid angles X and Y, the new X axis lies in the old ZX plane.
ROTS X... Y...
AROTS X... Y...
CROTS X... Y...
When programming the solid angles Z and X, the new Z axis lies in the old YZ plane.
ROTS Z... X...
AROTS Z... X...
CROTS Z... X...
When programming the solid angles Y and Z, the new Y axis lies in the old XY plane.
ROTS Y... Z...
AROTS Y... Z...
CROTS Y... Z...

Meaning

ROTS Frame rotations with solid angles for absolute orientation of a plane in space in
relation to the current valid frame with set workpiece zero for G54 to G599.
AROTS Frame rotations with solid angles for additive orientation of a plane in space in
relation to the current valid frame with set or programmed zero point.
CROTS Frame rotations with solid angles for orientation of a plane in space in relation to
the valid frame in the data management with rotation in the specified axes.
X Y Z A maximum of two solid angles may be specified.
RPL Rotation in the plane: Angle through which the coordinate system is rotated
(plane set with G17-G19)

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Coordinate transformations (frames)
12.6 Programmable scale factor (SCALE, ASCALE)

12.6 Programmable scale factor (SCALE, ASCALE)

Function
With SCALE/ASCALE, you can program scaling factors for all path axes, synchronized axes
and positioning axes in the direction of each specified axis. In this way, the size of a shape
can be changed. You can therefore, for example, take geometrically similar shapes or
different shrinkage allowances into account in the programming.
Deactivate scaling factor
For all axes: SCALE (without axis specification). All frame components of the previously
programmed frame are reset.

Syntax
SCALE X… Y… Z… (Programming of the replacing statement in a separate NC block)
ASCALE X… Y… Z… (Programming of the additive statement in a separate NC block)

Meaning

SCALE Scale up/down absolute in relation to the currently valid coordinate system set
with G54 to G599
ASCALE Scale up/down additive in relation to the currently valid set or programmed
coordinate system
X Y Z Scaling factor in the direction of the specified geometry axis

Milling example
The pocket occurs twice on this workpiece, but with different sizes and rotated in relation to
one another. The machining sequence is stored in the subroutine.
You set the required workpiece zeroes with the zero offset and rotation, scale down the
contour with scaling and then call the subroutine again.

Fundamentals
380 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.6 Programmable scale factor (SCALE, ASCALE)

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Program code Comment

N10 G17 G54 ; Working plane X/Y, workpiece zero
N20 TRANS X15 Y15 ; Absolute offset
N30 L10 ; Machine large pocket
N40 TRANS X40 Y20 ; Absolute offset
N50 AROT RPL=35 ; Rotation in the plane through 35°
N60 ASCALE X0.7 Y0.7 ; Scaling factor for the small pocket
N70 L10 ; Machine small pocket
N80G0 X300 Y100 M30 ; Retraction, end of program

Substituting instruction, SCALE X Y Z

You can specify an individual scale factor for each axis, by which the shape is to be reduced
or enlarged. The scale refers to the workpiece coordinate system set with G54 to G57.

NOTICE
The SCALE command cancels all frame components of the previously activated
programmable frame.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 381
Coordinate transformations (frames)
12.6 Programmable scale factor (SCALE, ASCALE)

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Additive instruction, ASCALE X Y Z

You can program scale changes, which are to be added to existing frames by using the
ASCALE command. In this case, the last valid scale factor is multiplied by the new one.
The currently set or last programmed coordinate system is used as the reference for the
scale change.
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 Coordinate transformations (frames)
12.6 Programmable scale factor (SCALE, ASCALE)

Note
If you program an offset with ATRANS after SCALE, the offset values are also scaled.

CAUTION
Please take great care when using different scale factors! Example: Circular interpolations
can only be scaled using identical factors. You can, however, use different scale factors to
program distorted circles, for example.

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Coordinate transformations (frames)
12.7 Programmable mirroring (MIRROR, AMIRROR)

12.7 Programmable mirroring (MIRROR, AMIRROR)

Function
MIRROR/AMIRROR can be used to mirror workpiece shapes on coordinate axes. All
traversing movements, which are programmed after the mirror call, e.g. in the subroutine,
are executed in the mirror image.

Syntax
MIRROR X0 Y0 Z0 (substituting instruction programmed in a separate NC block)
AMIRROR X0 Y0 Z0 (additive instruction programmed in a separate NC block)

Meaning

MIRROR Absolute mirror image with reference to the currently valid coordinate system
set with G54 to G599
AMIRROR Additive mirror image with reference to the currently valid set or programmed
coordinate system
X Y Z Geometry axis whose direction is to be changed. The value specified here can
be chosen freely, e.g. X0 Y0 Z0.

Fundamentals
384 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.7 Programmable mirroring (MIRROR, AMIRROR)

Example of mirroring milling

Program the contour shown here once as a subroutine and generate the three other
contours with a mirror operation. The workpiece zero is located at the center of the contours.

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Program code Comment

N10 G17 G54 ; Working plane X/Y, workpiece zero
N20 L10 ; Machine first contour at top right
N30 MIRROR X0 ; Mirror Z axis (the direction is changed in
X)
N40 L10 ; Machine second contour at top left
N50 AMIRROR Y0 ; Mirror Y axis (the direction is changed in
Y)
N60 L10 ; Machine third contour at bottom left
N70 MIRROR Y0 ; MIRROR resets previous frames. Mirror Y axis
(the direction is changed in Y)
N80 L10 ; Machine fourth contour at bottom right
N90 MIRROR ; Deactivate mirroring
N100 G0 X300 Y100 M30 ; Retraction, end of program

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 385
Coordinate transformations (frames)
12.7 Programmable mirroring (MIRROR, AMIRROR)

Example of mirroring for turning

The actual machining is stored as a subroutine and the execution at the respective spindle is
implemented through mirroring and offsets.

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Program code Comment

N10 TRANS X0 Z140 ; Zero offset to W
N.. ... ; Machining of the first side with spindle 1
N30 TRANS X0 Z600 ; Zero offset to spindle 2
N40 AMIRROR Z0 ; Mirroring of the Z axis
N50 ATRANS Z120 ; Zero offset to W1
N.. ... ; Machining of the second side with spindle 2

Fundamentals
386 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.7 Programmable mirroring (MIRROR, AMIRROR)

Substituting instruction, MIRROR X Y Z

The mirror is programmed by means of an axial change of direction in the selected working
plane.
Example: Working plane G17 X/Y
The mirror (on the Y axis) requires a change of direction on X and is subsequently
programmed with MIRROR X0. The contour is then mirrored on the opposite side of the
mirror axis Y.

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The mirror image refers to the coordinate axes set with G54 to G57.

CAUTION
The MIRROR command cancels all previously set programmable frames.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 387
Coordinate transformations (frames)
12.7 Programmable mirroring (MIRROR, AMIRROR)

Additive instruction, AMIRROR X Y Z

A mirror image, which is to be added to an existing transformation, is programmed with
AMIRROR. The currently set or last programmed coordinate system is used as the
reference.

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Deactivate mirroring
For all axes: MIRROR (without axis parameter)
All frame components of the previously programmed frame are reset.

Note
The mirror command causes the control to automatically change the path compensation
commands (G41/G42 or G42/G41) according to the new machining direction.

Fundamentals
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 Coordinate transformations (frames)
12.7 Programmable mirroring (MIRROR, AMIRROR)

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The same applies to the direction of circle rotation (G2/G3 or G3/G2).

Note
If you program an additive rotation with AROT after MIRROR, you may have to work with
reversed directions of rotation (positive/negative or negative/positive). Mirrors on the
geometry axes are converted automatically by the control into rotations and, where
appropriate, mirrors on the mirror axis specified in the machine data. This also applies to
settable zero offsets.

Machine manufacturer
● You can set the axis, around which mirroring is performed, via machine data MD.
MD 10610 = 0: Mirroring is performed in relation to the programmed axis (negation of
values).
MD 10610 = 1 or 2 or 3: Depending on the data setting, mirroring is performed in relation
to a specific reference axis (1=X axis; 2=Y axis; 3=Z axis) and rotations of two other
geometry axes.
● MD10612 MIRROR_TOGGLE = 0 can be used to define that the programmed values are
always evaluated. A value of 0, i.e., MIRROR X0, deactivates the mirroring of the axis,
and values not equal to 0 cause the axis to be mirrored if it is not already mirrored.

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Coordinate transformations (frames)
12.8 Frame generation according to tool orientation (TOFRAME, TOROT, PAROT)

12.8 Frame generation according to tool orientation (TOFRAME, TOROT,

PAROT)

Function
TOFRAME generates a rectangular frame whose Z axis coincides with the current tool
orientation. You can use this function to retract the tool after a tool breakage in a 5-axis
program without collision, simply by retracting the Z axis. The resulting frame describing the
orientation is written in the system variable for the programmable frame $P_PFRAME.
Only the rotation component is overwritten with TOROT in the programmed frame. All other
components remain unchanged.
PAROT aligns the workpiece on the workpiece coordinate system (WCS).
Machine manufacturer
The position of the two axes X and Y can be defined in MD21110:
X_AXES_IN_OLD_X_Z_PLANE where X is rotated around Z into the existing X-Z plane.

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Fundamentals
390 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Coordinate transformations (frames)
12.8 Frame generation according to tool orientation (TOFRAME, TOROT, PAROT)

Syntax

TOFRAME Frame rotation in tool direction

TOFRAMEZ or TOFRAMEY or Z/Y/X axis parallel to tool orientation
TOFRAMEX
TOROTOF Frame rotation in tool direction OFF
Or frame rotation on with
TOROT or TOROTZ or TOROTY Z/Y/X axis parallel to tool orientation
or TOROTX
PAROT Align workpiece coordinate system (WCS) on workpiece
PAROTOF Deactivate workpiece-related frame rotation

Meaning

TOFRAME Frame rotation in tool direction

The new frame, whose Z axis is pointing in the tool direction, is applicable
after the block containing TOFRAME. TOROTOF deactivates the frame
rotation in tool direction.
TOFRAMEZ Z axis parallel to tool orientation
TOFRAMEY
TOFRAMEX Y axis parallel to tool orientation
X axis parallel to tool orientation
TOROTOF Frame rotation in tool direction OFF
TOROT Frame rotation ON Z axis parallel to tool orientation. The rotation defined
by TOROT is the same as that defined with TOFRAME.
TOROTZ Frame rotation ON Z axis parallel to tool orientation
TOROTY
TOROTX Frame rotation ON Y axis parallel to tool orientation
Frame rotation ON X axis parallel to tool orientation
PAROT Align workpiece coordinate system (WCS) on workpiece. Translations,
scaling and mirroring in the active frame remain valid. The workpiece-
related frame rotation activated with PAROT is deactivated with
PAROTOF.
PAROTOF Deactivate workpiece-related frame rotation

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Coordinate transformations (frames)
12.8 Frame generation according to tool orientation (TOFRAME, TOROT, PAROT)

Milling with working plane G17

TOFRAME or TOROT defines frames whose Z axes point in the tool direction. This definition
is tailored to milling operations, for which working plane G17 X/Y of the 1st – 2nd geometry
axis is typically active.
Turning with working plane G18 or G19
Turning operations in particular, and active G18 or G19 in general, require frames, with
which the tool is aligned in the X or Y axis. A frame of this type can be defined with G codes
● TOFRAMEX TOROTX
● TOFRAMEY TOROTY
● TOFRAMEZ
TOROTZ. This functionality of TOFRAME and TOFRAMEZ or TOROT and TOROTZ is
identical in each case.

Example of TOFRAME

Program code Comment

N100 G0 G53 X100 Z100 D0
N120 TOFRAME
N140 G91 Z20 ; The frame TOFRAME is included; all programmed
geometry axis movements
refer to TOFRAME
N160 X50
...

Milling with working plane G17

TOFRAME or TOROT defines frames whose Z axes point in the tool direction. This definition
is tailored to milling operations, for which working plane G17 X/Y of the 1st – 2nd geometry
axis is typically active.

Fundamentals
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 Coordinate transformations (frames)
12.8 Frame generation according to tool orientation (TOFRAME, TOROT, PAROT)

Turning with working plane G18 or G19

Turning operations in particular, and active G18 or G19 in general, require frames, with
which the tool is aligned in the X or Y axis. A frame of this type can be defined with G codes
● TOFRAMEX TOROTX
● TOFRAMEY TOROTY
● TOFRAMEZ
TOROTZ. This functionality of TOFRAME and TOFRAMEZ or TOROT and TOROTZ is
identical in each case.

Assigning axis direction

If one of the G codes TOFRAMEX, TOFRAMEY, TOROTX, TOROTY is programmed
instead of TOFRAME(Z) or TOROT(Z), the axis directions are assigned as shown in the
table below:

TOFRAME (Z), TOFRAMEY, TOFRAMEX,

TOROT (Z) TOROTY TOROTX
Z Y X Tool direction (applicate)
X Z Y Secondary axis (abscissa)
Y X Z Secondary axis (ordinate)

Note
After tool orientation has been programmed with TOFRAME, all the programmed geometry
axis movements refer to the frame generated by this programming.

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Coordinate transformations (frames)
12.8 Frame generation according to tool orientation (TOFRAME, TOROT, PAROT)

Note
Separate system frame for TOFRAME or TOROT
The frames resulting from TOFRAME or TOROT can be written in a separate system frame
$P_TOOLFRAME.
This can be done by setting bit 3 in machine data MD 28082: MM_SYSTEM_FRAME_MASK.
The programmable frame remains unchanged. Differences occur when the programmable
frame is processed further elsewhere.

Note
NC command TOROT ensures consistent programming with active orientable tool carriers
for each kinematic type. Just as in the situation for rotatable toolholders, PAROT can be
used to activate a rotation of the work table. This defines a frame, which changes the
position of the workpiece coordinate system in such a way that no compensatory movement
is performed on the machine. Language command PAROT is not rejected if no orientable
toolholder is active.

References: For further explanations about machines with orientable toolholder, see:
/PGA/Programming Manual Advanced; "Tool Orientation"
/FB1/Function Manual Basic Functions; Tool Offset (W1),
"Orientable Toolholders"

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 Coordinate transformations (frames)
12.9 Deselect frame (G53, G153, SUPA, G500)

12.9 Deselect frame (G53, G153, SUPA, G500)

Function
When executing certain processes, such as approaching the tool change location or initial
setting, various frame components must be defined and suppressed at different times. Set
frames can either be deactivated modally or suppressed non-modally.
The programmable frames are cleared by specifying the TRANS, ROT, SCALE, MIRROR
component without an axis.
Deactivate coordinate transformation
A distinction must be made here between non-modal suppression and modal deactivation.

Syntax
G53
G153
SUPA
G500

Meaning
Non-modal suppression:

G53 Deactivation of all programmable and settable frames

G153 Deactivation of all programmable, settable and basic frames
SUPA Deactivation of all programmable, settable frames, DRF handwheel offsets,
external zero offsets and preset offset

Modal deactivation:

G500 Deactivation of all settable frames if G500 does not contain a value

Deleting FRAMES:

TRANS, ROT, SCALE; Programming without specifying the axis → clearing the
MIRROR
programmable frames

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Coordinate transformations (frames)
12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF)

12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF,

CORROF)

Function
For DRF handwheel offsets, all active axes of the channel can be deactivated with DRFOF. If,
for example, a certain axis with an overlaid movement or a position offset is to interpolate,
then either the DRF offsets or the position offset can be deselected for this axis with the
CORROF statement. The axis is not traversed.

Syntax
DRFOF
CORROF(axis,string[axis,string])
CORROF(axis,string)
CORROF(axis)
CORROF()

Meaning
Modal deactivation:

DRFOF Deactivation (deselection) of DRF

handwheel offsets for all active axes in the
channel
CORROF(axis,DRF[AXIS,AA_OFF]) Deactivation (deselection) of axial DRF
offsets and the position offset for individual
axes as a result of $AA_OFF
CORROF(axis) All active overlaid motions are deselected
Axis Axis identifiers (for channel, geometry or
machine axis)
String == DRF DRF offset of axis is deselected
String == AA_OFF Position offset of axis is deselected due to
$AA_OFF

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 Coordinate transformations (frames)
12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF)

The following expansions are possible:

String == ETRANS An active zero offset is deselected

String == FTOCOF Acts like FTOCOF (deactivate online tool offset)

Example of axial DRF deselection

A DRF offset is generated in the X axis by DRF handwheel traversal. No DRF offsets are
operative for any other axes in the channel.
N10 CORROF(X,"DRF") acts like DRFOF( )
A DRF offset is generated in the X and Y axes by DRF handwheel traversal. No DRF offsets
are operative for any other axes in the channel.

Program code Comment

N10 CORROF(X,"DRF") ; Only the DRF offset of the X axis is deselected; the X
axis is not traversed
; The DRF offset of the Y axis is retained
; With DRFOF( ), both offsets would have been deselected

Example of axial DRF deselection and $AA_OFF deselection

A DRF offset is generated in the X axis by DRF handwheel traversal. No DRF offsets are
operative for any other axes in the channel.

Program code Comment

N10 WHEN TRUE DO $AA_OFF[X] = 10 G4 F5 ; A position offset == 10 is
interpolated for the X axis
N70 CORROF(X,"DRF",X,"AA_OFF") ; Only the DRF offset of the X axis
is deselected; the X axis is not
traversed
; The DRF offset of the Y axis is
retained

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Coordinate transformations (frames)
12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF)

Example of deselecting AA_OFF

A position offset of the X axis is deselected with: CORROF(X,"AA_OFF") with $AA_OFF[X] =
0 and added to the current position of the X axis.
The following programming example shows the relevant programming commands for the X
axis that were previously interpolated with a position offset of 10:

Program code Comment

N10 WHEN TRUE DO $AA_OFF[X] = 10 G4 ; A position offset == 10 is interpolated for
F5 the X axis
N80 CORROF(X,"AA_OFF") ; Delete position offset of the X axis
The X axis is not traversed

Description
CORROF
A preprocessing stop is initiated and the position component of the deselected overlaid
motion (DRF offset or position offset) is transferred to the position in the basic coordinate
system. Since no axis is traversed, the value of $AA_IM[axis] does not change. Owing to the
deselected overlaid motion, only the value of system variable $AA_IW[axis] is altered.
After the position offset, e.g., for one axis, has been deselected by
$AA_OFF, the system variable
$AA_OFF_VAL of this axis is zero.
Setting bit 2 of MD 36750: AA_OFF_MODE to "1" when $AA_OFF is changed enables
interpolation of the position offset as an overlaid motion in JOG mode.

Note
CORROF is possible only from the parts program, not via synchronized actions.
Alarm 21660 is output if a synchronized action is active when the position offset is
deselected via parts program command CORROF(axis,"AA_OFF"). $AA_OFF is deselected
simultaneously and not set again. If the synchronized action becomes active later in the
block after CORROF, $AA_OFF remains set and a position offset is interpolated.
If a CORROF command has been programmed for an axis and this axis is active in a
different channel, then an axis replacement sends the axis to the other channel with machine
data 30552: AUTO_GET_TYPE = 0. This causes the DRF offset and any other position
offset to be deselected.

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Auxiliary function outputs 13
Function
The auxiliary function output sends information to the PLC indicating when the NC program
needs the PLC to perform specific switching operations on the machine tool. The auxiliary
functions are output, together with their parameters, to the PLC interface. The values and
signals must be processed by the PLC user program.

Auxiliary functions
The following auxiliary functions can be transferred to the PLC:

Auxiliary Function Address

Tool selection T
Tool offset D, DL
Feedrate F/FA
Spindle speed S
M functions M
H functions H

For each function group or single function, machine data is used to define whether the output
is triggered before, with or after the traversing motion.
The PLC can be programmed to acknowledge auxiliary function outputs in various ways.

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Auxiliary function outputs
12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF)

Properties
Important properties of the auxiliary function are shown in the following overview table:

Function Address extension Value Explanations Maximum

number per
Meaning Range Range Type Meaning
block
M - 0 0 ... 99 INT Function The address extension is 0 5
(implicit) for the range between 0
and 99.
Mandatory without address
extension:
M0, M1, M2, M17, M30
Spindle no. 1 - 12 1 ... 99 INT Function M3, M4, M5, M19, M70 with
address extension spindle
no. (e.g. M2=5; spindle stop
for spindle 2).
Without spindle number, the
function applies for the
master spindle.
Any 0 - 99 100 ... INT Function User M function*
2147483647
S Spindle no. 1 - 12 0 ... ± 1,8*10308 REAL Spindle Without spindle number, the 3
speed function applies for the
master spindle.
H Any 0 - 99 0 ... Any Functions have no effect in 3
± 2147483647 INT the NCK; only to be
implemented on the PLC.*
± 1,8*10308 REAL
T Spindle no. 1 - 12 0 - 32000 (or INT Tool Tool names are not passed 1
(for active tool names with selection to the PLC interface.
tool active tool
manageme management)
nt)
D - - 0 - 12 INT Tool offset D0: Deselection 1
selection Default setting: D1
DL Location- 1-6 0 ... ± 1,8*10308 REAL Tool fine Refers to previously 1
dependent offset selected D number.
offset selection
F - - 0.001 - REAL Path 6
999 999,999 feedrate
FA Axis No. 1 - 31 0.001 - REAL Axial
999 999,999 feedrate
* The meaning of the functions is defined by the machine manufacturer (see machine manufacturer's specifications).

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12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF)

Further information
Number of function outputs per NC block
Up to 10 function outputs can be programmed in one NC block. Auxiliary functions can also
be output from the action component of synchronized actions.
References:
Function Manual, Synchronized Actions
Grouping
The functions described can be grouped together. Group assignment is predefined for some
M commands. The acknowledgment behavior can be defined by the grouping.
High-speed function outputs (QU)
Functions, which have not been programmed as high-speed outputs, can be defined as high-
speed outputs for individual outputs with the keyword QU. Program execution continues
without waiting for the acknowledgment of the miscellaneous function (the program waits for
the transport acknowledgment). This helps avoid unnecessary hold points and interruptions
to traversing movements.

Note
The appropriate machine data must be set for the "High-speed function outputs" function
(→ machine manufacturer).

Function outputs for travel commands

The transfer of information as well as waiting for the appropriate response takes time and
therefore influences the traversing movements.

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Auxiliary function outputs
12.10 Deselect DRF (handwheel) offsets, overlaid motions (DRFOF, CORROF)

High-speed acknowledgment without block change delay

Block change behavior can be influenced by machine data. When the "without block change
delay" setting is selected, the system response with respect to high-speed auxiliary functions
is as follows:

Auxiliary function output Response

Before the movement The block transition between blocks with high-speed auxiliary functions
occurs without interruption and without a reduction in velocity. The
auxiliary function output takes place in the first interpolation cycle of the
block. The following block is executed with no acknowledgment delay.
During the movement The block transition between blocks with high-speed auxiliary functions
occurs without interruption and without a reduction in velocity. The
auxiliary function output takes place during the block. The following block
is executed with no acknowledgment delay.
After the movement The movement stops at the end of the block. The auxiliary function output
takes place at the end of the block. The following block is executed with
no acknowledgment delay.

CAUTION
Function outputs in continuous-path mode
Function outputs before the traversing movements interrupt the continuous-path mode
(G64/G641) and generate an exact stop for the previous block.
Function outputs after the traversing movements interrupt the continuous-path mode
(G64/G641) and generate an exact stop for the current block.
Important: A wait for an outstanding acknowledgment signal from the PLC can also
interrupt the continuous-path mode, e.g. for M command sequences in blocks with
extremely short path lengths.

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13.1 M functions

13.1 M functions

Function
The M functions initiate switching operations, such as "Coolant ON/OFF" and other functions
on the machine.

Syntax
M<value>
M[<address extension>] = <value>

Meaning

M Address for the programming of the M functions.

<address extension> The extended address notation applies for some M
functions (e.g. specification of the spindle number for
spindle functions).
<value> Assignment is made to a certain machine function through
the value assignment (M function number).
Type: INT
Range of values: 0 ... 2147483647 (max. INT value)

Predefined M functions
Certain important M functions for program execution are supplied as standard with the
control:

M function Meaning
M0* Programmed stop
M1* Optional stop
M2* End of main program with return to beginning of program
M30* End of program (as M2)
M17* End of subroutine
M3 Spindle clockwise
M4 Spindle counterclockwise
M5 Spindle stop
M6 Tool change (default setting)
M70 Spindle is switched to axis mode

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Auxiliary function outputs
13.1 M functions

M function Meaning
M40 Automatic gear change
M41 Gear stage 1
M42 Gear stage 2
M43 Gear stage 3
M44 Gear stage 4
M45 Gear stage 5

NOTICE
Extended address notation cannot be used for the functions marked with *.
The commands M0, M1, M2, M17 and M30 are always issued after the traversing movement.

M functions defined by the machine manufacturer

All free M function numbers can be used by the machine manufacturer, e.g. for switching
functions to control the clamping devices or for the activation/deactivation of further machine
functions.

NOTICE
The functions assigned to the free M function numbers are machine-specific. A certain M
function can therefore have a different functionality on another machine.
Refer to the machine manufacturer's specifications for the M functions available on a
machine and their functions.

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13.1 M functions

Examples
Example 1: Maximum number of M functions in a block

Program code Comment

N10 S...
N20 X... M3 ; M function in the block with axis movement,
spindle accelerates before the X axis
movement
N180 M789 M1767 M100 M102 M376 ; Maximum of five M functions in the block

Example 2: M function as high-speed output

Program code Comment

N10 H=QU(735) ; High-speed output for H735
N10 G1 F300 X10 Y20 G64 ;
N20 X8 Y90 M=QU(7) ; High-speed output for M7

M7 has been programmed as high-speed output so that the continuous-path mode (G64) is
not interrupted.

Note
Only use this function in special cases as, for example, the chronological alignment is
changed in combination with other function outputs.

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Auxiliary function outputs
13.1 M functions

Further information about the predefined M commands

Programmed stop: M0
The machining is stopped in the NC block with M0. You can now remove chips, remeasure,
etc.
Programmed stop 1 - optional stop: M1
M1 can be set via:
● HMI / dialog box "Program Control"
or
● NC/PLC interface
The program execution of the NC is stopped by the programmed blocks.
Programmed stop 2 - an auxiliary function associated with M1 with stop in the program
execution
Programmed stop 2 can be set via the HMI / dialog box "Program Control" and allows the
technological sequences to be interrupted at any time at the end of the part to be machined.
In this way, the operator can interrupt the production, e.g. to remove chip flows.
End of program: M2, M17, M30
A program is terminated with M2, M17 or M30 and reset to the start of the program. If the
main program is called from another program (as subroutine), M2/M30 has the same effect
as M17 and vice versa, i.e. M17 has the same effect in the main program as M2/M30.
Spindle functions: M3, M4, M5, M19, M70
The extended address notation with specification of the spindle number applies for all
spindles.
Example:

Program code Comment

M2=3 ; Clockwise spindle rotation for the second spindle

If an address extension has not been programmed, the function applies for the master
spindle.

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Supplementary commands 14
14.1 Messages (MSG)

Function
Messages can be programmed to provide the user with information about the current
machining situation during program execution.

Syntax
MSG("<message text>")
MSG ()

Meaning

MSG Keyword for the programming of a message text.

<message text> Character string that is to be displayed as a message.
Type: STRING
A message text can be up to 124 characters long and is displayed
in two lines (2*62 characters).
Contents of variables can also be displayed in message texts.
A message can be deleted by programming MSG() without
message text.

Examples
Example 1: Activating/deleting messages

Program code Comment

N10 MSG ("Roughing the contour") ; Activate message
N20 X… Y…
N …
N90 MSG () ; Delete message from N10

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Supplementary commands
14.2 Working area limitation

Example 2: Message text contains variable

Program code Comment

N10 R12=$AA_IW [X] ; Current position of the X axis in
R12
N20 MSG ("Check position of X axis"<<R12<<) ; Activate message
N …
N90 MSG () ; Delete message from N20

14.2 Working area limitation

14.2.1 Working area limitation in BCS (G25/G26, WALIMON, WALIMOF)

Function
G25/G26 limits the working area (working field, working space) in which the tool can traverse.
The areas outside the working area limitations defined with G25/G26 are inhibited for any
tool motion.

;
3URWHFWHG]RQH

:RUNLQJDUHD

=
0 :

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14.2 Working area limitation

The coordinates for the individual axes apply in the basic coordinate system:

=
<

*

* =
<


*
 <
; 
*
*
=

*
< ;
%DVLF  *
FRRUGLQDWH
FRQWURO ;

The working area limitation for all validated axes must be programmed with the WALIMON
command. The WALIMOF command deactivates the working area limitation. WALIMON is the
default setting. Therefore, it only has to be programmed if the working area limitation has
been disabled beforehand.

Programming
G25 X…Y…Z… Programming in a separate NC block
G26 X…Y…Z… Programming in a separate NC block
WALIMON
WALIMOF

Meaning

G25, X Y Z Lower working area limitation, value assignment in the channel

axes in the basic coordinate system
G26, X Y Z Upper working area limitation, value assignment in the channel
axes in the basic coordinate system
WALIMON Switch on working area limitation for all axes
WALIMOF Working area limitation switch-off for all axes

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Supplementary commands
14.2 Working area limitation

In addition to programming values using G25/G26, values can also be entered using axis-
specific setting data:
SD43420 $SA_WORKAREA_LIMIT_PLUS (Working area limitation plus)
SD43430 $SA_WORKAREA_LIMIT_MINUS (Working area limitation minus)
Activating and de-activating the working area limitation, parameterized using SD43420 and
SD43430, are carried-out for a specific direction using the axis-specific setting data that
becomes immediately effective:
SD43400 $SA_WORKAREA_PLUS_ENABLE (Working area limitation active in the positive
direction)
SD43410 $SA_WORKAREA_MINUS_ENABLE (Working area limitation active in the
negative direction)
Using the direction-specific activation/de-activation, it is possible to limit the working range
for an axis in just one direction.

Note
The programmed working area limitation, programmed with G25/G26, has priority and
overwrites the values entered in SD43420 and SD43430.

Note
G25/G26 can also be used to program limits for spindle speeds at the address S. For further
information, please refer to "Feed control and spindle motion".

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14.2 Working area limitation

Example of turning
Using the working area limitation G25/26, the working area of a lathe is limited so that the
surrounding devices and equipment - such as revolver, measuring station, etc. - are
protected against damage.
Default setting: WALIMON

3URWHFWHG]RQH
;%

;


:RUNLQJDUHD

0 : =%


;

 

Program code Comment

N10 G0 G90 F0.5 T1 ;
N20 G25 X-80 Z30 ; Define the lower limit for the individual coordinate
axes
N30 G26 X80 Z330 ; Define the upper limit
N40 L22 ; Cutting program
N50 G0 G90 Z102 T2 ; To tool change point
N60 X0
N70 WALIMOF ; Deactivate working area limitation
N80 G1 Z-2 F0.5 ; Drilling
N90 G0 Z200 ; Back
N100 WALIMON ; Activate working area limitation
N110 X70 M30 ; End of program

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Supplementary commands
14.2 Working area limitation

Description
Reference point at the tool
When tool length compensation is active, the tip of the tool is monitored as reference point,
otherwise it is the toolholder reference point.
Consideration of the tool radius must be activated separately. This is done using channel-
specific machine data:
MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS
If the tool reference point lies outside the working area defined by the working area limitation
or if this area is left, the program sequence is stopped.

Note
If transformations are active, then tool data are taken into consideration (tool length and tool
radius) can deviate from the described behavior.
References:
/FB1/Function Manual, Basic Functions; Axis Monitoring, Protection Zones (A3),
Chapter: "Monitoring the working area limitation"

Programmable working area limitation, G25/G26

An upper (G26) and a lower (G25) working area limitation can be defined for each axis.
These values are effective immediately and remain effective for the corresponding MD
setting (→ MD10710 $MN_PROG_SD_RESET_SAVE_TAB) after RESET and after being
powered-up again.

Note
The CALCPOSI subroutine is described in the Job Planning Programming Manual Using this
subroutine before any traversing motion is made, it can be checked as to whether the
predicted path is moved through taking into account the working area limits and/or the
protection zones.

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14.2 Working area limitation

14.2.2 Working area limitation in WCS/SZS (WALCS0 ... WALCS10)

Function
In addition to the working area limitation with WALIMON (refer to "Working area limitation in
BCS") there is an additional working area limitation that is activated using the G commands
WALCS1 - WALCS10. Contrary to the working area limitation with WALIMON, the working area
here is not in the basic coordinate system, but is limited coordinate system-specific in the
workpiece coordinate system (WCS) or in the settable zero system (SZS).
Using the G commands WALCS1 - WALCS10, a data set (working area limitation group) is
selected under the up to ten channel-specific data sets for the coordinate system-specific
working area limitations. A data set contains the limit values for all axes in the channel. The
limitations are defined by channel-specific system variables.

Application
The working area limitation with WALCS1 - WALCS10 ("Working area limitation in the
WCS/SZS") is mainly used for working area limitations for conventional lathes. They allow
the programmer to use the defined "end stops" - when moving the axis "manually" to define
a working area limitation referred to the workpiece.

Syntax
The "working area limitation in the "WCS/SZS" is activated by selecting a working area
limitation group. G commands are used to make the selection:

WALCS1 Activating working area limitation group No. 1

...
WALCS10 Activating working area limitation group No. 10
The de-activation of the "working area limitation in the WCS/SZS" is realized using G
commands:

WALCS0 De-activating the active working area limitation group

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Supplementary commands
14.2 Working area limitation

Meaning
The working area limitations of the individual axes are set and the reference frame (WCS or
SZS), in which the working area limits are to be effective, activated with WALCS1 - WALCS10,
by writing to channel-specific system variables:

System variable Description

Setting the working area limits
$AC_WORKAREA_CS_PLUS_ENABLE [WALimNo, ax] Validity of the working area limitation in the positive axis
direction.
$AC_WORKAREA_CS_LIMIT_PLUS [WALimNo, ax] Working area limitation in the positive axis direction.
Only effective, if:
$AC_WORKAREA_CS_PLUS_ENABLE = TRUE
$AC_WORKAREA_CS_MINUS_ENABLE [WALimNo, ax] Validity of the working area limitation in the negative axis
direction.
$AC_WORKAREA_CS_LIMIT_MINUS [WALimNo, ax] Working area limitation in the negative axis direction.
Only effective, if:
$AC_WORKAREA_CS_PLUS_ENABLE = TRUE
Selecting the reference frame
$AC_WORKAREA_CS_COORD_SYSTEM [WALimNo] Coordinate system to which the working area limitation
group is referred:
Value Description
1 Workpiece coordinate system (WCS)
3 Settable zero system (SZS)

<WALimNo>: Number of the working area limitation group.

<ax>: Channel axis name of the axis for which the value is valid.

Example
Three axes are defined in the channel: X, Y and Z
A working area limitation group No. 2 is to be defined and then activated in which the axes
are to be limited in the WCS acc. to the following specifications:
● X axis in the plus direction: 10 mm
● X axis in the minus direction: No limitation
● Y axis in the plus direction: 34 mm
● Y axis in the minus direction: -25 mm
● Z axis in the plus direction: No limitation
● Z axis in the minus direction: -600 mm

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14.2 Working area limitation

Program code Comment

... ;
N51 $AC_WORKAREA_CS_COORD_SYSTEM[2] = 1 ; The working area
limitation of working area
limitation group 2 applies
in the WCS.
N60 $AC_WORKAREA_CS_PLUS_ENABLE[2,X] = TRUE ;
N61 $AC_WORKAREA_CS_LIMIT_PLUS[2,X] = 10 ;
N62 $AC_WORKAREA_CS_MINUS_ENABLE[2,X] = FALSE ;
N70 $AC_WORKAREA_CS_PLUS_ENABLE[2,Y] = TRUE ;
N73 $AC_WORKAREA_CS_LIMIT_PLUS[2,Y] = 34 ;
N72 $AC_WORKAREA_CS_MINUS_ENABLE[2,Y] = TRUE ;
N73 $AC_WORKAREA_CS_LIMIT_MINUS[2,Y] = –25 ;
N80 $AC_WORKAREA_CS_PLUS_ENABLE[2,Z] = FALSE ;
N82 $AC_WORKAREA_CS_MINUS_ENABLE[2,Z] = TRUE ;
N83 $AC_WORKAREA_CS_LIMIT_PLUS[2,Z] = –600 ;
...
N90 WALCS2 ; Activating working area
limitation group No. 2.
...

Description
Effectivity
The working area limitation with WALCS1 - WALCS10 acts independently of the working area
limitation with WALIMON. If both functions are active, that limit becomes effective which the
axis motion first reaches.
Reference point at the tool
Taking into account the tool data (tool length and tool radius) and therefore the reference
point at the tool when monitoring the working area limitation corresponds to the behavior for
the working area limitation with WALIMON.

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Supplementary commands
14.3 Reference point approach (G74)

14.3 Reference point approach (G74)

Function
When the machine has been powered up (where incremental position measuring systems
are used), all of the axis slides must approach their reference mark. Only then can traversing
movements be programmed.
The reference point can be approached in the NC program with G74.

Syntax
G74 X1=0 Y1=0 Z1=0 A1=0 … Programmed in a separate NC block

Meaning

G74 Reference point approach

X1=0 Y1=0 The stated machine axis address
Y1=0…X1 Y1 Y1
A1=0 B1=0 C1=0… X1, Y1, Z1… Reference point approach for linear axes.
A1, B1, C1… Reference point approach for rotary axes.

Note
A transformation must not be programmed for an axis which is to approach the reference
point with G74.

The transformation is deactivated with command TRAFOOF.

Example
When the measurement system is changed, the reference point is approached and the
workpiece zero point is initialized.

Program code Comment

N10 SPOS=0 ; Spindle in position control
N20 G74 X1=0 Y1=0 Z1=0 C1=0 ; Reference point approach for linear axes and rotary
axes
N30 G54 ; Zero offset
N40 L47 ; Cutting program
N50 M30 ; End of program

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14.4 Approaching a fixed point (G75)

14.4 Approaching a fixed point (G75)

Function
You can approach fixed points (e.g. tool change points, loading points, pallet change points,
etc.) with G75.
The fixed points are positions in the machine coordinate system that are stored in the
machine data. A maximum of four fixed points can be defined for each axis.
The fixed points can be approached from every NC program irrespective of the current tool
or workpiece positions.

Syntax
G75 FP=<n> X1=0 Y1=0 Z1=0 U1=0 ...

Meaning

G75 Approaching a fixed point

The approach of fixed points is described by the fixed point and the
axes that are to be traversed to the fixed point.
Active: Non-modal
FP=<n> Fixed point that is to be approached.
The fixed point number is specified: <n>
Value range of <n>: 1, 2, 3, 4
If no fixed point is specified, fixed point 1 is approached automatically.
X1=0 Y1=0 Machine axes to be traversed to the fixed point
Z1=0
Specify the axes with value "0" with which the fixed point is to be
approached simultaneously. Each axis traversed with the maximum
axial velocity.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 417
Supplementary commands
14.4 Approaching a fixed point (G75)

Supplementary conditions
● The following requirements must be satisfied to approach fixed points with G75:
– The axes to be traversed must be referenced.
– A kinematic transformation may not be active.
– The axis to be traversed may not be a following axis of an active coupling.
● Offset values active
Active offset values (DRF, external zero offset, synchronized action offset $AA_OFF,
online tool offset) are also traversed. The fixed point corresponds to the actual value in
the MCS.
Changes to the DRF external zero offset are not traversed while the G75 block is in the
preprocessing and main run. The user should prevent this with STOPRE before the G75
block.
● Frames active
All active frames are ignored. Traversing is performed in the machine coordinate system.
● Spindle functions in the G75 block
If the spindle is excluded from fixed-point approach, then additional spindle functions (e.g.
positioning with SPOS/SPOSA) can be programmed in the G75.

Example

Program code Comment

N10 G75 FP=2 X1=0 Y1=0 Z1=0 ; Approach fixed point 2 in X, Y and Z,
e.g. for tool change
N20 G75 X1=0 ; Approach fixed point 1 in X
N30 M30 ; End of program

References
Function Manual, Extended Functions; Section "Manual and handwheel travel (H1)"

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 Supplementary commands
14.5 Travel to fixed stop (FXS, FXST, FXSW)

14.5 Travel to fixed stop (FXS, FXST, FXSW)

Function
The "Travel to fixed stop" function can be used to establish defined forces for clamping
workpieces, such as those required for tailstocks, quills and grippers. The function can also
be used for the approach of mechanical reference points.

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With sufficiently reduced torque, it is also possible to perform simple measurement

operations without connecting a probe. The "travel to fixed stop" function can be
implemented for axes as well as for spindles with axis-traversing capability.

Syntax
FXS[<axis>]=…
FXST[<axis>]=…
FXSW[<axis>]=…
FXS[<axis>]=… FXST[<axis>]=…
FXS[<axis>]=… FXST[<axis>]=… FXSW[<axis>]=…

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Supplementary commands
14.5 Travel to fixed stop (FXS, FXST, FXSW)

Meaning

FXS Command for activation and deactivation of the "Travel to fixed stop"
function
FXS[<axis>]=1 Activate function
FXS=[<axis>]=0 Deactivate function
FXST Optional command for setting the clamping torque
Specified as % of the maximum drive torque
FXSW Optional command for setting the window width for the fixed stop
monitoring
Specified in mm, inches or degrees
<axis> Machine axis name
Machine axes (X1, Y1, Z1, etc.) are programmed

Note
The commands FXS, FXST and FXSW are modal.
The programming of FXST and FXSW is optional: If no parameter is specified, the last
programmed value or the value set in the relevant machine data applies.

Activate travel to fixed stop: FXS[<axis>] = 1

The movement to the destination point can be described as a path or positioning axis
movement. With positioning axes, the function can be performed across block boundaries.
Travel to fixed stop can be performed simultaneously for several axes and parallel to the
movement of other axes. The fixed stop must be located between the start and end
positions.

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 Supplementary commands
14.5 Travel to fixed stop (FXS, FXST, FXSW)

Example:

Program code Comment

X250 Y100 F100 FXS[X1]=1 FXST[X1]=12.3 FXSW[X1]=2 ; Axis X1 travels with
feed F100 (parameter
optional) to
destination position
X=250 mm.
The clamping torque is
12.3% of the maximum
drive torque,
monitoring is
performed in a 2 mm
wide window.
...

CAUTION
It is not permissible to program a new position for an axis if the "Travel to fixed stop"
function has already been activated for an axis/spindle.
Spindles must be switched to position-controlled mode before the function is selected.

Deactivate travel to fixed stop: FXS[<axis>] = 0

Deselection of the function triggers a preprocessing stop.
The block with FXS[<axis>]=0 may and should contain traversing movements.
Example:

Program code Comment

X200 Y400 G01 G94 F2000 FXS[X1]=0 ; Axis X1 is retracted from the fixed
stop to position X = 200 mm. All other
parameters are optional.
...

CAUTION
The traversing movement to the retraction position must move away from the fixed stop,
otherwise damage to the stop or to the machine may result.
The block change takes place when the retraction position has been reached. If no
retraction position is specified, the block change takes place immediately the torque limit
has been deactivated.

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Supplementary commands
14.5 Travel to fixed stop (FXS, FXST, FXSW)

Clamping torque (FXST) and monitoring window (FXSW)

Any programmed torque limiting FXST is effective from the block start, i.e. the fixed stop is
also approached at a reduced torque. FXST and FXSW can be programmed and changed in
the part program at any time. The changes take effect before traversing movements in the
same block.
Programming of a new fixed stop monitoring window causes a change not only in the
window width, but also in the reference point for the center of the window if the axis has
moved prior to reprogramming. The actual position of the machine axis when the window is
changed is the new window center point.

CAUTION
The window must be selected such that only a breakaway from the fixed stop causes the
fixed stop monitoring to respond.

Further information
Rise ramp
A rate of rise ramp for the new torque limit can be defined in MD to prevent any abrupt
changes to the torque limit setting (e.g. insertion of a quill).
Alarm suppression
The fixed stop alarm can be suppressed for applications by the part program by masking the
alarm in a machine data item and activating the new MD setting with NEW_CONF.
Activating
The commands for travel to fixed stop can be called from synchronized actions or technology
cycles. They can be activated without initiation of a motion, the torque is limited
instantaneously. As soon as the axis is moved via a setpoint, the limit stop monitor is
activated.

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 Supplementary commands
14.5 Travel to fixed stop (FXS, FXST, FXSW)

Activation from synchronized actions

Example:
If the expected event ($R1) occurs and travel to fixed stop is not yet running, FXS should be
activated for axis Y. The torque must correspond to 10% of the rated torque value. The width
of the monitoring window is set to the default.

Program code
N10 IDS=1 WHENEVER (($R1=1) AND ($AA_FXS[Y]==0)) DO $R1=0 FXS[Y]=1 FXST[Y]=10

The normal part program must ensure that $R1 is set at the desired point in time.
Deactivation from synchronized actions
Example:
If an anticipated event ($R3) has occurred and the status "Limit stop contacted" (system
variable $AA_FXS) is reached, then FXS must be deselected.

Program code
IDS=4 WHENEVER (($R3==1) AND ($AA_FXS[Y]==1)) DO FXS[Y]=0 FA[Y]=1000 POS[Y]=0

Fixed stop reached

When the fixed stop has been reached:
● The distance-to-go is deleted and the position setpoint is corrected.
● The drive torque increases to the programmed limit value FXSW and then remains
constant.
● Fixed stop monitoring is activated within the specified window width.

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Supplementary commands
14.5 Travel to fixed stop (FXS, FXST, FXSW)

Supplementary conditions
● Measurement with deletion of distance-to-go
"Measure with deletion of distance-to-go" (MEAS command) and "Travel to fixed stop"
cannot be programmed at the same time in one block.
Exception:
One function acts on a path axis and the other on a positioning axis or both act on
positioning axes.
● Contour monitoring
Contour monitoring is not performed while "Travel to fixed stop" is active.
● Positioning axes
For "Travel to fixed stop" with positioning axes, the block change is performed
irrespective of the fixed stop movement.
● Link and container axes
Travel to fixed stop is also permitted for link and container axes.
The status of the assigned machine axis is maintained beyond the container rotation.
This also applies for modal torque limiting with FOCON.
References:
– Function Manual, Extended Functions; Several Control Panels on Multiple NCUs,
Distributed Systems (B3)
– Programming Manual, Job Planning; Subject: "Travel to fixed stop (FXS and
FOCON/FOCOF)"
● Travel to fixed stop is not possible:
– With gantry axes
– For concurrent positioning axes that are controlled exclusively from the PLC (FXS
must be selected from the NC program).
● If the torque limit is reduced too far, the axis will not be able to follow the specified
setpoint; the position controller then goes to the limit and the contour deviation increases.
In this operating state, an increase in the torque limit may result in sudden, jerky
movements. To ensure that the axis can follow the setpoint, check the contour deviation
to make sure it is not greater than the deviation with an unlimited torque.

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 Supplementary commands
14.6 Acceleration behavior

14.6 Acceleration behavior

14.6.1 Acceleration response, BRISK, SOFT, DRIVE

Function
The following part program commands are available for programming the current
acceleration mode:
● BRISK, BRISKA
The single axes or the path axes traverse with maximum acceleration until the
programmed feedrate is reached (acceleration without jerk limitation).
● SOFT, SOFTA
The single axes or the path axes traverse with constant acceleration until the
programmed feedrate is reached (acceleration with jerk limitation).
● DRIVE, DRIVEA
The single axes or the path axes traverse with maximum acceleration up to a
programmed velocity limit (MD setting!). The acceleration rate is then reduced (MD
setting) until the programmed feedrate is reached.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 425
Supplementary commands
14.6 Acceleration behavior

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Syntax
BRISK
BRISKA(<axis1>,<axis2>,…)
SOFT
SOFTA(<axis1>,<axis2>,…)
DRIVE
DRIVEA(<axis1>,<axis2>,…)

Meaning

BRISK Command for activating the "acceleration without jerk

limitation" for the path axes.
BRISKA Command for activating the "acceleration without jerk
limitation" for single axis movements (JOG, JOG/INC,
positioning axis, oscillating axis, etc.).
SOFT Command for activating the "acceleration with jerk
limitation" for the path axes.
SOFTA Command for activating the "acceleration with jerk
limitation" for single axis movements (JOG, JOG/INC,
positioning axis, oscillating axis, etc.).
DRIVE Command for activating the reduced acceleration above
a configured velocity limit
(MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT)
for the path axes.

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 Supplementary commands
14.6 Acceleration behavior

DRIVEA Command for activating the reduced acceleration above

a configured velocity limit
(MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT)
for single axis movements (JOG, JOG/INC, positioning
axis, oscillating axis, etc.).
(<axis1>,<axis2>,…) Single axes for which the called acceleration mode is to
apply.

Examples
Example 1: SOFT and BRISKA

Program code
N10 G1 X… Y… F900 SOFT
N20 BRISKA(AX5,AX6)
...

Example 2: DRIVE and DRIVEA

Program code
N05 DRIVE
N10 G1 X… Y… F1000
N20 DRIVEA (AX4, AX6)
...

Supplementary conditions
● If the acceleration mode is changed in a part program during machining (BRISK ↔ SOFT),
then there is a block change with exact stop at the end of the block during the transition
even with continuous-path mode.

References
Function Manual, Basic Functions; Acceleration (B2)

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Supplementary commands
14.6 Acceleration behavior

14.6.2 Influence of acceleration on following axes (VELOLIMA, ACCLIMA, JERKLIMA)

Function
The axis couplings described in the Programming Guide, Advanced: Tangential correction,
coupled-motion axes, master value coupling, and electronic gear have the property of
moving following axes/spindles as a function of one or more leading axes/spindles.
The commands for correction of limitation for the dynamic response of the following axis can
be issued from the part program or from synchronized actions. The commands for correction
of limitations of the following axis can already be given while axis coupling is active.

Syntax

VELOLIMA[AX4]=75 75% of the maximum axial velocity stored in the machine data
ACCLIMA[AX4]=50 50% of the maximum axial acceleration stored in the machine
data
JERKLIMA[AX4]=50 50% of the maximum jerk on path motion stored in the machine
data

Meaning

VELOLIMA[Ax], Change to limit for maximum velocity for following axis

ACCLIMA[Ax], Change to limit for maximum acceleration for following axis
JERKLIMA[Ax], Change to limit for maximum jerk for following axis

Note
JERLIMA[ax] is not available for all types of connection. Details about the function are
described in:
References:
/FB3/Function Manual Special Functions; Coupled Axes and ESR (M3)
/FB2/Function Manual Extended Functions; Synchronous Spindle (S3)

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 Supplementary commands
14.6 Acceleration behavior

Example of electronic gear

Axis 4 is coupled to axis X via an electronic gear 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. After successful activation of the coupling, the
maximum permissible velocity is set to 100% again.

Program code Comment

N120 ACCLIMA[AX4]=70 ; Reduced maximum acceleration
N130 VELOLIMA[AX4]=50 ; Reduced maximum velocity
...
N150 EGON(AX4, "FINE", X, 1, 2) ; Activation of the EG coupling
...
N200 VELOLIMA[AX4]=100 ; Full maximum velocity

Example of influencing master value coupling by static synchronized action

Axis 4 is coupled to X by master value coupling. The acceleration response is limited to 80%
by static synchronized action 2 from position 100.

Program code Comment

N120 IDS=2 WHENEVER $AA_IM[AX4] > 100 DO ; Synchronized action
ACCLIMA[AX4]=80
N130 LEADON(AX4, X, 2) ; Master value coupling on

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Supplementary commands
14.6 Acceleration behavior

14.6.3 Technology G group (DYNNORM, DYNPOS, DYNROUGH, DYNSEMIFIN,

DYNFINISH)

Function
Using the "Technology" G group, the appropriate dynamic response can be activated for five
varying technological machining steps.
Machine manufacturer
Dynamic values and G codes can be configured and are, therefore, dependent on machine
data settings.
References: /FB3/, B1, "Continuous-path mode"

Syntax
DYNNORM
DYNPOS
DYNROUGH
DYNSEMIFIN
DYNFINISH

Meaning

DYNNORM Standard dynamic response, as previously (index n=0)

DYNPOS Dynamic response for positioning mode, tapping (index n=1)
DYNROUGH Dynamic response for roughing (index n=2)
DYNSEMIFIN Dynamic response for finishing (index n=3)
DYNFINISH Dynamic response for smooth finishing (index n=4)

Write or read a certain field element

$MA...[n, Machine data with field element, which affects dynamic response
X]
[<n>, <X>] Field element with field device n and axis address X
n = 0 to 4 Range of values corresponds to Technology G group.

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 Supplementary commands
14.6 Acceleration behavior

Note
The dynamic values are already active in the block, in which the associated G code is
programmed. Machining is not stopped.

Example
Dynamic values by technology group G code

Program code Comment

DYNNORM G1 X10 ; Basic position
DYNPOS G1 X10 Y20 Z30 F… ; Positioning mode, tapping
DYNROUGH G1 X10 Y20 Z30 F10000 ; Roughing
DYNSEMIFIN G1 X10 Y20 Z30 F2000 ; Finishing
DYNFINISH G1 X10 Y20 Z30 F1000 ; Smooth finishing

Write or read a certain field element

Maximum acceleration for roughing, axis X

Program code Comment

R1=$MA_MAX_AX_ACCEL[2, X] ; Read
$MA_MAX_AX_ACCEL[2, X]=5 ; Write

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Supplementary commands
14.7 Traversing with feedforward control, FFWON, FFWOF

14.7 Traversing with feedforward control, FFWON, FFWOF

Function
The feedforward control reduces the velocity-dependent overtravel when contouring towards
zero. Traversing with feedforward control permits higher path accuracy and thus improved
machining results.

Syntax
FFWON
FFWOF

Meaning

FFWON Command to activate the feedforward control

FFWOF Command to deactivate the feedforward control

Note
The type of feedforward control and which path axes are to be traversed with feedforward
control is specified via machine data.
Default: Velocity-dependent feedforward control
Option: Acceleration-dependent feedforward control

Example

Program code
N10 FFWON
N20 G1 X… Y… F900 SOFT

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 Supplementary commands
14.8 Contour accuracy, CPRECON, CPRECOF

14.8 Contour accuracy, CPRECON, CPRECOF

Function
In machining operations without feedforward control (FFWON), errors may occur on curved
contours as a result of velocity-related differences between setpoint and actual positions.
The programmable contour accuracy function CPRECON makes it possible to store a
maximum permissible contour violation in the NC program which must never be overshot.
The magnitude of the contour violation is specified with setting data $SC_CONTPREC.
The Look Ahead function allows the entire path to be traversed with the programmed contour
accuracy.

Syntax
CPRECON
CPRECOF

Meaning

CPRECON Activate programmable contour accuracy

CPRECOF Deactivate programmable contour accuracy

Note
A minimum velocity can be defined via the setting data item $SC_MINFEED, which is not
undershot, and the same value can also be written directly out from the part program via the
system variable $SC_CONTPREC.
On the basis of the value of the contour violation $SC_CONTPREC and the servo gain factor
(velocity/following error ratio) of the geometry axes concerned, the control calculates the
maximum path velocity at which the contour violation produced by the overtravel does not
exceed the minimum value stored in the setting data.

Example

Program code Comment

N10 X0 Y0 G0
N20 CPRECON ; Activate contour accuracy
N30 F10000 G1 G64 X100 ; Machining at 10 m/min in continuous-path mode
N40 G3 Y20 J10 ; Automatic feed limitation in circular block
N50 X0 ; Feedrate without limitation 10 m/min

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Supplementary commands
14.9 Dwell time, delay (G4, WRTPR)

14.9 Dwell time, delay (G4, WRTPR)

Function
With G4, you can interrupt the workpiece machining between two NC blocks for the
programmed time. For example, for relief cutting.

The WRTPR command does not generate an executable block in continuous-path mode and
therefore delays the machining job without interrupting continuous-path mode.

Syntax
G4 F…
G4 S…
Write string-type statement with next block in main run:
WRTPR(string, parameter) if parameter = 0 or not specified.
Programming in a separate NC block.

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 Supplementary commands
14.9 Dwell time, delay (G4, WRTPR)

Meaning

G4 Activate dwell time, G4 interrupts the continuous-path mode.

F… Time specified in seconds.
S… Time specified in revolutions of the master spindle.
WRTPR Either append a job in continuous-path mode to the next
executable block or execute it immediately.
Parameter = 0 Write to log with next executable block (following a delay). This is
the default response so there is no need for parameterization.
Continuous-path mode functions as normal.
Parameter = 1 Write to log immediately. A main-run block is generated, which
affects the response in continuous-path mode.

Note
Only in the block with G4 are the words with F... and S... used for time specifications.
Any previously programmed feedrate F and spindle speed S remain valid.

Example

Program code Comment

N10 G1 F200 Z-5 S300 M3 ; Feedrate F, spindle speed S
N20 G4 F3 ; Dwell time 3 s
N30 X40 Y10
N40 G4 S30 ; Dwelling 30 revolutions of the spindle, corresponds
at S=300 rpm and 100% speed override to t=0.1 min
N40 X... ; Feedrate and spindle speed remain effective

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Supplementary commands
14.10 Internal preprocessing stop

14.10 Internal preprocessing stop

Function
The control generates an internal preprocessing stop on access to machine status data
($A...). If a command, which implicitly causes a preprocessing stop, is read in a following
block, this block is not executed until all other blocks, which have already been preprocessed
and stored, have been executed. The previous block is stopped in exact stop (as G9).

Programming
Machine status data ($A...) is generated internally by the control.

Parameters
Status data of the machine ($A...).

Example
Machining is to be stopped in the N50 block.

Program code Comment

N40 POSA[X]=100
N50 IF $AA_IM[X]==R100 GOTOF MARKE1 ; Access to machine status data ($A...),
the control generates an internal
preprocessing stop.
N60 G0 Y100
N70 WAITP(X)
N80 LABEL1:
N40 X... ; Feedrate and spindle speed remain
effective.

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Other information 15
15.1 Axes
A distinction is made between the following types of axes when programming:
● Machine axes
● Channel axes
● Geometry axes
● Special axes
● Path axes
● Synchronized axes
● Positioning axes
● Command axes (motion-synchronous actions)
● PLC axes
● Link axes
● Lead link axes

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Other information
15.1 Axes

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Behavior of programmed axis types

Geometry, synchronized and positioning axes are programmed.
● Path axes traverse with feedrate F in accordance with the programmed travel commands.
● Synchronized axes traverse synchronously to path axes and take the same time to
traverse as all path axes.
● Positioning axes traverse asynchronously to all other axes. These traversing movements
take place independently of path and synchronized movements.
● Command axes traverse asynchronously to all other axes. These traversing movements
take place independently of path and synchronized movements.
● PLC axes are controlled by the PLC and can traverse asynchronously to all other axes.
The traversing movements take place independently of path and synchronized
movements.

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 Other information
15.1 Axes

15.1.1 Main axes/Geometry axes

The main axes define a right-angled, right-handed coordinate system. Tool movements are
programmed in this coordinate system.
In NC technology, the main axes are called geometry axes. This term is also used in this
Programming Guide.
The "Switchable geometry axes" function (see Advanced) can be used to alter the geometry
axes grouping configured by machine data. Here any geometry axis can be replaced by a
channel axis defined as a synchronous special axis.

Axis identifier
For turning machines:
Geometry axes X and Z are used, and sometimes Y.

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For milling machines:

Geometry axes X, Y and Z are used.
A maximum of three geometry axes are used for programming frames and the workpiece
geometry (contour).
The identifiers for geometry and channel axes may be the same, provided a reference is
possible.
Geometry axis and channel axis names can be the same in any channel so that the same
programs can be executed.

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Other information
15.1 Axes

15.1.2 Special axes

In contrast to the geometry axes, no geometrical relationship is defined between the special
axes.

Axis identifier
In a turning machine with revolver magazine, for example,
Turret position U, tailstock V

Application examples
Typical special axes are tool revolver axes, swivel table axes, swivel head axes, and loader
axes.

Program code Comment

N10 G1 X100 Y20 Z30 A40 F300 ; Path axis movements
N20 POS[U]=10POS[X]=20 FA[U]=200 FA[X]=350 ; Positioning axis movements
N30 G1 X500 Y80 POS[U]=150FA[U]=300 F550 ; Path and positioning axis
N40 G74 X1=0 Z1=0 ; Approaching a reference point

15.1.3 Main spindle, master spindle

The machine kinematics determine, which spindle is the main spindle. This spindle is
declared the master spindle in the machine data. As a rule, the main spindle is declared the
master spindle. This assignment can be changed with the program command SETMS
(spindle number). By issuing SETMS without statement of the spindle number you can
switch back to the master spindle defined in the machine data. Special functions such as
thread cutting apply to the master spindle, see "Spindle speed S, spindle direction of rotation
M3, M4, M5".

Spindle identifier
Identifiers: S or S0

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15.1 Axes

15.1.4 Machine axes

Machine axes are the axes physically existing on a machine.
The movements of axes can still be assigned by transformations (TRANSMIT, TRACYL, or
TRAORI) to the machine axes. If transformations are intended for the machine, different axis
names must be specified during the commissioning (machine manufacturer).
The machine axis names are only programmed in special circumstances (e.g. for reference
point or fixed point approach).

Axis identifier
The axis identifiers can be set in the machine data.
Standard identifiers:
X1, Y1, Z1, A1, B1, C1, U1, V1
There are also standard axis identifiers that can always be used:
AX1, AX2, ..., AXn

15.1.5 Channel axes

Channel axes are all axes, which traverse in a channel.

Axis identifier
Identifiers: X, Y, Z, A, B, C, U, V

15.1.6 Path axes

Path axes define the path and therefore the movement of the tool in space.
The programmed feed is active for this path. The axes involved in this path reach their
position at the same time. As a rule, these are the geometry axes.
However, default settings define, which axes are the path axes, and therefore determine the
velocity.
Path axes can be specified in the NC program with FGROUP, see "Path behavior".

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Other information
15.1 Axes

15.1.7 Positioning axes

Positioning axes are interpolated separately, i.e., each positioning axis has its own axis
interpolator and its own feedrate. Positioning axes do not interpolate with the path axes.
Positioning axes are traversed by the NC program or the PLC. If an axis is to be traversed
simultaneously by the NC program and the PLC, an error message appears.
Typical positioning axes are:
● Loaders for moving workpieces to machine
● Loaders for moving workpieces away from machine
● Tool magazine/turret

Programming
A distinction is made between positioning axes with synchronization at the block end or over
several blocks.

Parameters
POS axes:
Block change occurs at the end of the block when all the path and positioning axes
programmed in this block have reached their programmed end point.
POSA axes:
The movement of these positioning axes can extend over several blocks.
POSP axes:
The movement of these positioning axes for approaching the end position takes place in
sections.

Note
Positioning axes become synchronized axes if they are traversed without the special
POS/POSA identifier.
Continuous-path mode (G64) for path axes is only possible if the positioning axes (POS)
reach their final position before the path axes.
Path axes that are programmed with POS/POSA are removed from the path axis grouping
for the duration of this block.

You will find further information on POS, POSA, and POSP in the section on "Traversing
positioning axes, POS, POSA, POSP".

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442 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
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15.1 Axes

15.1.8 Synchronized axes

Synchronized axes traverse synchronously to the path from the start position to the
programmed end position.
The feedrate programmed in F applies to all the path axes programmed in the block, but
does not apply to synchronized axes. Synchronized axes take the same time as the path
axes to traverse.
A synchronized axis can be a rotary axis, which is traversed synchronously to the path
interpolation.

15.1.9 Command axes

Command axes are started from synchronized actions in response to an event (command).
They can be positioned, started, and stopped fully asynchronous to the parts program. An
axis cannot be moved from the parts program and from synchronized actions
simultaneously.
Command axes are interpolated separately, i.e., each command axis has its own axis
interpolator and its own feedrate.
References:/FBSY/, Synchronized Actions

15.1.10 PLC axes

PLC axes are traversed by the PLC via special function blocks in the basic program; their
movements can be asynchronous to all other axes. The traversing movements take place
independently of path and synchronized movements..

15.1.11 Link axes

Link axes are axes, which are physically connected to another NCU and whose position is
controlled from this NCU. Link axes can be assigned dynamically to channels of another
NCU. Link axes are not local axes from the perspective of a particular NCU.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 443
Other information
15.1 Axes

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The axis container concept is used for the dynamic modification of the assignment to an
NCU. Axis substitution with GET and RELEASE from the parts program is not available for
link axes.

Prerequisite
The participating NCUs, NCU1 and NCU2, must be connected by means of high-speed
communication via the link module.
References:
/PHD/Configuring Manual NCU; NCU 571-573.2 Link Module
The axis must be configured appropriately by machine data.
The link axis option must be installed.

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444 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
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15.1 Axes

Description
The position control is implemented on the NCU on which the axis is physically connected to
the drive. This NCU also contains the associated axis VDI interface. The position setpoints
for link axes are generated on another NCU and communicated via the NCU link.
The link communication must provide the means of interaction between the interpolators and
the position controller or PLC interface. The setpoints calculated by the interpolators must be
transported to the position control loop on the home NCU and, vice versa, the actual values
must be returned from there back to the interpolators.
For further information about link axes, please refer to
References: /FB2/Function Manual Extended Functions; Multiple Operator Panels and NCUs
(B3)
Axis container
An axis container is a circular buffer data structure, in which local axes and/or link axes are
assigned to channels. The entries in the circular buffer can be shifted cyclically.
In addition to the direct reference to local axes or link axes, the link axis configuration in the
logical machine axis image also allows references to axis containers. This type of reference
consists of:
● a container number and
● a slot (circular buffer location within the container)
The entry in a circular buffer location contains:
● a local axis or
● a link axis
Axis container entries contain local machine axes or link axes from the perspective of an
individual NCU. The entries in the logical machine axis image
MN_AXCONF_LOGIC_MACHAX_TAB of an individual NCU are fixed.
The axis container function is described in
References: /FB2/Function Manual Extended Functions; Multiple Operator Panels and NCUs
(B3)

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 445
Other information
15.1 Axes

15.1.12 Lead link axes

A leading link axis is one that is interpolated by one NCU and utilized by one or several other
NCUs as the master axis for controlling slave axes.

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An axial position controller alarm is sent to all other NCUs, which are connected to the
affected axis via a leading link axis.
NCUs that are dependent on the leading link axis can utilize the following coupling
relationships with it:
● Master value (setpoint, actual master value, simulated master value)
● Coupled motion
● Tangential correction
● Electronic gear (ELG)
● Synchronous spindle

Programming
Master NCU:
Only the NCU, which is physically assigned to the master value axis can program travel
motions for this axis. The travel program must not contain any special functions or
operations.

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446 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
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15.1 Axes

NCUs of slave axes:

The travel program on the NCUs of the slave axes must not contain any travel commands for
the leading link axis (master value axis). Any violation of this rule triggers an alarm.
The leading link axis is addressed in the usual way via channel axis identifiers. The states of
the leading link axis can be accessed by means of selected system variables.

Prerequisites
● The dependent NCUs, i.e., NCU1 to NCUn (n equals max. of 8), must be interconnected
via the link module for high-speed communication.
References:
/PHD/Configuring Manual NCU; NCU 571-573.2 Link Module
● The axis must be configured appropriately by machine data.
● The link axis option must be installed.
● The same interpolation cycle must be configured for all NCUs connected to the leading
link axis.

Restrictions
● A master axis, which is leading link axis cannot be a link axis, i.e., it cannot be operated
by NCUs other than its home NCU.
● A master axis, which is leading link axis cannot be a container axis, i.e., it cannot be
addressed alternately by different NCUs.
● A leading link axis cannot be the programmed leading axis in a gantry grouping.
● Couplings with leading link axes cannot be cascaded.
● Axis replacement can only be implemented within the home NCU of the leading link axis.
System variables:
The following system variables can be used in conjunction with the channel axis identifier of
the leading link axis:
● $AA_LEAD_SP; Simulated master value position
● SAA_LEAD_SV; Simulated master value velocity
If these system variables are updated by the home NCU of the master axis, the new values
are also transferred to any other NCUs, which wish to control slave axes as a function of this
master axis.
References: /FB2/Function Manual Extended Functions; Multiple Operator Panels and NCUs
(B3)

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 447
Other information
15.2 Coordinate systems and workpiece machining

15.2 Coordinate systems and workpiece machining

The relationship between travel commands of the programmed axis movements from the
workpiece coordinates and the resulting machine movement is displayed.
How you can determine the distance traveled taking into account all shifts and corrections is
shown by reference to the path calculation.

Relationship between the travel commands from workpiece coordinates and the resulting machine
movements
Axis movement programmed in the workpiece coordinate system

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Path calculation
The path calculation determines the distance to be traversed in a block, taking into account
all offsets and compensations.
In general:
Distance = setpoint - actual value + zero offset (ZO) + tool offset (TO)

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448 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
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15.2 Coordinate systems and workpiece machining

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If a new zero offset and a new tool offset are programmed in a new program block, the
following applies:
● With absolute dimensioning:
Distance = (absolute dimension P2 - absolute dimension P1) + (ZO P2 - ZO P1) + (TO P2
- TO P1).
● With incremental dimensioning:
Distance = incremental dimension + (ZO P2 - ZO P1) + (TO P2 - TO P1).

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 449
Other information
15.3 Addresses

15.3 Addresses

Fixed and settable addresses

Addresses can be divided into two groups:
● Fixed addresses
These addresses are permanently set, i.e. the address characters cannot be changed.
● Settable addresses
The machine manufacturer may assign another name to these addresses via machine
data.
Some important addresses are listed in the following table. The last column indicates
whether it is a fixed or a settable address.

Address Meaning (default setting) Name

A=DC(...) Rotary axis Settable
A=ACP(...)
A=ACN(...)
ADIS Rounding clearance for path functions Fixed
B=DC(...) Rotary axis Settable
B=ACP(...)
B=ACN(...)
C=DC(...) Rotary axis Settable
C=ACP(...)
C=ACN(...)
CHR=... Chamfer the contour corner Fixed
D... Cutting edge number Fixed
F... Feedrate Fixed
FA[axis]=... or Axial feedrate Fixed
FA[spindle]=... or (only if spindle no. defined by variable)
[SPI(spindle)]=...
G... Preparatory function Fixed
H... Auxiliary function Fixed
H=QU(...) Auxiliary function without read stop
I... Interpolation parameter Settable
J... Interpolation parameter Settable
K... Interpolation parameter Settable
L... Subroutine call Fixed
M... Additional function Fixed
M=QU Additional function without read stop
N... Subblock Fixed
OVR Path override Fixed
P... Number of program passes Fixed

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15.3 Addresses

POS[Axis]=... Positioning axis Fixed

POSA[Axis]=... Positioning axis across block boundary Fixed
SPOS=... Spindle position Fixed
SPOS[n]=...
SPOSA=... Spindle position across block boundary Fixed
SPOSA[n
Q... Axis Settable
R0=... to Rn=... - R parameter, n can be set via MD Fixed
R... (standard 0 - 99)
- Axis Settable
RND Round the contour corner Fixed
RNDM Round contour corner (modal) Fixed
S... Spindle speed Fixed
T... Tool number Fixed
U... Axis Settable
V... Axis Settable
W... Axis Settable
X... Axis Settable
X=AC(...) " absolute
X=IC
" incremental
Y... Axis Settable
Y=AC(...)
Y=IC
Z... Axis Settable
Z=AC(...)
Z=IC
AR+=... Opening angle Settable
AP=... Polar angle Settable
CR=... Circle radius Settable
RP=... Polar radius Settable

Note
Settable addresses
Settable addresses must be unique within the control, i.e. the same address name may not
be used for different address types.
A distinction is made between the following address types:
• Axis values and end points
• Interpolation parameters
• Feedrates
• Corner rounding criteria
• Measurement
• Axis, spindle behavior

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15.3 Addresses

Modal/non-modal addresses
Modal addresses remain valid with the programmed value (in all subsequent blocks) until a
new value is programmed at the same address.
Non-modal addresses only apply in the block, in which they were programmed.
Example:

Program code Comment

N10 G01 F500 X10 ;
N20 X10 ; Feedrate F from N10 remains active until a new feedrate
is entered.

Addresses with axial extension

In addresses with axial extension, an axis name is inserted in square brackets after the
address. The axis name assigns the axis.
Example:

Program code Comment

FA[U]=400 ; Axis-specific feedrate for U axis.

Fixed addresses with axial extension:

Address Meaning (default setting)

AX Axis value (variable axis programming)
ACC Axial acceleration
FA Axial feedrate
FDA Axis feedrate for handwheel override
FL Axial feedrate limitation
IP Interpolation parameter (variable axis programming)
OVRA Axial override
PO Polynomial coefficient
POS Positioning axis
POSA Positioning axis across block boundary

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15.3 Addresses

Extended address notation

Extended address notation enables a larger number of axes and spindles to be organized in
a system.
An extended address consists of a numeric extension and an arithmetic expression assigned
with an "=" character. The numeric extension has one or two digits and is always positive.
The extended address notation is only permitted for the following direct addresses:

Address Meaning
X, Y, Z, … Axis addresses
I, J, K Interpolation parameters
S Spindle speed
SPOS, SPOSA Spindle position
M Special functions
H Auxiliary functions
T Tool number
F Feedrate

Examples:

Program code Comment

X7 ; No "=" required, 7 is a value, but the "=" character can also
be used here
X4=20 ; Axis X4; "=" is required
CR=7.3 ; Two letters; "=" is required
S1=470 ; Speed for first spindle: 470 RPM
M3=5 ; Spindle stop for third spindle

The numeric extension can be replaced by a variable for addresses M, H, S and for SPOS
and SPOSA. The variable identifier is enclosed in square brackets.
Examples:

Program code Comment

S[SPINU]=470 ; Speed for the spindle, whose
number is stored in the SPINU
variable.
M[SPINU]=3 ; Clockwise rotation for the
spindle, whose number is stored
in the SPINU variable.
T[SPINU]=7 ; Selection of the tool for the
spindle, whose number is stored
in the SPINU variable.

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15.4 Identifiers

15.4 Identifiers
The commands according to DIN 66025 are supplemented with so-called identifiers by the
NC high-level language.
Identifiers can stand for:
● System variables
● User-defined variables
● Subroutines
● Keywords
● Jump markers
● Macros

Note
Identifiers must be unique. It is not permissible to use the same identifier for different
objects.

Rules for names

The following rules apply when assigning identifier names:
● Maximum number of characters:
– For program names: 24
– Axis identifiers: 8
– Variable identifiers: 31
● Permissible characters are:
– Letters
– Numbers
– Underscores
● The first two characters must be letters or underscores.
● Separators are not permitted between the individual characters.

Note
Reserved keywords must not be used as identifiers.

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15.4 Identifiers

Reserved character combinations

The following reservations must be noted when assigning cycle identifiers in order to avoid
name collisions:
● All identifiers beginning with "CYCLE" or "_" are reserved for SIEMENS cycles.
● All identifiers beginning with "CCS" are reserved for SIEMENS compile cycles.
● User compile cycles begin with "CC”.

Tip
Users should select identifiers, which either begin with "U" (User) or contain underscores,
as these identifiers are not used by the system, compile cycles or SIEMENS cycles.

Further reservations are:

● The identifier "RL" is reserved for conventional turning machines.
● All identifiers beginning with "E_ " are reserved for EASY-STEP programming.

Variable identifiers
In variables used by the system, the first letter is replaced by the "$" character.
Examples:

System variables Meaning

$P_IFRAME Active settable frame
$P_F Programmed path feedrate

Note
The "$" character may not be used for user-defined variables.

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15.5 Constants

15.5 Constants

Integer constants
An integer constant is an integer value with or without sign, e.g. a value assignment to an
address.
Examples:

X10.25 Assignment of the value +10.25 to address X

X-10.25 Assignment of the value -10.25 to address X
X0.25 Assignment of the value +0.25 to address X
X.25 Assignment of the value +0.25 to address X without leading "0"
X=-.1EX-3 Assignment of the value -0.1*10-3 to address X
X0 Assignment of the value 0 to address X (X0 cannot be replaced by
X)

Note
If, in an address, which permits decimal point input, more decimal places are specified than
actually provided for the address, then they are rounded to fit the number of places provided.

Hexadecimal constants
Constants can also be interpreted in hexadecimal format. The letters "A" to "F" stand for the
digits 10 to 15.
Hexadecimal constants are enclosed in single quotation marks and start with the letter "H",
followed by the value in hexadecimal notation. Separators are allowed between the letters
and digits.
Example:

Program code Comment

$MC_TOOL_MANAGEMENT_MASK='H3C7F' ; Assignment of hexadecimal constants to
machine data:
MD18080 $MN_MM_TOOL_MANAGEMENT_MASK

Note
The maximum number of characters is limited by the value range of the integer data type.

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15.5 Constants

Binary constants
Constants can also be interpreted in binary format. In this case, only the digits "0" and "1"
are used.
Binary constants are enclosed in single quotation marks and start with the letter "B", followed
by the binary value. Separators are allowed between the digits.
Example:

Program code Comment

$MN_AUXFU_GROUP_SPEC='B10000001' ; The assignment of binary constants sets
Bit0 and Bit7 in the machine data.

Note
The maximum number of characters is limited by the value range of the integer data type.

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15.5 Constants

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Tables 16
16.1 Statements

Legend:
1 Default setting at beginning of program (factory settings of the control, if nothing else programmed)
2 The groups are numbered according to the table in section "List of G functions / preparatory functions".
3 Absolute end points: modal (m);
incremental end points: non-modal (n);
otherwise: modal/non-modal depending on syntax of G function
4 As circle center points, IPO parameters act incrementally. They can be programmed in absolute mode with AC. The
address modification is ignored when the parameters have other meanings (e.g. thread lead).
5 The OEM can add two extra interpolation types. The names can be changed by the OEM.
6 Extended address notation cannot be used for these functions.

Name Meaning Value Description, Syntax m/n3 Group 2

comment
: Block number - main 0 ... Special e.g.20
block (see N) 99 999 999 identification of
integers only, blocks, instead
without signs of N... ;this
block should
contain all
statements
required for a
complete
subsequent
machining
section
A Axis Real m/n
A2 Tool orientation: Euler Real n
angles

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
A3 Tool orientation: Direction- Real n
vector component
A4 Tool orientation for start of Real n
block
A5 Tool orientation for end of Real n
block:
Normal-vector component
ABS Absolute value Real
AC Input of absolute 0, ..., X=AC(100) n
dimensions 359.9999°
ACC Axial acceleration Real, without m
sign
ACCLIMA Reduction or overshoot of 0, ..., 200 Valid range is ACCLIMA[X]= ...[%] m
maximum axial 1% to 200%
acceleration

ACN Absolute dimensions for A=ACN(...) B=ACN(...) n

rotary axes, approach C=ACN(...)
position in negative
direction
ACOS Arc cosine Real
(trigon. function)
ACP Absolute dimensions for A=ACP(...) B=ACP(...) n
rotary axes, approach C=ACP(...)
position in positive
direction
ACTBLOCNO With suppressed current block display
(DISPLOF), the number of the current
block should be output when an alarm is
issued.
ADIS Rounding clearance for Real, without m
path functions G1, G2, sign
G3, ...
ADISPOS Rounding clearance for Real, without m
rapid traverse G0 sign
ADISPOSA Size of the tolerance Integer, Real ADISPOSA=... or m
window for IPOBRKA ADISPOSA(<axis>[,RE
AL])
ALF Angle tilt fast Integer, m
without sign

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
AMIRROR Programmable mirroring AMIRROR X0 Y0 n 3
(additive mirror) Z0AMIRROR
;separate block
AND Logical AND
ANG Contour angle Real n
AP Angle polar 0, ..., ± 360° m/n
APR Read/display access Integer,
protection without sign
(access protection read)
APW Write access protection Integer,
(access protection write) without sign
AR Opening angle 0, ..., 360° m/n
(angle circular)
AROT Programmable rotation Rotation AROT X... Y... Z... n 3
(additive rotation) about: AROT RPL=
1st geometry ;separate block
axis:
-180°...
+180°2nd
geometry
axis:
-90° ...
+90°3rd
geometry
axis:
-180°... +180°
AROTS Programmable frame rotations with solid AROTS X... Y... n 3
angles (additive rotation) AROTS Z... X...
AROTS Y... Z...
AROTS RPL=
;separate block
SL Macro definition String
ASCALE Programmable scaling ASCALE X... Y... Z... n 3
(additive scale) ;separate block
ASPLINE Akima spline m 1
ATAN2 Arc tangent 2 Real
ATRANS Additive programmable offset ATRANS X... Y... Z... n 3
(additive translation) ;separate block
AX Variable axis identifier Real m/n
AXCSWAP Advance container axis AXCSWAP(CTn, 25
CTn+1,...)
AXCTSWE Advance container axis AXCTSWE(CTi) 25
AXIS Data type: Axis identifier Name of file
can be added

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
AXNAME Converts the input string String An alarm is
to an axis name (get generated if the
axname) input string
does not
contain a valid
axis name
AXSTRING Converts the spindle- String Name of file AXSTRING[ SPI(n) ]
number string can be added
(get string)
AXTOCHAN Request axis for a specific channel. AXTOCHAN(axis,
Possible from NC program and channel number[,axis,
synchronized action. channel number[,…]])
B Axis Real m/n
B_AND Bit AND
B_OR Bit OR
B_NOT Bit negation
B_XOR Bit exclusive OR
B2 Tool orientation: Real n
Euler angles
B3 Tool orientation: Real n
Direction vector
component
B4 Tool orientation for start of Real n
block
B5 Tool orientation for end of Real n
block: Normal vector
component
BAUTO Definition of first spline segment by the m 19
following 3 points
(begin not a knot)
BLSYNC Processing of interrupt routine is only to
start with the next block change
BNAT1 Natural transition to first spline block m 19
(begin natural)
BOOL Data type: Boolean value TRUE/FALSE or
1/0
BOUND Tests whether the value Real Var1 : Varmin RetVar =
falls within the defined Var2: Varmax
value range. If the values Var3: Varcheck
are equal, the test value is
returned.

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
BRISK1 Fast non-smoothed path acceleration m 21
BRISKA Switch on brisk path acceleration for the
programmed axes
BSPLINE B-spline m 1
BTAN Tangential transition to first spline block m 19
(begin tangential)
C Axis Real m/n
C2 Tool orientation: Euler Real n
angles
C3 Tool orientation: Real n
Direction vector
component
C4 Tool orientation for start of Real n
block
C5 Tool orientation for end of Real n
block; normal vector
component
CAC Absolute approach of position Coded value is
(coded position: absolute coordinate) table index;
table value is
approached
CACN Absolute approach in negative direction of Permissible for
value stored in table the
(coded position absolute negative) programming of
rotary axes as
positioning axes
CACP Absolute approach in positive direction of
value stored in table
(coded position absolute positive)
CALCDAT Calculate radius and VAR Real [3] The points must
center point or circle from be different
3 or 4 points
(calculate circle data)
CALL Indirect subroutine call CALL PROGVAR

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
CALLPATH Programmable search path for subroutine A path can be CALLPATH
calls programmed to (/_N_WKS_DIR/_N_MY
the existing WPD/
NCK file system subroutine_identifier_S
with PF)
CALLPATH
CANCEL Cancel modal INT Cancel
synchronized action with specified
ID
Without
parameters:
All modal
synchronized
actions are
deselected
CASE Conditional program branch
CDC Direct approach of position See CAC
(coded position: direct coordinate)
CDOF 1 Collision detection OFF m 23

CDON Collision detection ON m 23

CDOF2 Collision detection OFF For CUT3DC m 23

only
CFC 1 Constant feed at contour m 16

CFIN Constant feed at internal radius only, not m 16

at external radius
CFTCP Constant feed in tool-center- point (center- m 16
point path)

CHAN Specify validity range for data Once per

channel

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
CHANDATA Set channel number for INT Only
channel data access permissible in
the initialization
block
CHAR Data type: ASCII 0, ..., 255
character
CHECKSUM Forms the checksum over Max. length Returns string ERROR=
an array as a fixed-length 32 of 16 hex digits CHECKSUM
STRING
CHF Chamfer; Real, w/o n
value = length of chamfer signs
CHR Chamfer;
value = width of chamfer
in direction of movement
(chamfer)
CHKDNO Check for unique D numbers
CIC Incremental approach of position See CAC
(coded position: incremental coordinate)
CIP Circular interpolation through intermediate CIP X... Y... Z... m 1
point I1=... J1=... K1=...
CLEARM Reset one/several INT, Does not
markers for channel 1-n influence
coordination machining in
own channel
CLRINT Deselect interrupt: INT Parameter:
Interrupt
number
CMIRROR Mirror on a coordinate FRAME
axis
COARSEA Motion end when "Exact stop coarse" COARSEA=... or m
reached COARSEA[n]=...
COMPOF1 Compressor OFF m 30
COMPON Compressor ON m 30
COMPCURV Compressor ON: Polynomials with m 30
constant curvature
COMPCAD Compressor ON: Optimized surface quality m 30
CAD program
CONTDCON Tabular contour decoding ON
CONTPRON Activate contour preparation
(contour preparation ON)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
COS Cosine Real
(trigon. function)
COUPDEF Definition ELG String Block change COUPDEF(FS, ...)
group/synchronous (software)
spindle group response:
(couple definition) NOC: no block-
change control
FINE/COARSE:
block change
on
"synchronism
fine/coarse"
IPOSTOP:
block change in
setpoint-
dependent
termination of
overlaid
movement
COUPDEL Delete ELG group (couple delete) COUPDEL(FS,LS)
COUPOF ELG group/synchronous spindle pair OFF COUPOF(FS,LS,
(couple OFF) POSFS,POSLS)
COUPOFS Deactivating ELG group/synchronized COUPOFS(FS,LS,POS
spindle pair with stop of following spindle FS)

COUPON ELG group/synchronous spindle pair ON COUPON(FS,LS,

(couple ON) POSFS)
COUPONC Transfer activation of ELG COUPONC(FS,LS)
group/synchronized spindle pair with
previous programming
COUPRES Reset ELG group Programmed COUPRES(FS,LS)
(couple reset) values invalid;
machine data
values valid
CP Path movement (continuous path) m 49
CPRECOF1 Programmable contour precision OFF m 39
CPRECON Programmable contour precision ON m 39

CPROT Channel-specific protection zone ON/OFF

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
CPROTDEF Channel specific protection area definition

CR Circle radius Real, without n

sign
CROT Rotation of the current FRAME Max. parameter
coordinate system. count: 6
CROTS Programmable frame rotations with solid CROTS X... Y... n
angles (rotation in the specified axes) CROTS Z... X...
CROTS Y... Z...
CROTS RPL=
;separate block
CSCALE Scale factor for multiple FRAME Max. parameter
axes count:
2 * axis
countmax
CSPLINE Cubic spline m 1
CT Circle with tangential transition CT X... Y.... Z... m 1
CTAB Define following axis Real If parameter 4/5
position according to not
leading axis position from programmed:
curve table Standard
scaling
CTABDEF Table definition ON
CTABDEL Clear curve table
CTABEND Table definition OFF
CTABEXISTS Checks the curve table with number n Parameter n
CTABFNO Number of curve tables still possible in the memType
memory
CTABFPOL Number of polynomials still possible in the memType
memory
CTABFSEG Number of curve segments still possible in memType
the memory
CTABID Returns table number of the nth curve parameter n
table and memType
CTABINV Define leading axis Real See CTAB
position according to
following axis position
from curve table

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
CTABIS Returns the lock state of the curve table Parameter n
LOCK with number n
CTABLOCK Set lock against deletion and overwriting Parameters n,
m, and
memType
CTABMEMTYP Returns the memory in which curve table Parameter n
number n is created
CTABMPOL Max. number of polynomials still possible memType
in the memory
CTABMSEG Max. number of curve segments still memType
possible in the memory
CTABNO Number of defined curve tables No parameters
irrespective of mem. type
CTABNOMEM Number of defined curve tables in SRAM memType
or DRAM memory
CTABPERIOD Returns the table periodicity with number n Parameter n
CTABPOL Number of polynomials already used in the memType
memory
CTABPOLID Number of the curve polynomials used by Parameter n
the curve table with number n
CTABSEG Number of curve segments already used memType
in the memory
CTABSEGID Number of the curve segments used by Parameter n
the curve table with number n
CTABSEV Returns the final value of the following axis Segment is R10 = CTABSEV(LW,
of a segment of the curve table determined by n, degree, Faxis, Laxis)
LW
CTABSSV Returns the initial value of the following Segment is R10 = CTABSSV(LW,
axis of a segment of the curve table determined by n, degree, Faxis, Laxis)
LW
CTABTEP Returns the value of the leading axis at Master value at R10 = CTABTEP(n,
curve table end end of curve degree, Laxis)
table
CTABTEV Returns the value of the the following axis Following value R10 = CTABTEV(n,
at curve table end at end of curve degree, Faxis)
table
CTABTMAX Returns the maximum value of the Following value R10 = CTABTMAX(n,
following axis of the curve table of the curve Faxis)
table

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
CTABTMIN Returns the minimum value of the Following value R10 = CTABTMIN(n,
following axis of the curve table of the curve Faxis)
table
CTABTSP Returns the value of the leading axis at Master value at R10 = CTABTSP(n,
curve table start start of curve degree, Laxis)
table
CTABTSV Returns the value of the following axis at Following value R10 = CTABTSV(n,
curve table start at start of curve degree, Faxis)
table
CTABUNLOCK Cancel locking against deletion and Parameters n,
overwriting m, and
memType
CTRANS Zero offset for multiple FRAME Max. eight axes
axes
CUT2D 1 2D cutter compensation type 2- m 22
dimensional
CUT2DF 2D cutter compensation type 2- m 22
dimensional frame. The cutter
compensation acts relative to the current
frame (inclined plane).
CUT3DC 3D cutter compensation type 3- m 22
dimensional circumference milling
CUT3DCC 3D cutter compensation type 3- m 22
dimensional circumference milling with
limitation surfaces
CUT3DCCD 3D cutter compensation type 3- m 22
dimensional circumference milling with
limitation surfaces with differential tool
CUT3DF 3D cutter compensation type 3- m 22
dimensional face milling
CUT3DFF 3D cutter compensation type 3- m 22
dimensional face milling with constant tool
orientation dependent on the current frame
CUT3DFS 3D cutter compensation type 3- m 22
dimensional face milling with constant tool
orientation independent of the current
frame

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
CUTCONOF1 Constant radius compensation OFF m 40
CUTCONON Constant radius compensation ON m 40
CUTMOD Activate "Modification of the offset data for
rotatable tools"
D Tool offset number 1, ..., 32 000 Contains D...
offset data for a
particular tool
T...
;D0 → offset
values for a tool
DAC Absolute, non-modal, Diameter DAC(50) n
axis-specific diameter programming
programming
DC Absolute dimensions for A=DC(...) B=DC(...) n
rotary axes, approach C=DC(...)
position directly SPOS=DC(...)
DEF Variable definition Integer,
without sign
DEFAULT Branch in CASE branch Jump to if
expression
does not fulfill
any of the
specified values
DELAYFSTON Define start of a stop delay range Implied if m
(DELAY feed stop ON) G331/G332
active
DELAYFSTOF Define end of a stop delay range (DELAY m
feed stop OFF)
DELDTG Delete distance-to-go

DELETE Delete the specified file. The file name can Can delete all
be specified with path and file identifier files
DELT Delete tool Duplo number
can be omitted

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
DIACYCOFA Axis-specific, modal diametral Radius DIACYCOFA[axis] m
programming: OFF in cycles programming,
last active
G code
DIAM90 Diameter programming for G90, radius m 29
programming for G91
DIAM90A Axis-specific, modal diameter m
programming for G90 and AC, radius
programming for G91 and IC
DIAMCHAN Acceptance of all axes from MD axis Accept DIAMCHAN
functions in diameter-programming diameter
channel status programming
from MD
DIAMCHANA Acceptance of the diameter-programming Channel status DIAMCHANA[axis]
channel status
DIAMCYCOF Radius programming for G90/G91: ON. Radius m 29
The G code of this group that was last programming,
active remains active for display last active
G code
DIAMOF1 Diameter programming: OFF Radius m 29
(Diameter programming OFF) programming
For default setting, see machine for G90/G91
manufacturer.
DIAMOFA Axis-specific, modal diameter Radius progr. DIAMOFA[axis] m
programming: ON for G90/G91
For default setting, see machine and AC, IC
manufacturer
DIAMON Diameter programming: ON Diameter m 29
(Diameter programming ON) programming
for G90/G91.
DIAMONA Axis-specific, modal diameter Diameter DIAMONA[axis] m
programming: ON programming
For activation, see machine manufacturer for G90/G91
and AC, IC
DIC Relative, non-modal, axis-specific Diameter DIC(50) n
diameter programming programming
DILF Length for lift fast m
DISABLE Interrupt OFF

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
DISC Transition circle overshoot 0, ..., 100 m
- radius compensation
DISPLOF Suppress current block display
(display OFF)
DISPR Distance for repositioning Real, without n
sign
DISR Distance for repositioning Real, without n
sign
DITE Thread run-out path Real m
DITS Thread run-in path Real m
DIV Integer division
DL Total tool offset INT m
DRFOF Deactivate the handwheel offsets (DRF) m
DRIVE6 Velocity-dependent path acceleration m 21
DRIVEA Switch on bent acceleration characteristic
curve for the programmed axes
DYNFINISH Dynamic response for smooth finishing Technology DYNFINISH G1 X10 m 59
G group Y20 Z30 F1000
DYNNORM Standard dynamic, as previously DYNNORM G1 X10 m 59
DYNPOS Dynamics for positioning mode, tapping DYNPOS G1 X10 Y20 m 59
Z30 F...
DYNROUGH Dynamic for roughing DYNROUGH G1 X10 m 59
Y20 Z30 F10000
DYNSEMIFIN Dynamic for finishing DYNSEMIFIN G1 X10 m 59
Y20 Z30 F2000
EAUTO Definition of last spline segment by the last m 20
three points
(end not a knot)
EGDEF Definition of an electronic gear For one
(electronic gear define) following axis
with
up to five
leading axes
EGDEL Delete coupling definition for the following Stops the
axis preprocessing
(electronic gear delete)

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
EGOFC Switch off electronic gear continuously
(electronic gear OFF continuous)
EGOFS Switch off electronic gear selectively
(electronic gear OFF selective)
EGON Switch on electronic gear Without
(Electronic gear ON) synchronization
EGONSYN Switch on electronic gear With
(electronic gear ON synchronized) synchronization
EGONSYNE Switch on electronic gear, stating With
approach mode synchronization
(electronic gear ON synchronized)
ELSE Program branch, if IF condition not fulfilled
ENABLE Interrupt ON
ENAT 1 Natural transition to next traversing block m 20
(end natural)
ENDFOR End line of FOR counter loop
ENDIF End line of IF branch
ENDLOOP End line of endless program loop LOOP
ENDPROC End line of program with start line PROC
ENDWHILE End line of WHILE loop
ETAN Tangential transition to next traversing m 20
block at spline end (end tangential)
EVERY Execute synchronized action if condition
changes from FALSE to TRUE
EXECSTRING Transfer of a string variable with the part Indirect part EXECSTRING(MFCT1
program line to run program line << M4711)
EXECTAB Execute an element from a motion table
(execute table)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
EXECUTE Program execution ON Return from the
reference-point
edit mode or
after building a
protection area
to normal
program
processing
EXP Exponential function (ex) Real
EXTCALL Execute external subroutine Reload program
from HMI in
"Execution from
external
source" mode
EXTERN Broadcast a subroutine with parameter
passing
F Feed value 0.001, ..., Path veloc. F=100 G1 ...
(in conjunction with G4 99999.999 of a
the dwell time is also tool/workpiece;
programmed in F) unit: mm/min or
mm/revolution
depending on
G94 or G95
FA Axial feed 0.001, ..., FA[X]=100 m
(feed axial) 999999.999
mm/min,
degrees/min;
0.001, ...,
39999.9999
inch/min
FAD Infeed feed for smooth Real, without
approach and retraction sign
(feed approach/depart)
FALSE Logical constant: Incorrect BOOL Can be
replaced with
integer constant
0

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
FCTDEF Define polynomial function Is evaluated in
SYNFCT or
PUTFTOCF
FCUB Feedrate variable according to cubic spline Acts on feed m 37
(feed cubic) with G93 and
G94
FD Path feed for handwheel Real, w/o n
override signs
(feed DRF)
FDA Axial feed for handwheel Real, w/o n
override signs
(feed DRF axial)
FENDNORM Corner deceleration OFF m 57
FFWOF 1 Feedforward control OFF (feed forward m 24
OFF)
FFWON Feedforward control ON (feed forward ON) m 24
FGREF Reference radius of rotary axis or path Reference size m
reference factors of orientation axes effective value
(vector interpolation)
FGROUP Definition of axis/axes with path feed F applies to all FGROUP (axis1,
axes specified [axis2], ...)
under FGROUP
FIFOCTRL Control of preprocessing buffer m 4
FIFOLEN Programmable preprocessing depth
FILEDATE Delivers date when file STRING, Format is
was last accessed and length 8 "dd.mm.yy"
written
FILEINFO Delivers sum of STRING, Format "rwxsd
FILEDATE, FILESIZE, length 32 nnnnnnnn dd.
FILESTAT and FILETIME hh:mm:ss"
FILESIZE Delivers current file size Type: INT In BYTES
FILESTAT Delivers file status of STRING, Format is
rights for read, write, length 5 "rwxsd"
execute, display, delete
(rwxsd)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
FILETIME Delivers time when file STRING, Format is
was last accessed and length 8 "dd:mm:yy"
written
FINEA Motion end when "Exact stop fine" FINEA=... or m
reached FINEA[n]=...
FL Speed limit for Real, without The unit set FL[axis] =… m
synchronized axes sign with G93, G94,
(feed limit) G95 is
applicable
(max. rapid
traverse)
FLIN Feed linear variable (feed linear) Acts on feed m 37
with G93 and
G94
FMA Feed multiple axial Real, without m
sign
FNORM 1 Feed normal to DIN 66025 m 37

FOCOF Deactivate travel with limited m

moment/force
FOCON Activate travel with limited moment/force m
FOR Counter loop with fixed number of passes
FP Fixed point: Number of Integer, G75 FP=1 n
fixed point to be without sign
approached
FPO Feed characteristic Real Quadratic,
programmed via a cubic
polynomial polynomial
(feed polynomial) coefficient
FPR Identification for rotary 0.001, ..., FPR (rotary axis)
axis 999999.999
FPRAOF Deactivate revolutional
feedrate
FPRAON Activate revolutional
feedrate

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
FRAME Data type to define the coordinate system Contains for
each geometry
axis:
Offset, rotation,
angle of shear,
scaling,
mirroring;
For each
special axis:
offset, scaling,
mirroring
FRC Feed for radius and n
chamfer
FRCM Feed for radius and m
chamfer, modal
FTOC Change fine tool offset As a function of
a 3rd-order
polynomial
defined with
FCTDEF
FTOCOF 1 Online fine tool offset OFF m 33
FTOCON Online fine tool offset ON m 33
FXS Travel to fixed stop ON Integer, 1 = select, m
without sign 0 = deselect
FXST Torque limit for travel to % parameter m
fixed stop optional
(fixed stop torque)
FXSW Monitoring window for mm, inch or parameter
travel to fixed stop degrees optional
(fixed stop window)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
G G function (preparatory Only G...
function) specified,
The G functions are integer values
divided into G groups.
Only one G function of a
group can be
programmed in a block
A G function can be either
modal (until it is canceled
by another function of the
same group) or only
effective for the block in
which it is programmed
(non-modal)
G0 Linear interpolation with rapid traverse Motion G0 X... Z... m 1
(rapid traverse motion) commands
G1 1 Linear interpolation with feedrate (linear G1 X... Z... F... m 1
interpolation)
G2 Circular interpolation clockwise G2 X... Z... I... K... F... m 1
;Center point and end
point
G2 X... Z... CR=... F...
;radius and end point
G2 AR=... I... K... F...
;opening angle and
;center point
G2 AR=... X... Z... F.
;opening angle and
;end point
G3 Circular interpolation counterclockwise G3 ...; otherwise as for m 1
G2
G4 Dwell time preset Special motion G4 F... ; dwell time in n 2
seconds
or
G4 S... ; dwell time in
spindle revolutions.
;separate block
G5 Oblique plunge-cut grinding Oblique plunge- n 2
cutting
G7 Compensatory motion during oblique Start position n 2
plunge-cut grinding

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
G9 Exact stop - deceleration n 11
G17 1 Selection of working plane X/Y Infeed direction m 6
Z
G18 Selection of working plane Z/X Infeed direction m 6
Y
G19 Selection of working plane Y/Z Infeed direction m 6
X
G25 Lower working area limitation Value G25 X... Y... Z... n 3
assignment in ;separate block
G26 Upper working area limitation channel axes G26 X... Y... Z... n 3
;separate block
G33 Thread interpolation with 0.001, ..., Motion G33 Z... K... SF=... m 1
constant lead 2000.00 command ;cylindrical thread
mm/rev G33 X... I... SF=...
;face thread
G33 Z... X... K... SF=...
;taper thread
(path longer in Z axis
than in X axis)
G33 Z... X... I... SF=...
;taper thread
(path longer in X axis
than in Z axis)
G34 Linear progressive speed change Motion G34 X... Y... Z... I... J... m 1
[mm/rev2] command K... F...
G35 Linear degressive speed change [mm/rev2] Motion G35 X... Y... Z... I... J... m 1
command K... F...
G40 1 Tool radius compensation OFF m 7
G41 Tool radius compensation left of contour m 7
G42 Tool radius compensation right of contour m 7
G53 Suppression of current zero offset (non- Incl. n 9
modal) programmed
offsets

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
G54 1st settable zero offset m 8
G55 2nd settable zero offset m 8
G56 3rd settable zero offset m 8
G57 4th settable zero offset m 8
G58 Axial programmable zero offset, absolute n 3
G59 Axial programmable zero offset, additive n 3
G60 1 Exact stop - deceleration m 10
G62 Corner deceleration at inside corners Together with G62 Z... G1 m 57
when tool radius offset is active (G41, continuous-path
G42) mode only
G63 Tapping with compensating chuck G63 Z... G1 n 2
G64 Exact stop - continuous-path mode m 10
G70 Dimension in inches (lengths) m 13
G71 1 Metric dimension (lengths) m 13
G74 Reference point approach G74 X... Z... n 2
;separate block
G75 Fixed point approach Machine axes G75 FP=.. X1=... Z1=... n 2
;separate block
G90 1 Absolute dimensions G90 X... Y... Z...(...) m 14
Y=AC(...) or n
X=AC Z=AC(...)
G91 Incremental dimension input G91 X... Y... Z... or m 14
X=IC(...) Y=IC(...) n
Z=IC(...)
G93 Inverse-time feedrate 1/rpm Execution of a G93 G01 X... F... m 15
block: Time
G94 1 Linear feedrate F in mm/min or inch/min m 15
and °/min
G95 Revolutional feedrate F in mm/rev or m 15
inches/rev
G96 Constant cutting speed (as for G95) ON G96 S... LIMS=... F... m 15
G97 Constant cutting speed (as for G95) OFF m 15

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
G110 Pole programming relative to the last G110 X... Y... Z... n 3
programmed setpoint position
G111 Polar programming relative to origin of G110 X... Y... Z... n 3
current workpiece coordinate system
G112 Pole programming relative to the last valid G110 X... Y... Z... n 3
pole
G140 1 SAR approach direction defined by m 43
G41/G42
G141 SAR approach direction to left of contour m 43
G142 SAR approach direction to right of contour m 43
G143 SAR approach direction tangent- m 43
dependent
G147 Soft approach with straight line n 2
G148 Soft retraction with straight line n 2
G153 Suppress current frames including base Incl. system n 9
frame frame
G247 Soft approach with quadrant n 2
G248 Soft retraction with quadrant n 2
G290 Switch to SINUMERIK mode ON m 47
G291 Switch to ISO2/3 mode ON m 47
G331 Tapping ±0.001, ..., Motion m 1
G332 Retraction (tapping) 2000.00 commands m 1
mm/rev
G340 1 Spatial approach block (depth and in plane Effective during m 44
(helix)) soft
approach/retrac
tion
G341 Initial infeed on perpendicular axis (z), Effective during m 44
then approach in plane soft
approach/retrac
tion
G347 Soft approach with semicircle n 2
G348 Soft retraction with semicircle n 2
G450 1 Transition circle Corner behavior m 18
with tool radius
compensation
G451 Intersection of equidistances m 18
G460 1 Collision monitoring for approach and m 48
retraction block ON

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
G461 Extend border block with arc ... no m 48
if ... intersection in
TRC block
G462 Extend border block with line if ... m 48
G500 1 Deactivation of all settable frames if G500 m 8
does not contain a value
G505 ...G599 5 ... 99. Settable zero offset m 8
G601 1 Block change at exact stop fine Only effective: m 12
G602 Block change at exact stop coarse - with act. G60 m 12
or
G603 Block change at IPO - end of block - with G9 with m 12
G641 Exact stop - continuous-path mode programmable G641 AIDS=... m 10
G642 Corner rounding with axial precision transition m 10
rounding
G643 Block-internal corner rounding m 10
G644 Corner rounding with specified axis m 10
dynamics
G621 Corner deceleration at all corners Together with G621 AIDS=... m 57
continuous-path
mode only
G700 Dimensions in inches and inch/min m 13
(lengths + velocities + system variable)
G710 1 Metric dimension in mm and mm/min m 13
(lengths + velocities + system variable)
G8101, ..., G819 G group reserved for the OEM 31

G8201, ..., G829 G group reserved for the OEM 32

G931 Feedrate specified by travel time Travel time m 15

G942 Freeze linear feedrate and constant cutting m 15
rate or spindle speed
G952 Freeze revolutional feedrate and constant m 15
cutting rate or spindle speed

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
G961 Constant cutting rate and linear feed Feed type as G961 S... LIMS=... F... m 15
for G94
G962 Linear or revolutional feedrate and m 15
constant cutting rate
G971 Freeze spindle speed and linear feed Feed type as m 15
for G94
G972 Freeze linear or revolutional feedrate and m 15
constant spindle speed
G973 Revolutional feedrate without spindle G97 without m 15
speed limitation LIMS for ISO
mode
GEOAX Assign new channel axes to geometry Without
axes 1 - 3 parameter:
MD settings
effective
GET Assign machine axis/axes Axis must be
released in the
other channel
with RELEASE
GETD Assign machine axis/axes directly See GET
GETACTT Get active tool from a group of tools with
the same name
GETSELT Get selected T number
GETT50 Get T number for tool name
GOTO Jump statement first forward then Can be applied GOTO (label, block no.)
backward (direction initially to end of in part program Labels must exist in the
program and then to start of program) and technology subroutine.
cycles
GOTOC As with GOTO + suppress alarm 14080
"Destination not found"
GOTOB Jump backwards (toward the start of the GOTOB (Label, block
program) no.)
GOTOF Jump forwards (toward the end of the GOTOF (Label, block
program) no.)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
GOTOS Jump back to start of program GOTOS
BP Keyword for the indirect programming of E.g. X=GP(...)
position attributes
GWPSOF Deselect constant grinding wheel GWPSOF(T No.) n
peripheral speed (GWPS)
GWPSON Select constant grinding wheel peripheral GWPSON(T No.) n
speed (GWPS)
H... Auxiliary function output to Real/INT Can be H100 or H2=100
the PLC progr.: set for each MD
REAL: (machine
0 ...+/- 3.4028 manufacturer)
exp38
INT:
-2147483646
...
+2147483647
Display:
±
999,999,999.9
999
I4 Interpolation parameters Real n
I1 Intermediate point Real n
coordinate
IC Incremental dimensioning 0, ..., X=IC(10) n
±99999.999°
ICYCOF All blocks of a technology cycle are Within the
processed in one IPO cycle following program level
ICYCOF only
ICYCON Each block of a technology cycle is Within the
processed in a separate IPO cycle program level
following ICYCON only
IDS Identification of static synchronized actions
IF Introduction of a conditional jump in the Structure: IF- IF (condition)
part program/technology cycle ELSE-ENDIF

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
INCCW Travel on a circle involute Real End point: INCW/INCCW X... Y... m 1
in CCW direction with Center point: Z...
interpolation of involute by Radius with INCW/INCCW I... J...
G17/G18/G19 CR > 0: K...
Angle of INCW/INCCW CR=...
INCW Travel on a circle involute Real m 1
rotation in AR...
in CW direction with
interpolation of involute by degrees Direct programming:
G17/G18/G19 between start INCW/INCCW I... J...
and end vectors K... CR=... AR=...
INDEX Define index of character 0, ..., String:
in input string INT 1st parameter,
character:
2nd parameter
INIT Select module for execution in a channel Channel INIT(1,1,2) or
numbers INIT(CH_X, CH_Y)
1-10 or $MC
_CHAN_
NAME
INT Data type: Integer with - (231-1), ...,
sign 231-1
INTERSEC Calculate intersection VAR REAL [2] ISPOINT error ISPOINTS=
between two contour status: BOOL INTERSEC
elements and specify FALSE (TABNAME1[n1],
TRUE intersection status TABNAME2[n2],
in ISPOINT ISTCOORD, MODE)
IP Variable interpolation Real
parameter

IPOBRKA Motion criterion from braking ramp Braking ramp at IPOBRKA=.. or m

activation 100% to 0% IPOBRKA(<axis>[,REA
L])
IPOENDA End of motion when “IPO stop” is reached IPOENDA=.. or m
IPOENDA[n]..

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
IPTRLOCK Freeze start of the untraceable program Freeze interrupt m
section at next machine function block pointer
IPTRUNLOCK Set end of untraceable program section at Set interrupt m
current block at time of interruption pointer
ISAXIS Check if geometry axis 1 BOOL
specified as parameter
ISD Insertion depth Real m

ISFILE Check whether the file BOOL Returns results RESULT=ISFILE("Testfi

exists in the NCK user of type BOOL le") IF
memory (RESULT==FALSE)
ISNUMBER Check whether the input BOOL Convert input
string can be converted to string to a
a number number
ISPOINTS Possible intersections INT Machining type STATE=ISPOINTS
calculated by ISTAB MODE (KTAB1[n1],
between two contours on (optional) KTAB2[n2], ISTAB,
the current plane [MODE])
ISVAR Check whether the BOOL Machine data,
transfer parameter setting data and
contains a variable known variables such
in the NC as GUDs
J4 Interpolation parameters Real n
J1 Intermediate point Real n
coordinate
JERKA Activate acceleration response set via MD
for programmed axes
JERKLIMA Reduction or overshoot of 1, ..., 200 Valid range is JERKLIMA[X]= ...[%] m
maximum jerk (jerk axial) 1 to 200%
K4 Interpolation parameters Real n
K1 Intermediate point Real n
coordinate

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
KONT Travel round contour on tool offset m 17
KONTC Approach/retract with continuous- m 17
curvature
polynomial
KONTT Approach/retract with continuous-tangent m 17
polynomial
L Subroutine number Integer, up to L10 n
7 places
LEAD Lead angle Real m
LEADOF Master value coupling OFF (lead off)
LEADON Master value coupling ON (lead on)
LFOF 1 Interrupt thread cutting OFF m 41
LFON Interrupt thread cutting ON m 41
LFPOS Axial retraction to a position m 46
LFTXT 1 Tangential tool direction on retraction m 46
LFWP Non-tangential tool direction on retraction m 46
LIFTFAST Rapid lift before interrupt routine call
LIMS Spindle speed limitation 0.001, ..., m
with G96/G961 and G97 99 999. 999
(limit spindle speed)
LN Natural logarithm Real
LOCK Disable synchronized action with ID
(stop technology cycle)
LOG (Common) logarithm Real
LOOP Introduction of an endless loop Structure:
LOOP-
ENDLOOP

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
M... Switching operations INT Up to 5
Display: unassigned
0, ..., M functions can
999 999 999 be assigned by
Program: the machine
0,..., manufacturer
2147483647
M0 6 Programmed stop
M1 6 Optional stop
M2 6 End of main program with return to
beginning of program
M3 Direction of spindle rotation clockwise for
master spindle
M4 Direction of spindle rotation
counterclockwise for master spindle
M5 Spindle stop for master spindle
M6 Tool change
M17 6 End of subroutine
M19 For SSL accumulated spindle
programming
M30 6 End of program, same effect as M2
M40 Automatic gear change
M41... M45 Gear stage 1, ..., 5
M70 Transition to axis mode
MASLDEF Define master/slave axis grouping
MASLDEL Uncouple master/slave axis grouping and
clear grouping definition
MASLOF Disable a temporary coupling
MASLOFS Deactivate a temporary coupling with
automatic slave axis stop
MASLON Enable a temporary coupling
MAXVAL Larger value of two Real If values are the ValMax =
variables (arithm. same, the same MAXVAL(Var1, Var2)
function) value is
returned

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
MCALL Modal subroutine call Without
subroutine
name:
Deselection
MEAC Continuous measurement Integer, n
without deleting distance- without sign
to-go
MEAFRAME Frame calculation from FRAME
measuring points
MEAS Measure with touch- Integer, n
trigger probe without sign
MEASA Measurement with n
deletion of distance-to-go
MEAW Measure with touch- Integer, n
trigger probe without without sign
deleting distance-to-go

MEAWA Measurement without n

deletion of distance-to-go
MI Access to frame data: Mirroring MI
MINDEX Define index of character 0, ..., String:
in input string INT 1st parameter,
character:
2nd parameter
MINVAL Smaller value of two Real If values are the ValMin =
variables (arithm. same, the same MINVAL(Var1, Var2)
function) value is
returned
MIRROR Programmable Mirroring MIRROR X0 Y0 Z0 n 3
;separate block
MMC Call the dialog window STRING
interactively from the part
program on the HMI
MOD Modulo division
MODAXVAL Determine modulo Real
position of a modulo
rotary axis

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
MOV Start positioning axis Real
(start moving positioning
axis)
MSG Programmable messages MSG("message") m
N Block number - subblock 0, ..., Can be used for e.g. N20
9999 9999 assigning a
integers only, number to a
without signs block; located
at beginning of
block
NCK Specify validity range for data Once per NCK
NEWCONF Accept modified machine data Also possible
Corresponds to set machine data active via HMI
NEWT Create new tool Duplo number
can be omitted
NORM 1 Standard setting in starting point and end m 17
point with tool offset
NOT Logical NOT (negation)
NPROT Machine-specific protection zone ON/OFF
NPROTDEF Machine-specific protection area definition
(NCK-specific protection area definition)
NUMBER Convert input string to Real
number
OEMIPO15 OEM interpolation 1 m 1
OEMIPO25 OEM interpolation 2 m 1
OF Keyword in CASE branch
OFFN Allowance on the programmed contour OFFN=5
OMA1 OEM address 1 Real m
OMA2 OEM address 2 Real m
OMA3 OEM address 3 Real m
OMA4 OEM address 4 Real m
OMA5 OEM address 5 Real m

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
OFFN Offset - normal Real m
OR Logical OR
ORIC 1 Orientation changes at outside corners are m 27
superimposed on the circle block to be
inserted
(orientation change continuously)
ORID Orientation changes are performed before m 27
the circle block
(orientation change discontinuously)
ORIAXPOS Orientation angle via virtual orientation m 50
axes with rotary axis positions
ORIEULER Orientation angle via Euler angle m 50
ORIAXES Linear interpolation of machine axes or Final Parameter settings as m 51
orientation axes orientation: follows:
ORICONCW Interpolation on a circular peripheral Vector Direction vectors m 51
surface in CW direction specification normalized A6=0 B6=0
A3, B3, C3, or C6=1
ORICONCCW Interpolation on a circular peripheral Euler/RPY m 51
surface in CCW direction Opening angle
angle A2, B2,
implemented as travel
ORICONIO Interpolation on a circular peripheral C2 m 51
angle with
surface with intermediate orientation Additional SLOT=...
setting specifications: SLOT=+... at ≤ 180
ORICONTO Interpolation on circular peripheral surface Rotational degrees m 51
in tangential transition vectors SLOT= -... at ≥ 180
(final orientation) A6, B6, C6 degrees
ORICURVE Interpolation of orientation with Opening angle Intermediate orientation m 51
specification of motion of two contact of cone in normalized
points of tool degrees: A7=0 B7=0 C7=1
ORIPLANE Interpolation in a plane 0 < SLOT < 180 m 51
(corresponds to ORIVECT), Intermediate
large-radius circular interpolation vectors:
A7, B7, C7
Tool contact
point:
XH, YH, ZH
ORIPATH Tool orientation in relation to path Handling m 51
transformation
package (see
/FB3/TE4)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
ORIPATHS Tool orientation in relation to path, blips in Relative to the m 51
the orientation characteristic are smoothed path as a whole
ORIROTA Angle of rotation to an absolute direction m 54
of rotation.
ORIROTC Tangential rotational vector in relation to Relative to path m 54
path tangent tangent
ORIROTR Angle of rotation relative to the plane m 54
between the start and end orientation
ORIROTT Angle of rotation relative to the change in m 54
the orientation vector
ORIRPY Orientation angle via RPY angle (XYZ) Rotational m 50
sequence XYZ
ORIRPY2 Orientation angle via RPY angle (ZYX) Rotational m 50
sequence ZYX
ORIS Orientation modification Real Relative to the m
(orientation smoothing path
factor)
ORIVECT Large-radius circular interpolation m 51
(identical to ORIPLANE)
ORIVIRT1 Orientation angle via virtual orientation m 50
axes (definition 1)
ORIVIRT2 Orientation angle via virtual orientation m 50
axes (definition 2)
ORIMCS Tool orientation in the machine coordinate m 25
system
ORIRESET Initial setting of tool orientation with up to Parameter ORIRESET(A,B,C)
three orientation axes optional (REAL)
ORIWKS 1 Tool orientation in the workpiece m 25
coordinate system

OS Oscillation on/off Integer,

without sign
OSB Oscillating: Start point m
OSC Continuous tool orientation smoothing m 34

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
OSCILL Axis assignment for Axis: 1 - 3 m
oscillation- infeed axes
activate oscillation
OSCTRL Oscillation control options Integer, m
without sign
OSD Rounding of tool orientation by specifying Block-internal m 34
rounding length with SD
OSE Oscillating: End point m
OSNSC Oscillating: Number of m
spark-out cycles
(oscillating: number spark-
out cycles)
OSOF 1 Tool-orientation smoothing OFF m 34
OSP1 Oscillating: Left reversal Real m
point
(oscillating: position 1)
OSP2 Oscillating: Right reversal Real m
point
(oscillating: position 2)
OSS Tool-orientation smoothing at end of block m 34
OSSE Tool-orientation smoothing at start and m 34
end of block
OST Rounding of tool orientation by specifying Block-internal m 34
angle tolerance in degrees with SD
(maximum deviation from programmed
orientation characteristic)
OST1 Oscillating: Stopping point Real m
in left reversal point
OST2 Oscillating: Stopping point Real m
in right reversal point
OVR Speed override 1, ..., 200% m
OVRA Axial speed override 1, ..., 200% m
OVRRAP Rapid traverse override 1, ..., 100% m

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
P Number of subroutine 1, ..., 9999, e.g. L781 P...
cycles integers w/o ;separate block
signs
PCALL Call subroutines with the absolute path No absolute
and parameter transfer path. Behavior
as for CALL
PAROT Align workpiece coordinate system on m 52
workpiece
PAROTOF Deactivate workpiece-related frame m 52
rotation
PDELAYOF Punch with delay OFF m 36

PDELAYON 1 Punch with delay ON m 36

PL Parameter interval length Real, without n

sign
PM Per minute Feed per
minute
PO Polynomial Real, without n
sign
POLF LIFTFAST position Real, without Geometry axis POLF[Y]=10 target m
sign in WCS, position of retracting
otherwise MCS axis
POLFA Start retract position of For single axes POLFA(AX1, 1, 20.0) m
single axes with
$AA_ESR_TRIGGER
POLFMASK Enable axes for retraction Selected axes POLFMASK(AX1, AX2, m
without a connection ...)
between the axes
POLFMLIN Enable axes for retraction Selected axes POLFMIN(AX1, AX2, m
with a linear connection ...)
between the axes
POLY Polynomial interpolation m 1

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
POLYPATH Polynomial interpolation can be selected POLYPATH ("AXES") m 1
for the AXIS or VECT axis groups POLYPATH ("VECT")
PON Punch ON m 35
PONS Punch ON in IPO cycle (punch ON slow) m 35
POS Axis positioning POS[X]=20
POSA Position axis across block POSA[Y]=20
boundary
POSP Positioning in part Real: end
sections (oscillation) position, part
(position axis in parts) length;
Integer: option
POT Square Real
(arithmetic function)
PR Per revolution Revolutional feedrate
PRESETON Sets the actual value for programmed One axis PRESETON(X,10,Y,
axes identifier is 4.5)
programmed at
a time, with its
respective
value in the
next parameter
Up to eight
axes possible.
PRIO Keyword for setting the priority for interrupt
processing
PROC First statement in a program Block number - PROC -
identifier
PTP Point-to-point motion synchronized m 49
(point-to-point) axis
PTPG0 Point-to-point motion only with G0, synchronized m 49
otherwise CP axis

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
PUTFTOC Fine tool offset for parallel dressing Channel PUTFTOC(1,1,2) or
(continuous dressing) numbers 1 - 10 PUTFTOC(CH_name)
(put fine tool correction) or $MC
_CHAN_NAME
PUTFTOCF Fine tool offset depending on a function Channel PUTFTOCF(1,1,2) or
defined with FCtDEF for parallel dressing numbers 1 - 10 PUTFTOCF(CH_name)
(continuous dressing) or $MC
(put fine tool correction function _CHAN_NAME
dependant)
PW Point weight Real, without n
sign
QECLRNOF Quadrant error compensation learning
OFF
QECLRNON Quadrant error compensation learning ON
QU Fast additional (auxiliary) function output
R... Arithmetic parameters ± Number of R R10=3
also as settable address 0.0000001, parameters that ;R parameter
identifier and with numerical ..., can be set by assignment
extension 9999 9999 MD X=R10 ;axis
valueR[R10]=6
;indirect prog.
RAC Absolute, non-modal, axis-specific radius Radius RAC(50) n
programming programming
RDISABLE Read-in disable
READ Reads one or more lines in the specified The information
file and stores the information read in the is available as
array STRING
READAL Read alarm Alarms are
searched
according to
ascending
numbers

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
REAL Data type: floating-point Correspond
variable with sign (real s to the 64-
numbers) bit floating
point format
of the
processor
REDEF Setting for machine data, NC language
elements and system variables, specifying
the user groups they are displayed for
RELEASE Release machine axes Multiple axes
can be
programmed
REP Keyword for initialization of all elements of REP(value)
an array with the same value or
DO ARRAY[n,m]=REP(
)
REPEAT Repeat a program loop Until (UNTIL) a
condition is
fulfilled
REPEATB Repeat a program line nnn times
REPOSA Repositioning linear all axes n 2

REPOSH Repositioning semicircle n 2

REPOSHA Repositioning all axes; geometry axes n 2

semicircle
(repositioning semicircle all axes)
REPOSL Repositioning linear n 2

REPOSQ Repositioning quarter circle n 2

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
REPOSQA Repositioning linear all axes; geometry n 2
axes quarter circle
(repositioning quarter circle all axes)
RESET Reset technology cycle One or several
IDs can be
programmed
RET End of subroutine Use in place of RET
M17 – without
function output
to PLC
RIC Relative, non-modal, axis-specific radius Radius RIC(50) n
programming programming
RINDEX Define index of character 0, ..., String:
in input string INT 1st parameter,
character:
2nd parameter
RMB Repositioning at beginning of block m 26
(repos mode begin of block)
RME Repositioning at end of block m 26
(repos mode end of block)
RMI 1 Repositioning at interruption point m 26
(repos mode interrupt)
RMN Reapproach to nearest path point m 26
(repos mode end of nearest orbital block)
RND Round the contour corner Real, without RND=... n
sign
RNDM Modal rounding Real, without RNDM=... m
sign RNDM=0: disable
modal rounding

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
ROT Programmable rotation Rotation ROT X... Y... Z... n 3
around ROT RPL=
1st geometry ;separate block
axis:
-180°... +180°
2nd geometry
axis:
-90° ... +90°
3rd geometry
axis:
-180°... +180°
ROTS Programmable frame rotations with solid ROTS X… Y… n 3
angles (rotation) ROTS Z… X...
ROTS Y... Z...
ROTS RPL=
;separate block
ROUND Round decimal places Real
RP Polar radius Real m/n
RPL Rotation in the plane Real, without n
sign
RT Parameter for access to frame data:
Rotation
RTLION G0 with linear interpolation m 55
RTLIOF G0 without linear interpolation (single-axis m 55
interpolation)
S Spindle speed or REAL Spindle speed S...: Speed for master m/n
(with G4, G96/G961) Display: in rpm spindle
other meaning ±999 999 G4: Dwell time S1...: Speed for spindle
999.9999 in spindle 1
Program: revolutions
±3.4028 ex38 G96/G961:
Cutting rate in
m/min.
SAVE Attribute for saving information at The following
subroutine calls are saved: All
modal G
functions and
the current
frame

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
SBLOF Suppress single block The following
(single block OFF) blocks are
executed in
single block like
a block
SBLON Clear single block suppression
(single block ON)
SC Parameter for access to frame data:
Scaling (scale)
SCALE Programmable scaling SCALE X... Y... Z... n 3
(scale) ;separate block
SCC Selective assignment of transverse axis to Also with SCC[axis]
G96/G961/G962. Axis identifiers may take constant cutting
the form of geo, channel or machine axes rate
SD Spline degree Integer, n
without sign
SEFORM Structuring statement in Step editor to Evaluated in SEFORM
generate the step view for HMI Advanced Step editor (<section_name>,
<level>, <icon> )
SET Keyword for initialization of all elements of SET(value, value, ...) or
an array with listed values DO ARRAY[n,m]=SET(
)
SETAL Set alarm
SETDNO Set D number of tool (T) and its cutting
edge to "new"
SETINT Define which interrupt routine is to be Edge 0 → 1
activated when an NCK input is present is analyzed
SETMS Reset to the master spindle defined in
machine data
SETMS(n) Set spindle n as master spindle
SETPIECE Set piece number for all tools assigned to Without spindle
the spindle number:
applies to
master spindle

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
SF Starting point offset for 0.0000,..., m
thread cutting 359.999°
(spline offset)
SIN Sine (trigon. function) Real
SOFT Jerk-limited path acceleration m 21
SOFTA Switch on soft axis acceleration for the
programmed axes
SON Nibbling ON (stroke ON) m 35
SONS Nibbling ON in IPO cycle (stroke ON slow) m 35
SPATH 1 Path reference for FGROUP axes is arc m 45
length
SPCOF Switch master spindle or spindle(s) from SPCOF m
position control to speed control SPCOF(n)
SPCON Switch master spindle or spindle(s) from SPCON m
speed control to position control SPCON (n)
SPIF1 1 Fast NCK inputs/outputs for m 38
punching/nibbling byte 1
(stroke/punch interface 1)
SPIF2 Fast NCK inputs/outputs for m 38
punching/nibbling byte 2
(stroke/punch interface 2)
SPLINE-PATH Define spline grouping Max. eight axes
SPOF 1 Stroke OFF, punching, nibbling OFF m 35

JN Number of path sections Integer n

per block
(stroke/punch number)
JP Length of path section Integer m
(stroke/punch path)
SPOS Spindle position SPOS=10 or m
SPOS[n]=10
SPOSA Spindle position across SPOSA=5 or m
block boundaries SPOSA[n]=5

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
SQRT Square root Real
(arithmetic function)

SR Sparking-out retraction Real, without n

path sign
for synchronized action

SRA Sparking-out retraction SRA[Y]=0.2 m

path with external input
axial
for synchronized action

ST Sparking-out time Real, without n

for synchronized action sign

STA Sparking-out time axial m

for synchronized action

START Start selected programs simultaneously in Ineffective for START(1,1,2) or

several channels from current program the local START(CH_X, CH_Y)
channel $MC _CHAN_NAME
STARTFIFO1 Execute; simultaneously fill preprocessing m 4
memory
STAT Position of joints Integer n
STOPFIFO Stop machining; fill preprocessing memory m 4
until STARTFIFO is detected, FIFO full or
end of program
STOPRE Stop preprocessing until all prepared
blocks are executed in main run

STOPREOF Stop preprocessing OFF

STRING Data type: Character Max. 200

string characters

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
STRINGIS Checks the present scope INT The return STRINGIS
of NC language and NC value results (STRING,name)=
cycle names, user are Digit-coded
variables, macros and 000 return value
label names belonging not known 100
especially to this programmable
command to establish 2XX recognized
whether these exist, are as present
valid, defined or active
STRLEN Define string length INT
SUBSTR Define index of character Real String: 1st
in input string parameter,
character: 2nd
parameter
SUPA Suppression of current zero offset, n 9
including programmed offsets, system
frames, handwheel offsets (DRF), external
zero offset and overlaid motion
SYNFCT Evaluation of a polynomial VAR REAL
as a function of a
condition in the motion-
synchronous action
SYNR The variable is read synchronously, i.e. at
execution time
(synchronous read)
SYNRW The variable is read and written
synchronously, i.e. at execution time
(synchronous read-write)
SYNW The variable is written synchronously, i.e.
at execution time
(synchronous write)

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Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
T Call tool 1, ..., 32 000 Call using T-no. For example, T3 or
(only change if specified or tool identifier T=3,
in machine data; e.g. T="DRILL"
otherwise M6 command
necessary)
TAN Tangent (trigon. function) Real
TANG Determine tangent for the follow-up from
both specified leading axes
TANGOF Tangent follow-up mode OFF

TANGON Tangent follow-up mode ON

TCARR Request toolholder Integer m=0: deselect TCARR=1

(number "m") active
toolholder
TCOABS 1 Determine tool length components from Necessary after m 42
the orientation of the current toolholder reset, e.g.
TCOFR Determine tool length components from through manual m 42
the orientation of the active frame setting
TCOFRX Determine tool orientation of an active Tool m 42
frame on selection of tool, tool points in X perpendicular to
direction inclined surface
TCOFRY Determine tool orientation of an active Tool m 42
frame on selection of tool, tool points in Y perpendicular to
direction inclined surface
TCOFRZ Determine tool orientation of an active Tool m 42
frame on selection of tool, tool points in Z perpendicular to
direction inclined surface
THETA Angle of rotation THETA is THETA=Value n
always THETA=AC
perpendicular to THETA=IC
the current tool Polynomial for THETA
orientation PO[THT]=(…)

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 Tables
16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
TILT Tilt angle Real TILT=Value m
TMOF Deselect tool monitoring T-no. required TMOF (T no.)
only when the
tool with this
number is not
active
TMON Activate tool monitoring T No. = 0: TMON (T no.)
Deactivate
monitoring for
all tools
TO Defines the end value in a FOR counter
loop
TOFF Tool length offset in the direction of the m
tool length component that is effective
parallel to the geometry axis specified in
the index
TOFFL Tool length offset in the direction of the m
tool length component L1, L2 or L3
TOFFR Tool radius offset m
TOFFOF Deactivate on-line tool offset
TOFFON Activate online tool length offset Specify a 3D TOFFON (Z, 25) with
(Tool offset ON) offset direction offset direction Z,
offset value 25
TOFRAME Set current programmable frame to tool Frame rotation m 53
coordinate system in tool direction
TOFRAMEX X axis parallel to tool direction, secondary m 53
axis Y, Z
TOFRAMEY Y axis parallel to tool direction, secondary m 53
axis Z, X
TOFRAMEZ Z axis parallel to tool direction, secondary m 53
axis X, Y

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16.1 Statements

Name Meaning Value Description, Syntax m/n3 Group 2

comment
TOLOWER Convert letters of the string into lowercase
TOROTOF Frame rotations in tool direction OFF m 53
TOROT Z axis parallel to tool orientation Frame rotations m 53
TOROTX X axis parallel to tool orientation ON m 53
Rotary
TOROTY Y axis parallel to tool orientation component of m 53
TOROTZ Z axis parallel to tool orientation the m 53
programmable
frame
TOUPPER Convert letters of the string into uppercase
TOWSTD Initial setting value for offsets in tool length Inclusion of tool m 56
TOWBCS Wear values in basic coordinate system wear m 56
(BCS)
TOWKCS Wear values in the coordinate system of m 56
the tool head for kinetic transformation
(differs from MCS by tool rotation)
TOWMCS Wear data in the machine coordinate m 56
system (MCS)
TOWTCS Wear values in the tool coordinate system m 56
(tool carrier ref. point T at the tool holder)
TOWWCS Wear values in workpiece coordinate m 56
system (WCS)
TRAANG Transformation inclined axis Several
transformations
can be set for
each channel
TRACEOF Circularity test: Transfer of values OFF
TRACEON Circularity test: Transfer of values ON

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Name Meaning Value Description, Syntax m/n3 Group 2

comment
TRACON Transformation concatenated

TRACYL Cylinder: Peripheral surface See TRAANG

transformation
TRAFOOF Deactivate transformation TRAFOOF( )
TRAILOF Asynchronous coupled motion of axes
OFF
(trailing OFF)
TRAILON Asynchronous coupled motion of axes ON
(trailing ON)
TRANS Programmable offset (translation) TRANS X... Y... Z... n 3
;separate block
TRANSMIT Polar transformation See TRAANG
TRAORI 4-axis, 5-axis transformation, generic Activates the Generic transformation
transformation specified TRAORI(1,X,Y,Z)
(transformation oriented) orientation
transformation
TRUE Logical constant: True BOOL Can be
replaced
with integer
constant 1
TRUNC Truncate decimal places Real
TU Axis angle Integer TU=2 n
TURN Number of turns for helix 0, ..., 999 n
UNLOCK Enable synchronized action with ID
(continue technology cycle)
UNTIL Condition for end of REPEAT loop
UPATH Path reference for m 45
FGROUP axes is curve
parameter
VAR Keyword: Type of parameter passing With VAR: Call
by reference

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Name Meaning Value Description, Syntax m/n3 Group 2

comment
VELOLIMA Reduction or overshoot of 1, ..., 200 Valid range is VELOLIMA[X]= ...[%] m
maximum axial velocity 1 to 200%

WAITC Wait until coupling block change criterion Up to two WAITC(1,1,2)

for axes/spindles is fulfilled (wait for couple axes/spindles
condition) can be
programmed
WAITE Wait for end of program on another Channel WAITE(1,1,2) or
channel numbers 1 - 10 WAITE(CH_X, CH_Y)
or $MC
_CHAN_NAME
WAITM Wait for marker in specified channel; Channel WAITM(1,1,2) or
terminate previous block with exact stop numbers 1 - 10 WAITM(CH_X, CH_Y)
or $MC
_CHAN_NAME
WAITMC Wait for marker in specified channel; exact Channel WAITMC(1,1,2) or
stop only if the other channels have not numbers 1 - 10 WAITMC(CH_X, CH_Y)
yet reached the marker. or $MC
_CHAN_NAME
WAITP Wait for end of traversing WAITP(X)
;separate block
WAITS Waiting to reach spindle position WAITS (main spindle)
WAITS (n,n,n)
WALCS0 WCS working area limitation deselected m 60
WALCS1 WCS working area limitation group 1 m 60
active
WALCS2 WCS working area limitation group 2 m 60
active
WALCS3 WCS working area limitation group 3 m 60
active
WALCS4 WCS working area limitation group 4 m 60
active
WALCS5 WCS working area limitation group 5 m 60
active
WALCS6 WCS working area limitation group 6 m 60
active

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Name Meaning Value Description, Syntax m/n3 Group 2

comment
WALCS7 WCS working area limitation group 7 m 60
active
WALCS8 WCS working area limitation group 8 m 60
active
WALCS9 WCS working area limitation group 9 m 60
active
WALCS10 WCS working area limitation group 10 m 60
active
WALIMOF BCS working area limitation OFF ;separate block m 28

WALIMON1 BCS working area limitation ON ;separate block m 28

WHILE Start of WHILE program loop End:

ENDWHILE
WRITE Write block in file system The blocks are
Appends a block to the end of the inserted after
specified file M30
X Axis Real m/n
XOR Logical exclusive OR
Y Axis Real m/n
Z Axis Real m/n

Legend:
1 Default setting at beginning of program (factory settings of the control, if nothing else programmed)
2 The groups are numbered according to the table in section "List of G functions/preparatory functions".
3 Absolute end points: modal (m)
Incremental end points: non-modal (n)
Otherwise: modal/non-modal depending on syntax of G function
4 As circle center points, IPO parameters act incrementally. They can be programmed in absolute mode with AC. The
address modification is ignored when the parameters have other meanings (e.g. thread lead).
5 The OEM can add two extra interpolation types. The names can be changed by the OEM.
6 Extended address notation cannot be used for these functions.

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16.2 Addresses

List of addresses
The list of addresses consists of
● Address letters
● Fixed addresses
● Fixed addresses with axis expansion
● Settable addresses

Address letters
Available address letters

Letter Meaning Numeric

extension
A Settable address identifier x
B Settable address identifier x
C Settable address identifier x
D Selection/deselection of tool length compensation, tool cutting edge
E Settable address identifier
F Feedrate x
dwell time in seconds
G G function
H H function x
I Settable address identifier x
J Settable address identifier x
K Settable address identifier x
L Subroutines, subroutine call
M M function x
N Subblock number
O Unassigned
P Number of program runs
Q Settable address identifier x
R Variable identifier (arithmetic parameter) / settable address identifier without numerical x
extension
S Spindle value x
dwell time in spindle revolutions x
T Tool number x

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V Settable address identifier x

V Settable address identifier x
W Settable address identifier x
X Settable address identifier x
Y Settable address identifier x
Z Settable address identifier x
% Start character and separator for file transfer
: Main block number
/ Skip identifier

Available fixed addresses

Address Address type Modal/ G70/ G700/ G90/ IC AC DC, CIC, Qu Data type
identifier non- G71 G710 G91 ACN, CAC,
modal ACP CDC,
CACN,
CACP
L Subroutine no. n Integer without
sign
P Number of n Integer without
subroutine sign
passes
N Block number n Integer without
sign
G G function See Integer without
list of sign
G
functio
ns
F Feed, dwell m, n x x Real without
time sign
OVR Override m Real without
sign
S Spindle, dwell m, n x Real without
time sign
SPOS Spindle m x x x Real
position
SPOSA Spindle m x x x Real
position
beyond block
limits

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T Tool number m x Integer without

sign
D Offset number m x Integer without
sign
M, H, Auxiliary n x M: Integer
functions without sign
H: Real

Fixed addresses with axis expansion

Axis Address type Modal/ G70/ G700/ G90/ IC AC DC, CIC, Qu Data type
identifier non- G71 G710 G91 ACN, CAC,
modal ACP CDC,
CACN,
CACP
AX: Axis Variable axis *) x x x x x x Real
identifier
IP: Variable n x x x x x Real
Interpolatio interpolation
n parameter parameter
POS: Positioning m x x x x x x x Real
Positioning axis
axis
POSA: Positioning m x x x x x x x Real
Positioning axis across
axis above block
end of block boundaries
POSP: Positioning m x x x x x x Real: End
Positioning axis in parts position / Real:
axis in parts (oscillation) Partial length
Integer: Option
PO: Polynomial n x x Real without
Polynomial coefficient sign
1 - 8 times
FA: Feed Axial feedrate m x x Real without
axial sign
FL: Feed Axial feed m x Real without
limit limit sign

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OVRA: Axial override m x Real without

Override sign
ACC: Axial Axial m Real without
acceleration acceleration sign
FMA: Synchronous m x Real without
Feedrate feedrate axial sign
multiple
axial
STW: Sparking out m Real without
Sparking- time axial sign
out time
axial
SRA: Retraction m x x Real without
Sparking- path on sign
out retract external input
axial
OS: Oscillation m Integer without
Oscillating ON/OFF sign
ON/OFF
OST1: Stopping time m Real
Oscillating at left reversal
time 1 point
(oscillation)
OST2: Stopping time m Real
Oscillating at right
time 2 reversal point
(oscillation)
OSP1: Left reversal m x x x x x x Real
Oscillating point
position 1 (oscillation)
OSP2: Right reversal m x x x x x x Real
Oscillating point
position 2 (oscillation)
OSB: position m x x x x x x Real
Oscillating
start
OSE: Oscillation m x x x x x x Real
Oscillating end position
end position

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OSNSC: Number of m Integer without

Oscillating: spark-out sign
number cycles
spark-out (oscillation)
cycles
OSCTRL: Oscillation m Integer without
Oscillating control sign: set
control options options, integer
without sign:
reset options
OSCILL: Axis m Axis: 1 - 3
Oscillating assignment infeed axes
for oscillation
activate
oscillation
FDA: Axis feedrate n x Real without
Feedrate for handwheel sign
DRF axial override
FGREF Reference m x x Real without
radius sign
POLF LIFTFAST m x x Real without
position sign
FXS: Travel to fixed m Integer without
Fixed stop stop ON sign
FXST: Torque limit m Real
Fixed stop for travel to
torque fixed stop
FXSW: Monitoring m Real
Fixed stop window for
window travel to fixed
stop
In these addresses, an axis or an expression of axis type is specified in square brackets.
The data type in the above column shows the type of value assigned.
*) Absolute end points: modal, incremental end points: non-modal, otherwise modal/non-
modal depending on syntax of G function.

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Settable addresses

Axis identifier Address Modal/ G70/ G700/ G90/ IC AC DC, CIC, Qu Max. Data type
type non- G71 G710 G91 ACN, CAC, numb
modal ACP CDC, er
CACN,
CACP
Axis values and end points
X, Y, Z, A, B, Axis *) x x x x x x 8 Real
C
AP: Angle Polar angle m/n* x x x 1 Real
polar
RP: Polar Polar radius m/n* x x x x x 1 Real without
radius sign
Tool orientation
A2, B2, C2 1) Euler angle n 3 Real
or RPY
angle
A3, B3, C3 Direction n 3 Real
vector
component
A4, B4, C4 for Normal n 3 Real
start of block vector
component
A5, B5, C5 for Normal n 3 Real
end of block vector
component
A6, B6, C6 Direction n 3 Real
standardized vector
vector component
A7, B7, C7 Intermediat n 3 Real
standardized e
vector orientation
component
LEAD: Lead angle m 1 Real
Lead angle
THETA: Third Angle of n x x x 1 Real
degree of rotation,
freedom tool rotation
orientation around the
tool
direction

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TILT: Tilt angle m 1 Real

Tilt angle
ORIS: Orientation m 1 Real
Orientation change
smoothing (referring to
factor the path)
Interpolation parameters
I, J, K** Interpolatio n x x x** x** 3 Real
n parameter
I1, J1, K1 Intermediat n x x x x x Real
e point
coordinate
RPL: Rotation in n 1 Real
Rotation the plane
plane
CR: Circle n x x 1 Real without
Circle radius radius sign
AR: Opening 1 Real without
Angle circular angle sign
TURN Number of n 1 Integer
turns for without sign
helix
PL: Parameter n 1 Real without
Parameter interval sign
interval length length
PW: Point weight n 1 Real without
sign
SD: Spline Spline n 1 Integer
degree degree without sign
TU: Turn Turn m Integer
without sign
STAT: State State m Integer
without sign
SF: Starting m 1 Real
Spindle offset point offset
for thread
cutting

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DISR: Distance for n x x 1 Real without

Distance for repositionin sign
repositioning g
DISPR: Repos path n x x 1 Real without
Distance path difference sign
for
repositioning
ALF: Fast m 1 Integer
Angle lift fast retraction without sign
angle
DILF: Fast m x x 1 Real
Distance lift retraction
fast length
FP Fixed point: n 1 Integer
Number of without sign
fixed point
to approach
RNDM: Modal m x x 1 Real without
Round modal rounding sign
RND: Non-modal n x x 1 Real without
Round rounding sign
CHF: Chamfer n x x 1 Real without
Chamfer non-modal sign
CHR: Chamfer in n x x 1 Real without
Chamfer initial sign
direction of
motion
ANG: Angle Contour n 1 Real
angle
ISD: Insertion m x x 1 Real
Insertion depth
depth
DISC: Transition m x x 1 Real without
Distance circle sign
overshoot
tool offset

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OFFN Offset m x x 1 Real

contour -
normal
DITS Thread run- m x x 1 Real
in path
DITE Thread run- m x x 1 Real
out path
Nibbling/punching
SPN: Number of n 1 INT
Stroke/punch path
number 1) sections per
block
SPP: Length of a m 1 Real
Stroke/punch path section
path 1)
Grinding
ST: Sparking- n 1 Real without
Sparking-out out time sign
time
SR: Return path n x x 1 Real without
Sparking-out sign
retract path
Approximate positioning criteria
ADIS Rounding m x x 1 Real without
clearance sign
ADISPOS Rounding m x x 1 Real without
clearance sign
for rapid
traverse
Measurement
MEAS: Measure n 1 Integer
Measure with touch- without sign
trigger
probe
MEAW: Measure n 1 Integer
Measure without without sign
without deleting
deleting distance-to-
distance-to-go go

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Axis, spindle behavior

LIMS: Spindle m 1 Real without
Limit spindle speed sign
speed limitation
Feedrates
FAD Speed of n x 1 Real without
the slow sign
infeed
motion
FD: Path feed n x 1 Real without
Feed DRF for sign
handwheel
override
FRC Feed for n x Real without
radius and sign
chamfer
FRCM Feed for m x Real without
radius and sign
chamfer,
modal
OEM addresses
OMA1: OEM OEM m x x x 1 Real
address 1 1) address 1
OMA2: OEM OEM m x x x 1 Real
address 2 1) address 2
OMA3: OEM OEM m x x x 1 Real
address 3 1) address 3
OMA4: OEM OEM m x x x 1 Real
address 4 1) address 4
OMA5: OEM OEM m x x x 1 Real
address 5 1) address 5
*) Absolute end points: modal, incremental end points: non-modal, otherwise modal/non-
modal depending on syntax of G function.
**)As circle center points, IPO parameters act incrementally. They can be programmed in
absolute mode with AC. The address modification is ignored when the parameters have
other meanings (e.g. thread lead).
1) The keyword is not valid for NCU571.

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16.3 G functions / preparatory functions

List of G functions/preparatory functions

In the list of G functions/motion commands you will find all available G codes according to
the appropriate functional groups.

Legend for describing the G groups

No.: internal number for, e.g. PLC interface
X: No. for GCODE_RESET_VALUES not permitted
m: modal or n: non-modal
Def.: Siemens AG (SAG) default setting, M: Milling: T: Turning or other conventions
MM.: Default setting, please see machine manufacturer's specifications

Group 1: Modally valid motion commands

Name No. Meaning X m/n SAG MM
G0 1. Rapid traverse m
G1 2. Linear interpolation (linear interpolation) m Def.
G2 3. Circular interpolation clockwise m
G3 4. Circular interpolation counterclockwise m
CIP 5. Circle through points: Circular interpolation through intermediate point m
ASPLINE 6. Akima spline m
BSPLINE 7. B-spline m
CSPLINE 8. Cubic spline m
POLY 9. Polynomial: Polynomial interpolation m
G33 10. Thread cutting with constant lead m
G331 11. Tapping m
G332 12. Retraction (tapping) m
OEMIPO1 13. Reserved m
##
OEMIPO2 14. Reserved m
##
CT 15. Circle with tangential transition m
G34 16. Increase in thread lead (progressive change) m
G35 17. Decrease in thread lead (degressive change) m
INVCW 18. Involute interpolation in clockwise direction m
INVCCW 19. Involute interpolation in counterclockwise direction m
If no function from the group is programmed with modal G functions, the default setting
(which can be changed in the machine data) applies: $MC_GCODE_RESET_VALUES
## The keyword is not valid for NCU571.

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Group 2: Non-modally valid motions, dwell time

Name No. Meaning X m/n SAG MM
G4 1. Dwell time preset X n
G63 2. Tapping without synchronization X n
G74 3. Reference point approach with synchronization X n
G75 4. Fixed point approach X n
REPOSL 5. Repositioning linear: Linear repositioning X n
REPOSQ 6. Repositioning quadrant: Repositioning in a quadrant X n
REPOSH 7. Repositioning semicircle: Repositioning in semicircle X n
REPOSA 8. Repositioning linear all axis: Linear repositioning with all axes X n
REPOSQA 9. Repositioning quadrant all axes: Linear repositioning with all axes, X n
geometry axes in quadrant
REPOSHA 10. Repositioning semicircle all axes: Repositioning with all axes; geometry X n
axes in semicircle
G147 11. Soft approach with straight line X n
G247 12. Soft approach with quadrant X n
G347 13. Soft approach with semicircle X n
G148 14. Soft retraction with straight line X n
G248 15. Soft retraction with quadrant X n
G348 16. Soft retraction with semicircle X n
G05 17. Oblique plunge-cut grinding X n
G07 18. Compensatory motion during oblique plunge-cut grinding X n

Group 3: Programmable frame, working area limitation and pole programming

Name No. Meaning X m/n SAG MM
TRANS 1. TRANSLATION: Programmable offset X n
ROT 2. ROTATION: Programmable rotation X n
SCALE 3. SCALE: Programmable scaling X n
MIRROR 4. MIRROR: Programmable mirroring X n
ATRANS 5. Additive TRANSLATION: Additive programmable offset X n
AROT 6. Additive ROTATION: Programmable rotation X n
ASCALE 7. Additive SCALE: Programmable scaling X n
AMIRROR 8. Additive MIRROR: Programmable mirroring X n
9. Unassigned
G25 10. Minimum working area limitation/spindle speed limitation X n
G26 11. Maximum working area limitation/spindle speed limitation X n

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G110 12. Pole programming relative to the last programmed setpoint position X n
G111 13. Polar programming relative to origin of current workpiece coordinate X n
system
G112 14. Pole programming relative to the last valid pole X n
G58 15. Programmable offset, absolute axial substitution X n
G59 16. Programmable offset, additive axial substitution X n
ROTS 17. Rotation with solid angles X n
AROTS 18. Additive rotation with solid angles X n

Group 4: FIFO
Name No. Meaning X m/n SAG MM
STARTFIFO 1. Start FIFO m Def.
Execute and simultaneously fill preprocessing memory
STOPFIFO 2. STOP FIFO, m
Stop machining; fill preprocessing memory until STARTFIFO is detected,
FIFO full or end of program
FIFOCTRL 3. FIFO CTRL, m
Preprocessing memory control

Group 6: Plane selection

Name No. Meaning X m/n SAG MM
G17 1. Plane selection 1st - 2nd geometry axis m Def.
G18 2. Plane selection 3rd - 1st geometry axis m
G19 3. Plane selection 2nd - 3rd geometry axis m

Group 7: Tool radius compensation

Name No. Meaning X m/n SAG MM
G40 1. No tool radius compensation m Def.
G41 2. Tool radius compensation left of contour X m
G42 3. Tool radius compensation right of contour X m

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Group 8: Settable zero offset

Name No. Meaning X m/n SAG MM
G500 1. Deactivate all settable G54-G57 frames if G500 does not contain a value m Def.
G54 2. Settable zero offset m
G55 3. Settable zero offset m
G56 4. Settable zero offset m
G57 5. Settable zero offset m
G505 6. Settable zero offset m
G5xx n+1 nth settable zero offset m
G599 100. Settable zero offset m
The G functions of this group activate a settable user frame $P_UIFR[ ].
G54 corresponds to frame $P_UIFR[1], G505 corresponds to frame $P_UIFR[5].
The number of settable user frames and, therefore, the number of G functions in this group
can be configured in the machine data $MC_MM_NUM_USER_FRAMES.

Group 9: Frame suppression

Name No. Meaning X m/n SAG MM
G53 1. Suppression of current frames: X n
Programmable frame including
system frame for TOROT and TOFRAME and
active settable frame G54 ... G599.
SUPA 2. Suppression as for G153 and including X n
system frames for actual-value setting, scratching, zero offset external,
PAROT including handwheel offsets (DRF), [zero offset external],
overlaid motion
G153 3. Suppression as for G53 and X n
including all channel-specific and/or NCU-global basic frame

Group 10: Exact stop - continuous-path mode

Name No. Meaning X m/n SAG MM
G60 1. Velocity reduction, exact positioning m Def.
G64 2. Continuous-path mode m
G641 3. Continuous-path mode (G64) with programmable rounding distance m
G642 4. Corner rounding with axial precision m
G643 5. Block-internal axial corner rounding m
G644 6. Corner rounding with specified axis dynamics m

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Group 11: Exact stop, non-modal

Name No. Meaning X m/n SAG MM
G9 1. Velocity reduction, exact positioning X n

Group 12: Block change criteria at exact stop (G60/G09)

Name No. Meaning X m/n SAG MM
G601 1. Block change at exact stop fine m Def.
G602 2. Block change at exact stop coarse m
G603 3. Block change at IPO - end of block m

Group 13: Workpiece measuring inch/metric

Name No. Meaning X m/n SAG MM
G70 1. Input system inches (length) m
G71 2. Input system metric (length) m Def.
G700 3. Input system in inches; inch/min m
(length + velocity + system variable)
G710 4. Input system, metric; mm; mm/min m
(length + velocity + system variable)

Group 14: Workpiece measuring absolute/incremental

Name No. Meaning X m/n SAG MM
G90 1. Absolute dimensions m Def.
G91 2. Incremental dimension input m

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Group 15: Feed type

Name No. Meaning X m/n SAG MM
G93 1. Inverse-time feedrate 1/rpm m
G94 2. Linear feed mm/min, inch/min m Def.
G95 3. Revolutional feedrate in mm/rev, inch/rev m
G96 4. Constant cutting speed (type of feed as for G95) ON m
G97 5. Constant cutting speed (type of feed as for G95) OFF m
G931 6. Feedrate specified by travel time, deactivate constant path velocity m
G961 7. Constant cutting speed (type of feed as for G94) ON m
G971 8. Constant cutting speed (type of feed as for G94) OFF m
G942 9. Freeze linear feedrate and constant cutting rate or spindle speed m
G952 10. Freeze revolutional feedrate and const. cutting rate or spindle speed m
G962 11. Linear or revolutional feedrate and constant cutting rate m
G972 12. Freeze linear or revolutional feedrate and constant spindle speed m
G973 13 Revolutional feedrate without spindle speed limiting m
(G97 without LIMS for ISO mode
G963 Reserved m

Group 16: Feedrate override on inside and outside curvature

Name No. Meaning X m/n SAG MM
CFC 1. Constant feed at contour m Def.

CFTCP 2. Constant feed in tool center point m

(center-point path)
CFIN 3. Constant feed at internal radius, acceleration at external radius m

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Group 17: Approach and retraction response, tool offset

Name No. Meaning X m/n SAG MM
NORM 1. Normal position at start and end points m Def.
KONT 2. Travel around contour at start and end points m
KONTT 3. Insert polynominal with constant tangent (approach/retract) m
KONTC 4. Insert polynominal with constant curvature (approach/retract) m

Group 18: Corner behavior, tool offset

Name No. Meaning X m/n SAG MM
G450 1. Transition circle m Def.
(tool travels around workpiece corners on a circular path)
G451 2. Intersection of equidistant paths m
(tool backs off from the workpiece corner)

Group 19: Curve transition at beginning of spline

Name No. Meaning X m/n SAG MM
BNAT 1. Begin natural: Natural transition to first spline block m Def.
BTAN 2. Begin tangential: Tangential transition to first spline block m
BAUTO 3. Begin not a node: (no node) Start is determined by the position of the m
1st point

Group 20: Curve transition at end of spline

Name No. Meaning X m/n SAG MM
ENAT 1. End natural: natural transition to next traversing block m Def.
ETAN 2. End tangential: tangential transition to next traversing block at spline m
begin
EAUTO 3. Begin not a node: (no node) End is determined by the position of the last m
point

Group 21: Acceleration profile

Name No. Meaning X m/n SAG MM
BRISK 1. Fast non-smoothed path acceleration m Def.
SOFT 2. Soft smoothed path acceleration m
DRIVE 3. Velocity-dependent path acceleration m

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Group 22: Tool offset types

Name No. Meaning X m/n SAG MM
CUT2D 1. Cutter compensation type 2-dimensional 2 1/2D tool offset determined by m Def.
G17 – G19
CUT2DF 2. Cutter compensation type 2-dimensional frame – relative: 2 1/2D tool m
offset determined by frame
The tool offset is effective in relation to the current frame
(inclined plane)
CUT3DC # 3. Cutter compensation type 3-dimensional circumference: 3D tool m
compensation circumference milling
CUT3DF # 4. Cutter compensation type 3-dimensional face: 3D tool offset with m
inconstant tool orientation
CUT3DFS # 5. Cutter compensation type 3-dimensional face: 3D tool offset face milling m
with constant tool orientation independent of active frame
CUT3DFF # 6. Cutter compensation type 3-dimensional face frame: 3D tool offset face m
milling with constant tool orientation dependent on active frame
CUT3DCC # 7. Cutter compensation type 3-dimensional circumference: 3D tool offset m
circumferential milling with limitation surfaces
CUT3DCCD # 8. Cutter compensation type 3-dimensional circumference: 3D tool offset m
circumferential milling with limitation surfaces with differential tool
# The keyword is not valid for NCU571.

Group 23: Collision monitoring at inside contours

Name No. Meaning X m/n SAG MM
CDOF 1. Collision detection OFF: Collision monitoring OFF m Def.
CDON 2. Collision detection ON: Collision monitoring ON m
CDOF2 3. Collision detection OFF: Collision monitoring OFF m
(currently only for CUT3DC)

Group 24: Feedforward control

Name No. Meaning X m/n SAG MM
FFWOF 1. Feed forward OFF: Feedforward control OFF m Def.
FFWON 2. Feed forward OFF: Feed forward control ON m

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Group 25: Tool orientation reference

Name No. Meaning X m/n SAG MM
ORIWKS # 1. Tool orientation in workpiece coordinate system: Tool orientation in m Def.
workpiece coordinate system (WCS)
ORIMKS # 2. Tool orientation in machine coordinate system: Tool orientation in m
machine coordinate system (MCS)
# The keyword is not valid for NCU571.

Group 26: Repositioning point for REPOS

Name No. Meaning X m/n SAG MM
RMB 1. REPOS mode beginning of block: Reapproach to start of block position m
RMI 2. REPOS – Mode interrupt: Reapproach to interruption point m Def.
RME 3. REPOS mode end of block: Repositioning to end-of-block position m
RMN 4. REPOS mode end of nearest orbital block: Reapproach to nearest path m
point

Group 27: Tool offset for change in orientation at outside corners

Name No. Meaning X m/n SAG MM
ORIC # 1. Orientation change continuously: Orientation changes at outside corners m Def.
are superimposed on the circle block to be inserted
ORID # 2. Orientation change discontinuously: Orientation changes are performed m
before the circle block
# The keyword is not valid for NCU571.

Group 28: Working area limitation ON/OFF

Name No. Meaning X m/n SAG MM
WALIMON 1. Working area limitation ON: Working area limitation ON m Def.
WALIMOF 2. Working area limitation OFF: Working area limitation OFF m

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Group 29: Radius - diameter

Name No. Meaning X m/n SAG MM
DIAMOF 1. Diameter programming OFF: Diameter programming OFF; radius m Def.
programming for G90/G91
DIAMON 2. Diameter programming ON: Diameter programming ON for G90/G91 m
DIAM90 3. Diameter programming G90: Diameter programming for G90; radius m
programming for G91
DIAMCYCOF 4. Diameter programming OFF: Radius programming for G90/G91: ON. The m
G-code of this group that was last active remains active for display

Group 30: Compressor ON/OFF

Name No. Meaning X m/n SAG MM
COMPOF # 1. Compressor OFF m Def.
COMPON # 2. Compressor ON m
COMPCURV 3. Compressor ON: Polynomials with constant curvature m
#
COMPCAD # 4. Compressor ON: Optimized surface quality CAD program m
# The keyword is not valid for NCU571.

Group 31: OEM - G group

Name No. Meaning X m/n SAG MM
G810 # 1. OEM - G function Def.
G811 # 2. OEM - G function
G812 # 3. OEM - G function
G813 # 4. OEM - G function
G814 # 5. OEM - G function
G815 # 6. OEM - G function
G816 # 7. OEM - G function
G817 # 8. OEM - G function
G818 # 9. OEM - G function
G819 # 10. OEM - G function
Two G groups are reserved for the OEM. This enables the OEM to program functions that
can be customized.
# The keyword is not valid for NCU571.

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Group 32: OEM - G group

Name No. Meaning X m/n SAG MM
G820 # 1. OEM - G function Def.
G821 # 2. OEM - G function
G822 # 3. OEM - G function
G823 # 4. OEM - G function
G824 # 5. OEM - G function
G825 # 6. OEM - G function
G826 # 7. OEM - G function
G827 # 8. OEM - G function
G828 # 9. OEM - G function
G829 # 10. OEM - G function
Two G groups are reserved for the OEM. This enables the OEM to program functions that
can be customized.
# The keyword is not valid for NCU571.

Group 33: Settable fine tool offset

Name No. Meaning X m/n SAG MM
FTOCOF # 1. Fine tool offset compensation OFF: Online fine tool offset OFF m Def.
FTOCON # 2. Fine tool offset compensation ON: Online fine tool offset ON X m
# The keyword is not valid for NCU571.

Group 34: Smoothing, tool orientation

Name No. Meaning X m/n SAG MM
OSOF # 1. Tool orientation smoothing OFF m Def.
OSC # 2. Continuous tool orientation smoothing m
OSS # 3. Tool orientation smoothing at end of block m
OSSE # 4. Tool orientation smoothing at start and end of block m
OSD # 5 Block-internal rounding with specification of path length m
OST # 6 Block-internal rounding with specification of angle tolerance m
# The keyword is not valid for NCU571.

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Group 35: Punching and nibbling

Name No. Meaning X m/n SAG MM
SPOF# 1. Stroke/punch OFF: Stroke OFF, nibbling, punching OFF m Def.
SON # 2. Stroke ON: Nibbling ON m
PON # 3. Punch ON: Punching ON m
SONS # 4. Stroke ON slow: Nibbling ON in IPO cycle X m
PONS # 5. Punch ON slow: Punching ON in IPO cycle X m
# The keyword is not valid for NCU571.

Group 36: Punching with delay

Name No. Meaning X m/n SAG MM
PDELAYON 1. Punch with delay ON: Punching with delay ON m Def.
#
PDELAYOF 2. Punch with delay OFF: Punching with delay OFF m
#
# The keyword is not valid for NCU571.

Group 37: Feed profile

Name No. Meaning X m/n SAG MM
FNORM # 1. Feed normal: Feed normal (as per DIN 66025) m Def.
FLIN # 2. Feed linear: Feed linear variable m
FCUB # 3. Feed cubic: Feedrate variable according to cubic spline m
# The keyword is not valid for NCU571.

Group 38: Assignment of high-speed inputs/outputs for punching/nibbling

Name No. Meaning X m/n SAG MM
SPIF1 # 1. Stroke/punch interface 1: Fast NCK inputs/outputs for punching/nibbling m Def.
byte 1
SPIF2 # 2. Stroke/punch interface 2: Fast NCK inputs/outputs for punching/nibbling m
byte 2

# The keyword is not valid for NCU571.

Group 39: Programmable contour accuracy

Name No. Meaning X m/n SAG MM
CPRECOF 1. Contour precision OFF: Programmable contour precision OFF m Def.
CPRECON 2. Contour precision ON: Programmable contour precision ON m
# The keyword is not valid for NCU571.

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Group 40: Tool radius compensation constant

Name No. Meaning X m/n SAG MM
CUTCONOF 1. Constant radius compensation OFF m Def.
CUTCONON 2. Constant radius compensation ON m

Group 41: Interrupt thread cutting

Name No. Meaning X m/n SAG MM
LFOF 1. Interrupt thread cutting OFF m Def.
LFON 2. Interrupt thread cutting ON m

Group 42: Toolholder

Name No. Meaning X m/n SAG MM
TCOABS 1. Tool Carrier Orientation Absolute: Toolholder orientation absolute m Def.
TCOFR 2. Toolholder orientation frame alignment of tool on m
Z axis
TCOFRZ 3. Orientable toolholder frame-related (tool on Z axis) m
TCOFRY 4. Orientable toolholder frame-related (tool on Y axis) m
TCOFRX 5. Orientable toolholder frame-related (tool on X axis) m

Group 43: SAR approach direction

Name No. Meaning X m/n SAG MM
G140 1. SAR approach direction defined by G41/G42 m Def.
G141 2. SAR approach direction to left of contour m
G142 3. SAR approach direction to right of contour m
G143 4. SAR approach direction tangent-dependent m

Group 44: SAR path segmentation

Name No. Meaning X m/n SAG MM
G340 1. Spatial approach block (depth and in plane (helix)) m Def.
G341 2. Initial infeed on perpendicular axis (z), then approach in plane m

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Group 45: Path reference for FGROUP axes:

Name No. Meaning X m/n SAG MM
SPATH 1. Path reference for FGROUP axes is arc length m Def.
UPATH 2. Path reference for FGROUP axes is curve parameter m

Group 46: Plane definition for rapid lift:

Name No. Meaning X m/n SAG MM
LFTXT 1. Tangential tool direction on retraction m Def.
LFWP 2. Non-tangential tool direction on retraction m
LFPOS 3. Axial retraction to a position m

Group 47: Mode switchover for external NC code

Name No. Meaning X m/n SAG MM
G290 1. Switchover to SINUMERIK mode m Def.
(activate SINUMERIK language mode)
G291 2. Switchover to ISO 2/3 mode (activate ISO language mode) m

Group 48: Approach and retraction response, TRC

Name No. Meaning X m/n SAG MM
G460 1. Collision monitoring for approach and retraction block ON m Def.
G461 2. If no intersection in TRC block, extend border block with arc m
G462 3. If no intersection in TRC block, extend border block with straight line m

Group 49: Point to point motion

Name No. Meaning X m/n SAG MM
CP 1. continuous path; path motion m Def.
PTP 2. point to point; point to point motion (synchronized axis motion) m
PTPG0 3. point to point; point to point motion only with G0, otherwise path motion m
CP

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Group 50: Orientation programming

Name No. Meaning X m/n SAG MM
ORIEULER 1. Orientation angle via Euler angle m Def.
ORIRPY 2. Orientation angle via RPY angle (rotation sequence XYZ) m
ORIVIRT1 3. Orientation angle via virtual orientation axes (definition 1) m
ORIVIRT2 4. Orientation angle via virtual orientation axes (definition 2) m
ORIAXPOS 5. Orientation angle via virtual orientation axes with rotary axis positions m
ORIRPY2 6. Orientation angle via RPY angle (rotation sequence ZYX) m

Group 51: Orientation interpolation

Name No. Meaning X m/n SAG MM
ORIVECT 1. Large-radius circular interpolation (identical to ORIPLANE) m Def.
ORIAXES 2. Linear interpolation of machine axes or orientation axes m
ORIPATH 3. Tool orientation trajectory referred to path m
ORIPLANE 4. Interpolation in plane (identical to ORIVECT) m
ORICONCW 5. Interpolation on a peripheral surface of the cone in clockwise direction m
ORICONCCW 6. Interpolation on a conical peripheral surface in counterclockwise m
direction
ORICONIO 7. Interpolation on a conical peripheral surface with intermediate m
orientation setting
ORICONTO 8. Interpolation on a peripheral surface of the cone with tangential m
transition
ORICURVE 9. Interpolation with additional space curve for orientation m
ORIPATHS 10. Tool orientation in relation to path, blips in the orientation characteristic m
are smoothed

Group 52: Workpiece-related WCS

Name No. Meaning X m/n SAG MM
PAROTOF 1. Deactivate workpiece-related frame rotation m Def.
PAROT 2. Align workpiece coordinate system (WCS) on workpiece m

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Group 53: Frame rotations in tool direction

Name No. Meaning X m/n SAG MM
TOROTOF 1. Frame rotation in tool direction OFF m Def.
TOROT 2. Frame rotation ON Z axis parallel to tool orientation m
TOROTZ 3. Frame rotation ON Z axis parallel to tool orientation m
TOROTY 4. Frame rotation ON Y axis parallel to tool orientation m
TOROTX 5. Frame rotation ON X axis parallel to tool orientation m
TOFRAME 6. Frame rotation in tool direction Z axis parallel to tool orientation m
TOFRAMEZ 7. Frame rotation in tool direction Z axis parallel to tool orientation m
TOFRAMEY 8. Frame rotation in tool direction Y axis parallel to tool orientation m
TOFRAMEX 9. Frame rotation in tool direction X axis parallel to tool orientation m

Group 54: Rotation of the rotational vector

Name No. Meaning X m/n SAG MM
ORIROTA 1. Orientation Rotation Absolute Rotation absolute m Def.
ORIROTR 2. Orientation Rotation Relative relative rotational vector m
ORIROTT 3. Orientation Rotation Tangential tangential rotational vector in relation to m
change in orientation
ORIROTC 4. Orientation Rotation Tangential tangential rotational vector in relation to m
path tangent

Group 55: Rapid traverse with/without linear interpolation

Name No. Meaning X m/n SAG MM
RTLION 1. Rapid traverse (G0) with linear interpolation ON: G0 with linear m Def.
interpolation
RTLIOF 2. Rapid traverse (G0) with linear interpolation OFF: G0 without linear m
interpolation (single-axis interpolation)

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Group 56: Inclusion of tool wear

Name No. Meaning X m/n SAG MM
TOWSTD 1. Tool wear default initial setting value for offsets in tool length m Def.
TOWMCS 2. Tool WearCoard MCS: Wear values in machine coordinate system m
(MCS)
TOWWCS 3. Tool WearCoard WCS: Wear values in workpiece coordinate system m
(WCS)
TOWBCS 4. Tool WearCoard BCS: Wear values in basic coordinate system (MCS) m
TOWTCS 5. Tool WearCoard TCS: Wear values in the tool coordinate system (tool m
carrier ref. point T at the tool holder)
TOWKCS 6. Wear values in the coordinate system of the tool head for kinetic m
transformation (differs from
MCS by tool rotation)

Group 57: Automatic corner override

Name No. Meaning X m/n SAG MM
FENDNORM 1. Corner deceleration deactivated m Def.
G62 2. Corner deceleration at inside corners when tool radius offset is active m
G621 3. Corner deceleration at all corners m

Group 58: Reserved for retracting from software end position

Name No. Meaning X m/n SAG MM
RELIEVEON 1. Retracting from software limit switch ON m
RELIEVEOF 2. Retracting from software limit switch OFF m Def.

Group 59: Technology G groups

Name No. Meaning X m/n SAG MM
DYNNORM 1. Standard dynamic, as previously m Def.
DYNPOS 2. Positioning mode, tapping m
DYNROUGH 3. Roughing m
DYNSEMIFIN 4. Finishing m
DYNFINISH 5. Smooth-finishing m

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Group 60: Working-area limitations

Name No. Meaning X m/n SAG MM
WALCS0 1. WCS working area limitation deselected m Def.
WALCS1 2. WCS working area limitation group 1 active m
WALCS2 3. WCS working area limitation group 2 active m
WALCS3 4 WCS working area limitation group 3 active m
WALCS4 5 WCS working area limitation group 4 active m
WALCS5 6 WCS working area limitation group 5 active m
WALCS6 7 WCS working area limitation group 6 active m
WALCS7 8 WCS working area limitation group 7 active m
WALCS8 9 WCS working area limitation group 8 active m
WALCS9 10 WCS working area limitation group 9 active m
WALCS10 11 WCS working area limitation group 10 active m

16.4 Predefined subroutine calls

1. Coordinate system
Keyword / 1st parameter 2nd parameter 3rd-15th 4th-16th Explanation
subroutine parameter parameter
identifier
PRESETON AXIS*: REAL: 3rd-15th 4th-16th Sets the actual value for programmed
Axis identifier Preset offset parameter as parameter as axes.
Machine axis G700/G7100 1 ... 2 ... One axis identifier is programmed at a
context time, with its respective value in the
next parameter.
PRESETON can be used to program
preset offsets for up to 8 axes.
DRFOF Deletes the DRF offset for all axes
assigned to the channel.
*) As a general rule, geometry or special axis identifiers can also be used instead of the
machine axis identifier, as long as the reference is unambiguous.

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2. Axis groupings
Keyword / 1st-8th Explanation
subroutine parameter
identifier
FGROUP Channel axis Variable F value reference: defines the axes to which the path feed refers.
identifiers Maximum axis number: 8
The default setting for the F value reference is activated with FGROUP ( ) without
parameters.
1st-8th 2nd-9th Explanation
parameter parameter
SPLINEPATH INT: Spline AXIS: Definition of the spline group
group (must be Geometry or Maximum number of axes: 8
1) special axis
identifier
BRISKA AXIS Switch on brisk axis acceleration for the programmed axes
SOFTA AXIS Switch on jerk limited axis acceleration for programmed axes
JERKA AXIS The acceleration behavior set in machine data
$MA_AX_JERK_ENABLE is active for the programmed axes.

3. Coupled motion
Keyword / 1st parameter 2nd 3rd 4th 5th 6th Explanation
subroutine param. param. param. param. param.
identifier
TANG AXIS: Axis AXIS: AXIS: REAL: CHAR: CHAR Preparatory statement for the
name Leading Leading Coupling Option: Optimizat definition of a tangential
following axis axis 1 axis 2 factor "B": ion: follow-up: The tangent for the
follow-up "S" follow-up is determined by
in basic default"P the two master axes
coordinat " specified. The coupling factor
e system autom. specifies the relationship
"W": with between a change in the
follow-up rounding angle of tangent and the
in work- travel, following axis. It is usually 1.
piece angle Optimization: See PGA
coord. tolerance
system

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TANGON AXIS: Axis REAL: REAL: REAL: Tangential follow-up mode

name Offset Round Angle ON:
following axis Angle -ing toleranc
travel e par. 3, 4 with TANG Par. 6 =
"P"
TANGOF AXIS: Axis Tangential follow-up mode
name OFF
following axis
TLIFT AXIS: Following REAL: REAL: Tangential lift: tangential
axis Lift-off Factor follow-up mode, stop at
path contour end
rotary axis lift-off possible
TRAILON AXIS: Following AXIS: REAL: Trailing ON: Asynchronous
axis Leading Coupling coupled motion ON
axis factor
TRAILOF AXIS: Following AXIS: Trailing OFF: Asynchronous
axis Leading coupled motion OFF
axis

6. Revolutional feedrate
Keyword / 1st parameter 2nd parameter Explanation
subroutine
identifier
FPRAON AXIS: Axis, for which AXIS: Axis/spindle, from Feedrate per revolution axial ON: Axial
revolutional feedrate is which revolutional feedrate revolutional feedrate ON.
activated is derived.
If no axis has been
programmed, the
revolutional feedrate is
derived from the master
spindle.
FPRAOF AXIS: Axis for which Feedrate per revolution axial OFF: Axial
revolutional feedrate is revolutional feedrate OFF.
deactivated The revolutional feedrate can be deactivated for
several axes at once. You can program as
many axes as are permitted in a block.

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FPR AXIS: Axis/spindle, from Feedrate per revolution: Selection of a rotary

which revolutional axis or spindle from which the revolutional
feedrate is derived. feedrate of the path is derived if G95 is
If no axis has been programmed.
programmed, the If no axis/spindle has been programmed, the
revolutional feedrate is revolutional feedrate is derived from the master
derived from the master spindle.
spindle. The setting made with FPR is modal.
It is also possible to program a spindle instead of an axis: FPR(S1) or FPR(SPI(1))

7. Transformations
Keyword / 1st parameter 2nd parameter Explanation
subroutine
identifier
TRACYL REAL: Working INT: Number Cylinder: Peripheral surface transformation
diameter of the Several transformations can be set per channel. The transformation
transformation number specifies which transformation is to be activated. If the
second parameter is omitted, the transformation group defined in
the MD is activated.
TRANSMIT INT: Number of Transmit: Polar transformation
the Several transformations can be set per channel. The transformation
transformation number specifies which transformation is to be activated. If the
parameter is omitted, the transformation group defined in the MD is
activated.
TRAANG REAL: Angle INT: Number Transformation inclined axis:
of the Several transformations can be set per channel. The transformation
transformation number specifies which transformation is to be activated. If the
second parameter is omitted, the transformation group defined in
the MD is activated.
If no angle programmed:
TRAANG ( ,2) or TRAANG, the last angle applies modally.
TRAORI INT: Number of Transformation oriented: 4, 5-axis transformation
the Several transformations can be set per channel. The transformation
transformation number specifies which transformation is to be activated.
TRACON INT: Number of REAL: Further Transformation concentrated: Cascaded transformation; the
the parameters, meaning of the parameters depends on the type of cascading.
transformation MD-dependent
TRAFOOF Deactivate transformation

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For each transformation type, there is one command for one transformation per channel. If
there are several transformations of the same transformation type per channel, the
transformation can be selected with the corresponding command and parameters. It is
possible to deselect the transformation by a transformation change or an explicit deselection.

8. Spindles
Keyword / 1st parameter 2nd parameter Explanation
subroutine and others
identifier
SPCON INT: Spindle INT: Spindle Spindle position control ON: Switch to position-controlled spindle
number number operation.
SPCOF INT: Spindle INT: Spindle Spindle position control OFF: Switch to speed-controlled spindle
number number operation.
SETMS INT: Spindle Set master spindle: Declaration of spindle as master spindle for
number current channel.
With SETMS( ), the machine-data default applies automatically
without any need for parameterization.

9. Grinding
Keyword / 1st parameter Explanation
subroutine
identifier
GWPSON INT: Spindle Grinding wheel peripheral speed ON: Constant grinding wheel peripheral speed ON.
number If the spindle number is not programmed, then grinding wheel peripheral speed is
selected for the spindle of the active tool.
GWPSOF INT: Spindle Grinding wheel peripheral speed OFF. Constant grinding wheel peripheral speed
number OFF.
If the spindle number is not programmed, grinding wheel peripheral speed is
deselected for the spindle of the active tool.
TMON INT: Spindle Tool monitoring ON:
number If no T number is programmed, monitoring is activated for the active tool.
TMOF INT: T number Tool monitoring OFF:
If no T number is programmed, monitoring is deactivated for the active tool.

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10. Stock removal

Keyword / 1st parameter 2nd parameter 3rd 4th Explanation
subroutine parameter parameter
identifier
CONTPRON REAL [ , 11]: CHAR: Stock INT: Number INT: Status Contour preparation on: Activate
Contour table removal of relief cuts of reference-point editing.
method calculation: The contour programs or NC blocks
"L": 0: which are called in the following steps
Longitudinal unchanged are divided into individual movements
turning: 1: and stored in the contour table.
External mach. Calculation
"P": Face forwards The number of relief cuts is returned.
turning: and
External mach. backwards
"N": Face
turning: Internal
machining
"G":
Longitudinal
turning: Internal
machining
CONTDCON REAL [ , 6]: INT: Contour decoding
Contour table 0: In The blocks for a contour are stored in a
programmed named table with one table line per
direction block and coded to save memory.
EXECUTE INT: Error EXECUTE: Activate program
status execution.
This switches back to normal program
execution from reference-point-editing
mode or after setting up a protection
zone.

11. Execute table

Keyword / 1st parameter Explanation
subroutine
identifier
EXECTAB REAL [ 11]: Execute table: Execute an element from a motion table.
Element from
motion table

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12. Protection zones

Keyword / 1st parameter 2nd parameter 3rd parameter 4th parameter 5th parameter Explanation
subroutine
identifier
CPROTDEF INT: Number of BOOL: INT: REAL: Limit in REAL: Limit in Channel-
the protection TRUE: 0: 4th and 5th plus direction minus direction specific
zone Tool-oriented parameters not protection
protection zone evaluated zone
definition:
1: 4th parameter
evaluated Definition of
a channel-
2: 5th parameter
specific
evaluated
protection
3: 4th and 5th zone
parameters
evaluated
NPROTDEF INT: Number of BOOL: INT: REAL: Limit in REAL: Limit in NCK-
the protection TRUE: 0: 4th and 5th plus direction minus direction specific
zone Tool-oriented parameters not protection
protection zone evaluated zone
definition:
1: 4th parameter
Definition of
evaluated
a machine-
2: 5th parameter specific
evaluated protection
3: 4th and 5th zone
parameters
evaluated

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CPROT INT: Number of INT: Option REAL: Offset of REAL: Offset of REAL: Offset of Channel-
the protection 0: Protection protection zone protection zone protection zone specific
zone zone OFF in 1st geometry in 2nd geometry in 3rd geometry protection
axis axis axis zone
1: Preactivate
ON/OFF
protection zone
2: Protection
zone ON
3: Preactivate
protection zone
with conditional
stop, only with
protection zones
active
NPROT INT: Number of INT: Option REAL: Offset of REAL: Offset of REAL: Offset of Machine-
the protection 0: Protection protection zone protection zone protection zone specific
zone zone OFF in 1st geometry in 2nd geometry in 3rd geometry protection
axis axis axis zone
1: Preactivate
ON/OFF
protection zone
2: Protection
zone ON
3: Preactivate
protection zone
with conditional
stop, only with
protection zones
active
EXECUTE VAR INT: Error EXECUTE: Activate program execution. This switches back to normal program
status execution from reference point editing mode or after setting up a protection zone.

13. Preprocessing/single block

STOPRE Stop processing: Preprocessing stop until all prepared blocks are executed in main
run

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14. Interrupts
Keyword / 1st parameter Explanation
subroutine
identifier
ENABLE INT: Number of Activate interrupt: Activates the interrupt routine assigned to the hardware input with
the interrupt the specified number. An interrupt is enabled after the SETINT statement.
input
DISABLE INT: Number of Deactivate interrupt: Deactivates the interrupt routine assigned to the hardware input
the interrupt with the specified number. Fast retraction is not executed. The assignment between
input the hardware input and the interrupt routine made with SETINT remains valid and can
be reactivated with ENABLE.
CLRINT INT: Number of Select interrupt: Cancel the assignment of interrupt routines and attributes to an
the interrupt interrupt input. The interrupt routine is deactivated and no reaction occurs when the
input interrupt is generated.

15. Motion synchronization

Keyword / 1st parameter Explanation
subroutine
identifier
CANCEL INT: Number of Aborts the modal motion-synchronous action with the specified ID
synchronized
action

16. Function definition

Keyword / 1st parameter 2nd parameter 3rd parameter 4th-7th Explanation
subroutine parameter
identifier
FCTDEF INT: Function REAL: Lower REAL: Upper REAL: Define polynomial. This is
number limit value limit value Coefficients a0 evaluated in SYFCT or
– a3 PUTFTOCF.

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17. Communication
Keyword / 1st 2nd parameter Explanation
subroutine parameter
identifier
MMC STRING: CHAR: MMC command: Command ON
Command Acknowledgement mode** MMC command interpreter for the configuration of
"N": Without acknowledgment windows via NC program
"S": Synchronous acknowledgment see /IAM/ Commissioning CNC;
"A": Asynchronous acknowledgment Expanding base software and HMI
Embedded/Advanced in BE1 user interface
** Acknowledgement mode:
Commands are acknowledged on request from the executing component (channel, NC,
etc.).
Without acknowledgement: Program execution is continued when the command has been
transmitted. The sender is not informed if the command cannot be executed successfully.

18. Program coordination

Keyword / 1st 2nd 3rd 4th 5th 6th-8th Explanation
subroutine parameter parameter parameter parameter param param
identifier eter eter
INIT # INT: STRING: CHAR: Selection of a module for
Channel path Acknowledg execution in a channel.
numbers ement 1 : 1st channel;
1 - 10 mode** 2 : 2nd channel.
or STRING: As an alternative to the channel
Channel number, the channel name
name defined in $MC_CHAN_NAME
$MC_CHAN can also be used.
_NAME
START # INT: Starts selected programs
Channel simultaneously on multiple
numbers channels from running program.
1 - 10 The command has no effect on
or STRING: the existing channel.
Channel 1 : 1st channel;
name 2 : 2nd channel or channel
$MC_CHAN name defined in
_NAME $MC_CHAN_NAME.

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WAITE # INT: or STRING: Wait for end of program: Waits

channel Channel until end of program in another
numbers name channel (number or name).
1 - 10 $MC_CHAN
_NAME
WAITM # INT: Marker INT: Wait: Wait for a marker to be
numbers Channel reached in other channels. The
0-9 numbers program waits until the WAITM
1 - 10 with the relevant marker has
or STRING: been reached in the other
Channel channel. The number of the
name own channel can also be
$MC_CHAN specified.
_NAME
WAITMC # INT: Marker INT: Wait: Waits conditionally for a
numbers Channel marker to be reached in other
0-9 numbers channels. The program waits
1 - 10 until the WAITMC with the
or STRING: relevant marker has been
Channel reached in the other channel.
name Exact stop only if the other
$MC_CHAN channels have not yet reached
_NAME the marker.
WAITP AXIS: Axis AXIS: Axis AXIS: Axis AXIS: Axis AXIS: AXIS: Wait for positioning axis: Wait
identifier identifier identifier identifier Axis Axis for positioning axes to reach
identifi identifi their programmed end point.
er er
WAITS INT: Spindle INT: Spindle INT: Spindle INT: Spindle INT: Wait for positioning spindle:
number number number number Spindl Wait until programmed spindles
e previously programmed with
numbe SPOSA reach their
r programmed end point.
RET End of subroutine with no
function output to the PLC.
GET # AXIS AXIS AXIS AXIS AXIS AXIS Assign machine axis
GETD# AXIS AXIS AXIS AXIS AXIS AXIS Assign machine axis directly
RELEASE # AXIS AXIS AXIS AXIS AXIS AXIS Release machine axis

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PUTFTOC # REAL: INT: INT: INT: Spindle Put fine tool correction: Fine
Offset value Parameter Channel number tool compensation
number number or
STRING:
Channel
name
$MC_CHAN
_NAME
PUTFTOCF INT: VAR REAL: INT: INT: INT: Put fine tool correction function
# No. of Reference Parameter Channel Spindl dependent:
function value *) number numbers e Change online tool
The number 1 - 10 numbe compensation according to a
used here or STRING: r function defined with FCTDEF
must be Channel (max. 3rd degree polynomial).
specified in name
FCTDEF. $MC_CHAN
_NAME
The SPI function can also be used to program a spindle instead of an axis: GET(SPI(1))
#) The keyword is not valid for NCU571.
** Acknowledgement mode:
Commands are acknowledged on request from the executing component (channel, NC,
etc.).
Without acknowledgement: Program execution is continued when the command has been
transmitted. The executing component is not informed if the command cannot be executed
successfully. Acknowledgment mode "N" or "n".
Synchronous acknowledgement: The program execution is paused until the receiving
component acknowledges the command. If the acknowledgement is positive, the next
command is executed.
If the acknowledgement is negative an error is output.
Acknowledgement "S", "s" or to be omitted.
For some commands, the acknowledgement response is predefined, for others it is
programmable.
The acknowledgement response for program-coordination commands is always
synchronous.
If the acknowledgement mode is not specified, synchronous acknowledgement is the default
response.

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19. Data access

Keyword / 1st Explanation
subroutine parameter
identifier
CHANDATA INT: Set channel number for channel data access (only permitted in initialization block);
Channel the subsequent accesses refer to the channel set with CHANDATA.
number

20. Messages
Keyword / 1st 2nd Explanation
subroutine parameter parameter
identifier
MSG STRING: INT: Message modal: The message is active until the next message is queued.
STRING: Continuous- If the 2nd parameter = 1 is programmed, e.g. MSG(Text, 1), the message will
signal path-mode even be output as an executable block in continuous-path mode.
call
parameter

22. Alarms
Keyword / 1st 2nd Explanation
subroutine parameter parameter
identifier
SETAL INT: Alarm STRING: Set alarm: Sets alarm. A character string with up to four parameters can be
number Character specified in addition to the alarm number.
(cycle string The following predefined parameters are available:
alarms) %1 = channel number
%2 = block number, label
%3 = text index for cycle alarms
%4 = additional alarm parameters

23. Compensation
Keyword / 1st parameter- Explanation
subroutine 4th parameter
identifier
QECLRNON AXIS: Axis number Quadrant error compensation learning ON: Quadrant error
compensation learning ON
QECLRNOF Quadrant error compensation learning OFF: Quadrant error
compensation learning OFF

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24. Tool management

Keyword / 1st parameter 2nd parameter 3rd Explanation
subroutine parameter
identifier
DELT STRING[32]: Tool INT: Duplo Delete tool. Duplo number can be
designation number omitted.
GETSELT VAR INT: INT: Spindle Get selected T number. If no spindle
T number (return number number is specified, the command
value) for the master spindle applies.
SETPIECE INT: Count INT: Spindle Takes account of set piece number
number for all tools assigned to the spindle.
If no spindle number is specified, the
command for the master spindle
applies.
SETDNO INT: Tool number T INT: Tool INT: D no. Set D no. of tool (T) and its tool
edge no. edge to new.
DZERO Set D numbers of all tools of the TO
unit assigned to the channel to
invalid
DELDL INT: Tool number T INT: D no. Delete all additive offsets of the tool
edge (or of a tool if D is not
specified).
SETMTH INT: Tool-holder Set toolholder no.
no.
POSM INT: Location no. INT: No. of the INT: INT: Position magazine
for positioning magazine to Location Magazine
be moved number of number of
the internal the internal
magazine magazine
SETTIA VAR INT: Status = INT: Magazine INT: Wear Deactivate tool from wear group
result of the number group no.
operation (return
value)
SETTA VAR INT: Status = INT: Magazine INT: Wear Activate tool from wear group
result of the number group no.
operation (return
value)
RESETMON VAR INT: Status = INT: Internal T INT: D no. of Set actual value of tool to setpoint
result of the no. tool
operation (return
value)

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25. Synchronous spindle

Keyword / 1st 2nd 3rd 4th 5th parameter 6th Explanation
subroutine paramet param paramet paramet Block change behavior parameter
identifier er eter er er
COUPDEF AXIS: AXIS: REAL: REAL: STRING[8]: Block change behavior: STRING[2]: Couple
Followin Leadin Numerat Denomin "NOC": No block change control, "DV": definition:
g axis or g axis or ator block change is enabled Setpoint Definition of
following or transfor transfor immediately, "FINE": Block change coupling synchronized
spindle leading mation mation on "synchronism fine", "COARSE": "AV": spindle
(FS) spindle ratio (FA) ratio (LA) Block change on synchronism Actual- grouping.
(LS) or (FS) or (LS) coarse and "IPOSTOP": block value
change in setpoint-dependent coupling
termination of overlaid movement. If
the block change behavior is not
specified, the set behavior is
applicable and there is no change.
COUPDEL AXIS: AXIS: Couple
Followin Leadin delete:
g axis or g axis Delete
following or synchronized
spindle leading spindle
(FS) spindle grouping.
(LS)
COUPOF AXIS: AXIS: The block change is enabled Fastest
Followin Leadin immediately. possible
g axis or g axis deactivation
following or of
spindle leading synchronous
(FS) spindle operation.
(LS)
COUPOF AXIS: AXIS: REAL: Block change is not enabled until Deselection
Followin Leadin POSFS this position has been crossed. of
g axis or g axis synchronous
following or operation
spindle leading after
(FS) spindle deactivation
(LS) position
POSFS has
been
crossed.

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COUPOF AXIS: AXIS: REAL: REAL: Block change is not enabled until Deselection
Followin Leadin POSFS POSLS both programmed positions have of
g axis or g axis been crossed. Range of synchronous
following or POSFS, POSLS: 0 ... 359.999 operation
spindle leading degrees. after the two
(FS) spindle deactivation
(LS) positions.
POSFS and
POSLS have
been
crossed.
COUPOFS AXIS: AXIS: Block change performed as quickly Deactivation
Followin Leadin as possible with immediate block of couple
g axis or g axis change. with
following or following-
spindle leading spindle stop.
(FS) spindle
(LS)
COUPOFS AXIS: AXIS: REAL: After the programmed deactivation Only
Followin Leadin POSFS position that refers to the machine deactivated
g axis or g axis coordinate system has been after
following or crossed, the block change is not programmed
spindle leading enabled until the deactivation following-
(FS) spindle positions POSFS have been axis
(LS) crossed. deactivation
Value range 0 ... 359.999 degrees. position has
been
crossed.
COUPON AXIS: AXIS: The block change is enabled Fastest
Followin Leadin immediately. possible
g axis or g axis activation of
following or synchronous
spindle leading operation
(FS) spindle with any
(LS) angular
reference
between the
leading and
following
spindles.

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COUPON AXIS: AXIS: REAL:P The block change is enabled Activation

Followin Leadin OSFS according to the defined setting. with a
g axis or g axis Range of POSFS: 0 ... 359.999 defined
following or degrees. angular
spindle leading offset
(FS) spindle POSFSbetwe
(LS) en the
following and
leading
spindles.
This offset is
referred to
the
zero degrees
position of
the leading
spindle in a
positive
direction of
rotation.
COUPONC AXIS: AXIS: An offset Acceptance
Followin Leadin position of activation
g axis or g axis cannot with
following or be previously
spindle leading program programmed
(FS) spindle med. M3 S.. or M4
(LS) S...
Immediate
acceptance
of rotational
speed
difference.
COUPRES AXIS: AXIS: Couple reset:
Followin Leadin Reset
g axis or g axis synchronous
following or spindle
spindle leading group.
(FS) spindle The
(LS) programmed
values
become
invalid. The
machine
data values
are valid.
For synchronous spindles, the axis parameters are programmed with SPI(1) or S1.

26. Structure statements in the STEP editor (editor-based program support)

Keyword / 1st parameter 2nd parameter 3rd parameter Explanation
subroutine
identifier
SEFORM STRING[128]: INT: level STRING[128]: Current section name for STEP
section name icon editor

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Keyword / 1st 2nd 3rd 4th Explanation

subroutine parameter parameter parameter parameter
identifier
COUPON AXIS: AXIS: REAL: Couple on:
Following Leading axis Activation Activate ELG group/synchronous spindle pair. If
axis position of no activation positions are specified, the couple is
following activated as quickly as possible (ramp). If an
axis activation position is specified for the following
axis and spindle, this refers absolutely or
incrementally to the master axis or spindle.
Parameters 4 and 5 only have to be programmed
if the 3rd parameter is specified.
COUPOF AXIS: AXIS: REAL: REAL: Couple OFF:
Following Leading axis Deactivation Deactivation Deactivate ELG group/synchronous spindle pair.
axis position of position of The couple parameters are retained. If positions
following master axis are specified, the couple is only canceled when all
axis (absolute) the specified positions have been overtraveled.
(absolute) The following spindle continues to revolve at the
last speed programmed before deactivation of the
couple.
WAITC AXIS: Axis/ STRING[8]: AXIS: Axis/ STRING[8]: Wait for couple condition:
spindle Block spindle Block Wait until couple block change criterion for the
change change axes/spindles is fulfilled.
criterion criterion Up to two axes/spindles can be programmed.
Block change criterion:
"NOC": No block change control, block change is
enabled immediately,
"FINE": Block change on "synchronism fine",
"COARSE": Block change on synchronism coarse
and
"IPOSTOP": Block change in setpoint-dependent
termination of overlaid movement.
If the block change behavior is not specified, the
set behavior is applicable and there is no change.
AXCTSWE AXIS: Advance container axis.
Axis/spindle

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16.5 Predefined subroutine calls in motion-synchronous actions

27. Synchronous procedures

Keyword/ 1st parameter 2nd parameter 3rd parameter Explanation
function to
identifier 5th parameter
STOPREOF Stop preparation OFF:
A synchronized action with a STOPREOF
command causes a preprocessing stop after the
next output block (= block for the main run). The
preprocessing stop is canceled with the end of the
output block or when the STOPREOF condition is
fulfilled. All synchronized action statements with the
STOPREOF command are therefore interpreted as
having been executed.
RDISABLE Read-in disable Read-in disable
DELDTG AXIS: Axis for Delete distance-to-go:
axial delete A synchronized action with the DELDTG command
distance-to-go causes a preprocessing stop after the next output
(optional). If the block (= block for the main run). The preprocessing
axis is omitted, stop is canceled with the end of the output block or
delete distance- when the first DELDTG condition is fulfilled. The
to-go is axial distance to the destination point on an axial
triggered for the delete distance-to-go is stored in $AA_DELT[axis];
path distance the distance-to-go is stored in $AC_DELT.
SYNFCT INT: Number of VAR REAL: VAR REAL: If the condition in the motion synchronous action is
polynomial Result Input variable fulfilled, the polynomial determined by the first
function variable*) **) expression is evaluated at the input variable. The
defined with upper and lower range of the value is limited and
FCTDEF. the input variable is assigned.
FTOC INT: Number of VAR REAL: INT: Length 1, Modify tool fine compensation according to a
polynomial Input variable 2, 3 function defined with FCTDEF (polynomial no
function defined **) INT: Channel higher than 3rd degree).
with FCTDEF number The number used here must be specified in
INT: Spindle FCTDEF.
number
*) Only special system variables are permissible as result variables. These are described in
the Programming Guide Advanced in the section on "Write main run variable".
**) Only special system variables are permissible as input variables. These variables are
described in the Programming Guide Advanced in the list of system variables.

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16.6 Predefined functions

Predefined functions
Predefined functions are invoked by means of a function call. Function calls return a value.
They can be included as an operand in an expression.

1. Coordinate system
Keyword/ Result 1st parameter 2nd parameter Explanation
function
identifier
CTRANS FRAME AXIS REAL: Offset 3rd-15th 4th-16th Translation: Zero offset
parameter parameter for multiple axes.
as 1 ... as 2 ... One axis identifier is
programmed at a time,
with its respective value
in the next parameter.
CTRANS can be used to
program offset for up to
8 axes.
CROT FRAME AXIS REAL: 3rd/5th 4th/6th Rotation: Rotation of the
Rotation parameter parameter current coordinate
as 1 ... as 2 ... system.
Maximum number of
parameters: 6 (one axis
identifier and one value
per geometry axis)
CSCALE FRAME AXIS REAL: Scale 3rd-15th 4th-16th Scale: Scale factor for
factor parameter parameter multiple axes.
as 1 ... as 2 ... Maximum number of
parameters is 2*
maximum number of
axes (axis identifier and
value).
One axis identifier is
programmed at a time,
with its respective value
in the next parameter.
CSCALE can be used to
program scale factors
for up to 8 axes.

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CMIRROR FRAME AXIS 2nd - 8th Mirror: Mirror on a

parameter coordinate axis
as 1 ...
MEAFRAME FRAME 2-dim. REAL 2-dim. REAL 3rd parameter Frame calculation from 3
array array REAL measuring points in
variables space
Frame functions CTRANS, CSCALE, CROT and CMIRROR are used to generate frame
expressions.

2. Geometry functions
Keyword/ Result 1st parameter 2nd parameter 3rd parameter Explanation
function
identifier
CALCDAT BOOL: VAR REAL [,2]: INT: Number of VAR REAL [3]: CALCDAT: Calculate circle data
Error status Table with input input points for Result: Calculates radius and center
points (abscissa calculation Abscissa, point of a circle from 3 or 4 points
and ordinate for (3 or 4) ordinate and (according to parameter 1), which
points 1, 2, 3, radius of must lie on a circle. The points
etc.) calculated must be different.
circle center
point

Names Result 1st parameter 2nd parameter 3rd parameter 4th parameter 5th 6th
parameter parameter
CALCPOSI INT: REAL: REAL: REAL: REAL: BOOL: bin
Status Starting Increment: Minimum Return value 0: encoded
0 OK position in Path definition clearances of possible incr. Evaluation to be
WCS [0] Abscissa limits to be path if path G code monitored
-1 DLIMIT
[0] Abscissa observed from parameter group 13 1 SW limits
neg. [1] Ordinate
[1] Ordinate [0] Abscissa 3 cannot be (inch/metr.) 2 working
-2 Trans. [2] Applicate
[1] Ordinate fully traversed area
n.def. [2] Applicate referred to 1:
without
1 SW limit [2] Applicate Reference 4 active
starting violating limit
[3] Lin. to basic protection
2 Working position
machine control zone
area
Axis system, 8 preactive
3 Prot. zone
[4] Rot. Axis independen protection
See PGA for t of active zone
more G codes
group 13

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Explanation: CALCPOSI is for checking whether, starting from a defined starting point, the geometry
CALCPOSI axes can traverse a defined path without violating the axis limits (software limits), working
area limitations, or protection zones. If the defined path cannot be traversed without
violating limits, the maximum permissible value is returned.

INTERSEC BOOL: VAR REAL [11]: VAR REAL [11]: VAR REAL [2]: Intersection: Calculation of
Error status First contour Second contour Result vector: intersection
element element Intersection The intersection between two
coordinate, contour elements is calculated.
abscissa and The intersection coordinates
ordinate are return values. The error
status indicates whether an
intersection was found.

3. Axis functions
Result 1st parameter 2nd parameter Explanation
AXNAME AXIS: STRING [ ]: AXNAME: Get axis identifier
Axis identifier Input string Converts the input string to an axis identifier. An
alarm is generated if the input string does not
contain a valid axis identifier.
AXTOSPI INT: AXIS: AXTOSPI: Convert axis to spindle
Spindle Axis identifier Converts an axis identifier into a spindle number.
number An alarm is set if the transfer parameter does not
contain a valid axis identifier.
SPI AXIS: INT: SPI: Convert spindle to axis
Axis identifier Spindle number Converts a spindle number to an axis identifier. An
alarm is generated if the passed parameter does
not contain a valid spindle number.
ISAXIS BOOL INT: Check whether the geometry axis 1 to 3 specified
TRUE: Number of the as parameter exists in accordance with
Axis exists: geometry axis $MC_AXCONF_GEOAX_ASSIGN_TAB.
Otherwise: (1 to 3)
FALSE
AXSTRING STRING AXIS Convert axis identifier into string.

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4. Tool management
Result 1st parameter 2nd parameter Explanation
NEWT INT: STRING [32]: INT: Duplo Create new tool (prepare tool data). The duplo
T number Tool name number number can be omitted.
GETT50 INT: STRING [32]: INT: Duplo Get T number for tool identifier.
T number Tool name number
GETACTT INT: INT: STRING[32]: Get active tool from a group of tools with the same
Status T number Tool name name.
TOOLENV INT: STRING: Save a tool environment in SRAM with the
Status Name specified name.
DELTOOLENV INT: STRING: Delete a tool environment in SRAM with the
Status Name specified name. All tool environments if no name
specified.
GETTENV INT: STRING: INT: Reading:
Status Name Number = [0] T number,
Number = [1] D number,
Number = [2] DL number
from a tool environment with the specified name

Result 1st par. 2nd par. 3rd par. 4th par. 5th par. 6th par. Explanation
GETTCOR INT: REAL: STRING: STRING: INT: INT: INT: Read tool lengths and tool
Status Length Compon Tool Int. T D DL length components from tool
[11] ents: environm number number number environment or current
Coordi- ent/ environment
nate "" Details: See /FB1/ Function
system Manual Basic Functions; (W1)

Result 1st par. 2nd par. 3rd par. 4th par. 5th par. 6th par. 7th par. 8th par. 9th par.
SETTCOR INT: REAL: STRING: INT: INT: INT: STRING: INT: INT: INT:
Status Offset Compo- Compon Type of Index of Name of Int. T D DL
vector nent(s) ent(s) to write geo. axis tool number number number
[0-3] be offset operation environm
ent
Explanation Changing tool components whilst observing all marginal conditions that are included in the evaluation of the
individual components. Details: See Function Manual Basic Functions; (W1)

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Result 1st parameter 2nd parameter 3rd parameter Explanation

LENTOAX INT: INT: REAL: STRING: The function provides information
Status Axis index L1, L2, L3 for Coordinate about the assignment of the tool
abscissa, system for the lengths L1, L2, L3 of the active
[0-2]
ordinate, assignment tools to abscissa, ordinate,
applicate applicate. The assignment to the
geometry axes is affected by
[3], [3] Matrix
frames and the active plane (G17
- 19). Details: See Function
Manual Basic Functions; (W1)

5. Arithmetic
Result 1st parameter 2nd parameter Explanation
SIN REAL REAL Sine
ASIN REAL REAL Arcsine
COS REAL REAL Cosine
ACOS REAL REAL Arccosine
TAN REAL REAL Tangent
ATAN2 REAL REAL REAL Arctangent 2
SQRT REAL REAL Square root
ABS REAL REAL Generate absolute value
POT REAL REAL Square
TRUNC REAL REAL Truncate decimal places
ROUND REAL REAL Round decimal places
LN REAL REAL Natural logarithm
EXP REAL REAL Exponential function ex
MINVAL REAL REAL REAL Determines the smaller value of two variables
MAXVAL REAL REAL REAL Determines the larger value of two variables
Result 1st parameter 2nd parameter 3rd parameter Explanation
BOUND REAL: Check REAL: REAL: REAL: Check Checks whether the variable
status Minimum Maximum variable value lies within the defined
min/max value range
Explanation The arithmetic functions can also be programmed in synchronized actions. Arithmetic functions are
calculated and evaluated in the main run. Synchronized action parameter $AC_PARAM[n] can also be
used for calculations and as buffer memory.

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6. String functions
Result 1st parameter 2nd parameter Explanation
to
3rd parameter
ISNUMBER BOOL STRING Check whether the input string can be converted to
a number.
Result is TRUE if conversion is possible.
ISVAR BOOL STRING Check whether the transfer parameter contains a
variable known in the NC. (Machine data, setting
data, system variable, general variables such as
GUDs)
Result is TRUE if all the following checks produce
positive results according to the (STRING) transfer
parameter:
– The identifier exists
– It is a 1- or 2-dimensional
array
– An array index is allowed.
For axial variables, the axis names are accepted as
an index but not checked.
NUMBER REAL STRING Convert the input string into a number.
TOUPPER STRING STRING Convert all alphabetic characters in the input string
to upper case.
TOLOWER STRING STRING Convert all alphabetic characters in the input string
to lower case.
STRLEN INT STRING The result is the length of the input string up to the
end of the string (0).
INDEX INT STRING CHAR Find the character (2nd parameter) in the input
string (1st parameter). The reply gives the place, at
which the character was first found. The search is
from left to right.
The 1st character in the string has the index 0.
RINDEX INT STRING CHAR Find the character (2nd parameter) in the input
string (1st parameter). The reply gives the place, at
which the character was first found. The search is
from right to left.
The 1st character in the string has the index 0.

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MINDEX INT STRING STRING Find one of the characters specified in the 2nd
parameter in the input string (1st parameter). The
place where one of the characters was first found is
output. The search is from left to right. The first
character in the string has the index 0.
SUBSTR STRING STRING INT Returns the substring of the input string (1st
parameter), defined by the start character (2nd
parameter) and number of characters (3rd
parameter).
Example:
SUBSTR("ACKNOWLEDGEMENT:10 to 99", 10, 2)
returns substring "10".

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16.7 Arithmetic operators / arithmetic functions

Arithmetic operator / Meaning

arithmetic function
+ Addition
- Subtraction
* Multiplication
/ Division
Caution: (type INT)/(type INT)=(type REAL); example: 3/4 = 0.75
DIV Division, for variable type INT and REAL
Caution: (type INT)DIV(type INT)=(type INT); example: 3 DIV 4 = 0
MOD Modulo division (only type INT) produces remainder of INT division;
example 3 MOD 4=3
: Chain operator (for FRAME variables)
Sin() Sinusoidal
COS() Cosine
TAN() Tangent
ASIN() Arc sine
ACOS() Arc cosine
ATAN2() Arctangent2
SQRT() Square root
ABS() Absolute value
POT() 2nd power (square)
TRUNC() Truncate to integer
ROUND() Round to integer
LN() Natural logarithm
EXP() Exponential function
MINVAL Lower value of two variables
MAXVAL Larger value of two variables
BOUND Variable value within the defined value range
CTRANS() Displacement
CROT () Rotation
CSCALE() Scale modification
CMIRROR() Mirroring

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 563
Tables
16.8 Relational operators

16.8 Relational operators

Relational operator Meaning

== Equal to
<> Not equal to
> Greater than
< Less than
>= Greater than or equal to
<= Less than or equal to

16.9 Logic operators

Logic operator Meaning

AND AND
OR OR
NOT Negation
XOR Exclusive OR

16.10 Data types

Data types
Type Comment Value range
INT Integers with sign -2147483646 ... +2147483647
REAL Real numbers (fractions with decimal point, LONG ±(2,2*10-308 … 1,8*10+308)
REAL to IEEE)
BOOL Truth values TRUE (1) and FALSE (0) 1, 0
CHAR ASCII characters Corresponding to code 0 ... 255
STRING Character string, number of characters in [...] Maximum of 200 characters (no special characters)
AXIS Axis names (axis addresses) only All axis addresses in the channel
FRAME Geometrical parameters for translation, rotation,
scaling, and mirroring

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Appendix A
A.1 List of abbreviations

A Output
AS Automation system
ASCII American Standard Code for Information Interchange
ASIC Application Specific Integrated Circuit: User switching circuit
ASUB Asynchronous subroutine
AV Job planning
STL Statement list
BA Operating mode
Mode group Mode group
BB Ready to run
HMI Human Machine Interface
BCD Binary Coded Decimals: Decimal numbers encoded In binary code
HHU Handheld unit
BIN Binary files (Binary Files)
BIOS Basic Input Output System
BCS Basic Coordinate System
UI User interface
BOT Boot files: Boot files for SIMODRIVE 611 digital
OP Operator Panel
OPI Operator Panel Interface
CAD Computer-Aided Design
CAM Computer-Aided Manufacturing
CNC Computerized Numerical Control: Computerized numerical control
COM Communication
CP Communications Processor
CPU Central Processing Unit: Central processing unit
CR Carriage Return
CRT Cathode Ray Tube picture tube

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Appendix
A.1 List of abbreviations

CSB Central Service Board: PLC module

CTS Clear To Send: Signal from serial data interfaces
CUTOM Cutter radius compensation: Tool radius compensation
DAC Digital-to-Analog Converter
DB Data block in the PLC
DBB Data block byte in the PLC
DBW Data block word in the PLC
DBX Data block bit in the PLC
DC Direct Control: Movement of the rotary axis via the shortest path to the absolute
position within one revolution
DCD Data Carrier Detect
DDE Dynamic Data Exchange
DTE Data Terminal Equipment
DIN Deutsche Industrie Norm (German Industry Standard)
DIO Data Input/Output: Data transfer display
DIR Directory: Directory
DLL Dynamic Link Library
DOE Data transmission equipment
DOS Disk Operating System
DPM Dual-Port Memory
DPR Dual-Port RAM
DRAM Dynamic Random Access Memory
DRF Differential Resolver Function: Differential resolver function (DRF)
DRY Dry Run: Dry run feedrate
DSB Decoding Single Block: Decoding single block
DW Data word
E Input
I/O Input/Output
I/R Infeed/regenerative-feedback unit (power supply) of the
SIMODRIVE 611digital
EIA code Special punched tape code, number of holes per character always odd
ENC Encoder: Actual value encoder
EPROM Erasable Programmable Read Only Memory
Error Error from printer
FB Function block
FBS Slimline screen
FC Function Call: Function block in the PLC

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 Appendix
A.1 List of abbreviations

FDB Product database

FDD Floppy Disk Drive
FEPROM Flash-EPROM: Read and write memory
FIFO First In First Out: Memory that works without address specification and whose data
are read in the same order in which they were stored.
FIPO Fine InterPOlator
FM Function Module
FPU Floating Point Unit Floating Point Unit
FRA Frame block
FRAME Data record (frame)
CRC Cutter radius compensation
FST Feed Stop: Feed stop
CSF Function plan (PLC programming method)
BP Basic program
GUD Global User Data: Global user data
HD Hard Disk Hard disk
HEX Abbreviation for hexadecimal number
AuxF Auxiliary function
HMI Human Machine Interface: Operator functionality of SINUMERIK for operation,
programming and simulation.
HMS High-resolution Measuring System
MSD Main Spindle Drive
HW Hardware
IBN Startup
IF Drive module pulse enable
IK (GD) Implicit communication (global data)
IKA Interpolative Compensation: Interpolatory compensation
IM Interface Module Interconnection module
IMR Interface Module Receive: Interconnection module for receiving data
IMS Interface Module Send: Interconnection module for sending data
INC Increment: Increment
INI Initializing Data: Initializing data
IPO Interpolator
ISA Industry Standard Architecture
ISO International Standardization Organization
ISO code Special punched tape code, number of holes per character always even
JOG Jogging: Setup mode

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Appendix
A.1 List of abbreviations

K1 .. K4 Channel 1 to channel 4
C Bus Communication bus
COR Coordinate rotation
LAD Ladder diagram (PLC programming method)
Kv Servo gain factor
KUE Speed ratio
LCD Liquid Crystal Display: Liquid crystal display
LED Light-Emitting Diode: Light emitting diode
LF Line Feed
PMS Position measuring system
LR Position controller
LUD Local User Data
MB Megabyte
MD Machine data
MDI Manual Data Automatic: Manual input
MC Measuring circuit
MCS Machine coordinate system
MLFB Machine-readable product designation
MPF Main Program File: NC part program (main program)
MPI Multiport Interface Multiport Interface
MS Microsoft (software manufacturer)
MCP Machine control panel
NC Numerical Control: Numerical Control
NCK Numerical Control Kernel: NC kernel with block preparation, traversing range, etc.
NCU Numerical Control Unit: Hardware unit of the NCK
NRK Name for the operating system of the NCK
IS Interface signal
NURBS Non-Uniform Rational B-Spline
ZO Zero offset
OB Organization block in the PLC
OEM Original Equipment Manufacturer
OP Operator Panel: Operating setup
OPI Operator Panel Interface: Interface for connection to the operator panel
OPT Options: Options
OSI Open Systems Interconnection: Standard for computer communications

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 Appendix
A.1 List of abbreviations

P bus Peripheral Bus

PC Personal Computer
PCIN Name of the SW for data exchange with the control
PCMCIA Personal Computer Memory Card International Association: Standard for plug-in
memory cards
PCU PC Unit: PC box (computer unit)
PG Programming device
PLC Programmable Logic Control: Interface control
POS Positioning
RAM Random Access Memory: Program memory that can be read and written to
REF Reference point approach function
REPOS Reposition function
RISC Reduced Instruction Set Computer: Type of processor with small instruction set and
ability to process instructions at high speed
ROV Rapid override: Input correction
RPA R-Parameter Active: Memory area on the
NCK for R parameter numbers
RPY Roll Pitch Yaw: Rotation type of a coordinate system
RTS Request To Send: RTS, control signal of serial data interfaces
SBL Single Block: Single block
SD Setting Data
SDB System Data Block
SEA Setting Data Active: Identifier (file type) for setting data
SFB System Function Block
SFC System Function Call
SK Softkey
SKP SKiP: Skip block
SM Stepper Motor
SPF Sub Routine File: Subroutine
PLC Programmable Logic Controller
SRAM Static RAM (non-volatile)
TNRC Tool Nose Radius Compensation
LEC Leadscrew error compensation
SSI Serial Synchronous Interface: Synchronous serial interface
SW Software
SYF System Files System files

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Appendix
A.1 List of abbreviations

TEA Testing Data Active: Identifier for machine data

TO Tool Offset: Tool offset
TOA Tool Offset Active: Identifier (file type) for tool offsets
TRANSMIT TRANSform Milling Into Turning: Coordinate conversion on turning machine for
milling operations
UFR User Frame: Zero offset
SR Subroutine
FDD Feed Drive
RS-232-C Serial interface (definition of the exchange lines between DTE and DCE)
WCS Workpiece coordinate system
T Tool
TLC Tool length compensation
WOP Workshop-oriented Programming
WPD Workpiece Directory: Workpiece directory
TRC Tool Radius Compensation
TO Tool offset
TC Tool change
ZOA Zero Offset Active: Identifier (file type) for zero offset data
µC Micro Controller

Fundamentals
570 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Appendix
A.2 Feedback on the documentation

A.2 Feedback on the documentation

This document will be continuously improved with regard to its quality and ease of use.
Please help us with this task by sending your comments and suggestions for improvement
via e-mail or fax to:

E-mail: mailto:[email protected]

Fax: +49 (0) 9131/98 - 63315

Please use the fax form on the back of this page.

Fundamentals
Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 571
Appendix
A.2 Feedback on the documentation

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 Appendix
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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 573
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Fundamentals
574 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
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.

Address
An address is the identifier for a certain operand or operand range, e.g. input, output, etc.

Alarms
All → messages and alarms are displayed on the operator panel in plain text with date and
time and the corresponding symbol for the cancel criterion. Alarms and messages are
displayed separately.
1. Alarms and messages in the part program:
Alarms and messages can be displayed in plain text directly from the part program.
2. Alarms and messages from PLC
Alarms and messages for the machine can be displayed in plain text from the PLC
program. No additional function block packages are required for this purpose.

Archive
Reading out of files and/or directories on an external memory device.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 575
Glossary

Asynchronous subroutine
Part program that can be started asynchronously to (independently of) the current program
status using an interrupt signal (e.g. "Rapid NC input" signal).

Automatic
Operating mode of the control (block sequence operation according to DIN): Operating mode
for NC systems in which a → subprogram is selected and executed continuously.

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
● Auxiliary axes: non-interpolating feed and positioning axes with an axis-specific feed rate.
Auxiliary axes are not involved in actual machining, e.g. tool feeder, tool magazine.

Axis address
See → Axis identifier

Axis identifier
Axes are identifed using X, Y, and Z as defined in DIN 66217 for a right-handed, right-angled
→ coordinate system.
Rotary axes rotating around X, Y, and Z are identified using A, B, and C. Additional axes
situated parallel to the specified axes can be designated using other letters.

Axis name
See → Axis identifier

Fundamentals
576 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Glossary

Backlash compensation
Compensation for a mechanical machine backlash, e.g. backlash on reversal for ball screws.
Backlash compensation can be entered separately for each axis.

Backup battery
The backup battery ensures that the → user program in the → CPU is stored so that it is safe
from power failure and so that specified data areas and bit memory, timers and counters are
stored retentively.

Base axis
Axis whose setpoint or actual value position forms the basis of the calculation of a
compensation value.

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
→ transformation is active. The difference between the two coordinate systems lies in the
→ axis identifiers.

Baud rate
Rate of data transfer (Bit/s).

Blank
Workpiece as it is before it is machined.

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Glossary

Block search
For debugging purposes or following a program abort, the "Block search" function can be
used to select any location in the part program at which the program is to be started or
resumed.

Booting
Loading the system program after power on.

C axis
Axis around which the tool spindle describes a controlled rotational and positioning
movement.

Channel
A channel is characterized by the fact that it can process a → part program independently of
other channels. A channel exclusively controls the axes and spindles assigned to it. Part
program runs of different channels can be coordinated through → synchronization.

Chip
"Block" is the term given to any files required for creating and processing programs.

Circular interpolation
The → tool moves on a circle between specified points on the contour at a given feed rate,
and the workpiece is thereby machined.

CNC
See → NC

COM
Component of the NC for the implementation and coordination of communication.

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 Glossary

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. It provides the compensation values of the
compensation axis for selected positions on the basic axis.

Compensation value
Difference between the axis position measured by the encoder and the desired, programmed
axis position.

Connecting cables
Connecting cables are pre-assembled or user-assembled 2-wire cables with a connector at
each end. This connecting cable connects the → CPU to a → programming device or to other
CPUs by means of a → multi-point interface (MPI).

Continuous-path mode
The objective of continuous-path mode is to avoid substantial deceleration of the → path
axes at the part program block boundaries and to change to the next block at as close to the
same path velocity as possible.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 579
Glossary

Contour
Contour of the → workpiece

Contour monitoring
The following error is monitored within a definable tolerance band as a measure of contour
accuracy. An unacceptably high following error can cause the drive to become overloaded,
for example. In such cases, an alarm is output and the axes are stopped.

Coordinate system
See → Machine coordinate system, → Workpiece coordinate system

CPU
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.

Cycles
Protected subroutines for execution of repetitive machining operations on the → workpiece.

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 Glossary

Data Block
1. Data unit of the → PLC that → HIGHSTEP programs can access.
2. Data unit of the → NC: Data modules contain data definitions for global user data. These
data can be initialized directly when they are defined.

Data word
Two-byte data unit within a → data block.

Diagnose
1. Operating area of the control.
2. The control has both a self-diagnostics program as well as test functions for servicing
purposes: status, alarm, and service displays

Dimensions specification, metric and inches

Position and lead values can be programmed in inches in the machining program.
Irrespective of the programmable dimensions (G70/G71), the controller is set to a basic
system.

DRF
Differential Resolver Function: NC function which generates an incremental zero offset in
Automatic mode in conjunction with an electronic handwheel.

Drive
The drive is the unit of the CNC that performs the speed and torque control based on the
settings of the NC.

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 → part program.

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Glossary

Editor
The editor makes it possible to create, edit, extend, join, and import programs/texts/program
blocks.

Exact stop
When an exact stop statement is programmed, the position specified in a block is
approached exactly and, if necessary, very slowly. To reduce the approach time, exact stop
limits are defined for rapid traverse and → feed.

Exact stop limit

When all path axes reach their exact stop limits, the control responds as if it had reached its
precise destination point. A block advance of the → part program occurs.

External zero offset

Zero-point offset specified by the → PLC.

Fast retraction from contour

When an interrupt occurs, a motion can be initiated via the CNC machining program,
enabling the tool to be quickly retracted from the workpiece contour that is currently being
machined. The retraction angle and the distance retracted can also be parameterized. After
fast retraction, an interrupt routine can also be executed (SINUMERIK 840D).

Feed override
The programmed velocity is overriden by the current velocity setting made via the → machine
control panel or from the → PLC (0 to 200%). The feedrate can also be corrected by a
programmable percentage factor (1-200%) in the machining program.

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 Glossary

Finished-part contour
Contour of the finished workpiece. See → Raw part.

Fixed machine point

Point that is uniquely defined by the machine tool, e.g. machine reference point.

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. A frame contains the following components: → zero offset,
→ rotation, → scaling, → mirroring.

Geometry
Description of a → workpiece in the → workpiece coordinate system.

Geometry axis
Geometry axes are used to describe a 2- or 3-dimensional area in the workpiece coordinate
system.

Ground
Ground is taken as the total of all linked inactive parts of a device which will not become live
with a dangerous contact voltage even in the event of a malfunction.

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Programming Manual, 01/2008, 6FC5398-1BP10-3BA0 583
Glossary

Helical interpolation
The helical interpolation function is ideal for machining internal and external threads using
form milling cutters and for milling lubrication grooves.
The helix comprises two movements:
● Circular movement in one plane
● A linear movement perpendicular to this plane

High-level CNC language

The high-level language offers: → user-defined variables, → system variables, → macro
techniques.

High-speed digital inputs/outputs

The digital inputs can be used for example to start fast CNC program routines (interrupt
routines). The digital CNC outputs can be used to trigger fast, program-controlled switching
functions (SINUMERIK 840D).

HIGHSTEP
Summary of programming options for → PLCs of the AS300/AS400 system.

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.

Inch measuring system

Measuring system, which defines distances in inches and fractions of inches.

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 Glossary

Inclined surface machining

Drilling and milling operations on workpiece surfaces that do not lie in the coordinate planes
of the machine can be performed easily using the function "inclined-surface machining".

Increment
Travel path length specification based on number of increments. The number of increments
can be stored as → setting data or be selected by means of a suitably labeled key (i.e. 10,
100, 1000, 10000).

Incremental dimension
Also incremental dimension: A destination for axis traversal is defined by a distance to be
covered and a direction referenced to a point already reached. See → Absolute dimension.

Intermediate blocks
Motions with selected → tool offset (G41/G42) may be interrupted by a limited number of
intermediate blocks (blocks without axis motions in the offset plane), whereby the tool offset
can still be correctly compensated for. The permissible number of intermediate blocks which
the control reads ahead can be set in system parameters.

Interpolator
Logic unit of the → NCK that defines intermediate values for the motions to be carried out in
individual axes based on information on the end positions specified in the part program.

Interpolatory compensation
Interpolatory compensation is a tool that enables manufacturing-related leadscrew error and
measuring system error compensations.

Interrupt routine
Interrupt routines are special → subroutines that can be started by events (external signals)
in the machining process. A part program block which is currently being worked through is
interrupted and the position of the axes at the point of interruption is automatically saved.

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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).

JOG
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. Additional
functions in JOG mode include: → Reference point approach, → Repos, and → Preset (set
actual value).

Key switch
The key switch on the → machine control panel has four positions that are assigned functions
by the operating system of the control. The key switch has three different colored keys that
can be removed in the specified positions.

Keywords
Words with specified notation that have a defined meaning in the programming language for
→ part programs.

KV
Servo gain factor, a control variable in a control loop.

Leading axis
The leading axis is the → gantry axis that exists from the point of view of the operator and
programmer and, thus, can be influenced like a standard NC axis.

Leadscrew error compensation

Compensation for the mechanical inaccuracies of a leadscrew participating in the feed. The
control uses stored deviation values for the compensation.

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Limit speed
Maximum/minimum (spindle) speed: The maximum speed of a spindle can be limited by
specifying machine data, the → PLC or → setting data.

Linear axis
In contrast to a rotary axis, a linear axis describes a straight line.

Linear interpolation
The tool travels along a straight line to the destination point while machining the workpiece.

Load memory
The load memory is the same as → RAM for the CPU 314 of the → PLC.

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. It is used to directly influence the machine tool via
the PLC.

Machine coordinate system

A coordinate system, which is related to the axes of the machine tool.

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Machine zero
Fixed point of the machine tool to which all (derived) measuring systems can be traced back.

Machining channel
A channel structure can be used to shorten idle times by means of parallel motion
sequences, e.g. moving a loading gantry simultaneously with machining. Here, a CNC
channel must be regarded as a separate CNC control system with decoding, block
preparation and interpolation.

Macro techniques
Grouping of a set of statements under a single identifier. The identifier represents the set of
consolidated statements in the program.

Main block
A block prefixed by ":" introductory block, containing all the parameters required to start
execution of a -> part program.

Main program
The → part program designated by a number or an identifer in which additional main
programs, subroutines, or → cycles can be called.

MDA
Control operating mode: Manual Data Automatic. In the MDA mode, individual program
blocks or block sequences with no reference to a main program or subroutine can be input
and executed immediately afterwards through actuation of the NC start key.

Messages
All messages programmed in the part program and → alarms detected by the system are
displayed on the operator panel in plain text with date and time and the corresponding
symbol for the cancel criterion. Alarms and messages are displayed separately.

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Metric measuring system

Standardized system of units: For length, e.g. mm (millimeters), m (meters).

Mirroring
Mirroring reverses the signs of the coordinate values of a contour, with respect to an axis. It
is possible to mirror with respect to more than one axis at a time.

Mode group
Axes and spindles that are technologically related can be combined into one mode group.
Axes/spindles of a BAG can be controlled by one or more → channels. The same → mode
type is always assigned to the channels of the mode group.

Mode of operation
An operating concept on a SINUMERIK control. The following modes are defined: → Jog,
→ MDA, → Automatic.

NC
Numerical Control: Numerical control (NC) includes all components of machine tool control:
→ NCK, → PLC, HMI, → COM.

Note
A more correct term for SINUMERIK 840D controls would be: Computerized Numerical
Control

NCK
Numerical Control Kernel: Component of NC that executes the → part programs and
basically coordinates the motion operations for the machine tool.

NRK
Numeric robotic kernel (operating system of → NCK)

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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.

OEM
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.

Operator Interface
The user interface (UI) is the display medium for a CNC in the form of a screen. It features
horizontal and vertical softkeys.

Oriented spindle stop

Stops the workpiece spindle in a specified angular position, e.g. in order to perform
additional machining at a particular location.

Oriented tool retraction

RETTOOL: If machining is interrupted (e.g. when a tool breaks), a program command can be
used to retract the tool in a user-specified orientation by a defined distance.

Overall reset
In the event of an overall reset, the following memories of the → CPU are deleted:
● → Work memory
● Read/write area of → load memory
● → System memory
● → Backup memory

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Override
Manual or programmable control feature, which enables the user to override programmed
feedrates or speeds in order to adapt them to a specific workpiece or material.

Part program block

Part of a → part program that is demarcated by a line feed. There are two types: → main
blocks and → subblocks.

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.

Path axis
Path axes include all machining axes of the → channel that are controlled by the
→ interpolator in such a way that they start, accelerate, stop, and reach their end point
simultaneously.

Path feedrate
Path feed affects → path axes. It represents the geometric sum of the feed rates of the
→ geometry axes involved.

Path velocity
The maximum programmable path velocity depends on the input resolution. For example,
with a resolution of 0.1 mm the maximum programmable path velocity is 1000 m/min.

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PCIN data transfer program

PCIN is an auxiliary program for sending and receiving CNC user data (e.g. part programs,
tool offsets, etc.) via a serial interface. The PCIN program can run in MS-DOS on standard
industrial PCs.

Peripheral module
I/O modules represent the link between the CPU and the process.
I/O modules are:
● → Digital input/output modules
● → Analog input/output modules
● → Simulator modules

PLC
Programmable Logic Control: → Programmable logic controller. Component of → NC:
Programmable controller for processing the control logic of the machine tool.

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.

Polar coordinates
A coordinate system, which defines the position of a point on a plane in terms of its distance
from the origin and the angle formed by the radius vector with a defined axis.

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Polynomial interpolation
Polynomial interpolation enables a wide variety of curve characteristics to be generated,
such as straight line, parabolic, exponential functions (SINUMERIK 840D).

Positioning axis
Axis that performs an auxiliary movement on a machine tool (e.g. tool magazine, pallet
transport). Positioning axes are axes that do not interpolate with → path axes.

Pre-coincidence
Block change occurs already when the path distance approaches an amount equal to a
specifiable delta of the end position.

Program block
Program blocks contain the main program and subroutines of → part programs.

Programmable frames
Programmable → frames enable dynamic definition of new coordinate system output points
while the part program is being executed. A distinction is made between absolute definition
using a new frame and additive definition with reference to an existing starting point.

Programmable Logic Control

Programmable logic controllers (PLC) are electronic controls, the function of which is stored
as a program in the control unit. This means that the layout and wiring of the device do not
depend on the function of the control. The programmable logic controller has the same
structure as a computer; it consists of a CPU (central module) with memory, input/output
modules and an internal bus system. The peripherals and the programming language are
matched to the requirements of the control technology.

Programmable working area limitation

Limitation of the motion space of the tool to a space defined by programmed limitations.

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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 → working area into which the tool tip must not pass.

Quadrant error compensation

Contour errors at quadrant transitions, which arise as a result of changing friction conditions
on the guideways, can be virtually entirely eliminated with the quadrant error compensation.
Parameterization of the quadrant error compensation is performed by means of a circuit test.

R parameters
Arithmetic parameter that can be set or queried by the programmer of the → part program for
any purpose in the program.

Rapid traverse
The highest traverse rate of an axis. For example, rapid traverse is used when the tool
approaches the → workpiece contour from a resting position or when the tool is retracted
from the workpiece contour. The rapid traverse velocity is set on a machine-specific basis
using a machine data element.

Reference point
Machine tool position that the measuring system of the → machine axes references.

Rotary axis
Rotary axes apply a workpiece or tool rotation to a defined angular position.

Rotation
Component of a → frame that defines a rotation of the coordinate system around a particular
angle.

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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
→ CNC, the → PLC, and the machine in a timely manner so that damage to the workpiece,
tool, or machine is largely prevented. In the event of a fault, the machining operation is
interrupted and the drives stopped. The cause of the malfunction is logged and output as an
alarm. At the same time, the PLC is notified that a CNC alarm has been triggered.

Scaling
Component of a → frame that implements axis-specific scale modifications.

Selecting
Series of statements to the NC that act in concert to produce a particular → workpiece.
Likewise, this term applies to execution of a particular machining operation on a given → raw
part.

Serial RS-232-C interface

For data input/output, the PCU 20 has one serial V.24 interface (RS232) while the
PCU 50/70 has two V.24 interfaces. Machining programs and manufacturer and user data
can be loaded and saved via these interfaces.

Setting data
Data, which communicates the properties of the machine tool to the NC, as defined by the
system software.

Softkey
A key, whose name appears on an area of the screen. The choice of soft keys displayed is
dynamically adapted to the operating situation. The freely assignable function keys (soft
keys) are assigned defined functions in the software.

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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.

SRT
Transformation ratio

Standard cycles
Standard cycles are provided for machining operations, which are frequently repeated:
● Cycles for drilling/milling applications
● for turning technology
The available cycles are listed in the "Cycle support" menu in the "Program" operating area.
Once the desired machining cycle has been selected, the parameters required for assigning
values are displayed in plain text.

Subblock
Block preceded by "N" containing information for a sequence, e.g. positional data.

Subroutine
Sequence of statements of a → part program that can be called repeatedly with different
defining parameters. The subroutine is called from a main program. Every subroutine can be
protected against unauthorized read-out and display. → Cycles are a form of subroutines.

Supply System
A network is the connection of multiple S7-300 and other end devices, e.g. a programming
device via a → connecting cable. A data exchange takes place over the network between the
connected devices.

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Synchronization
Statements in → part programs for coordination of sequences in different → channels at
certain machining points.

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.
2. Fast auxiliary function output
For time-critical switching functions, the acknowledgement times for the → auxiliary
functions can be minimized and unnecessary hold points in the machining process can
be avoided.

Synchronized axes
Synchronized axes take the same time to traverse their path as the geometry axes take for
their path.

Synchronized axis
A synchronized axis is the → gantry axis whose set position is continuously derived from the
motion of the → leading axis and is, thus, moved synchronously with the leading axis. From
the point of view of the programmer and operator, the synchronized axis "does not exist".

System memory
The system memory is a memory in the CPU in which the following data is stored:
● Data required by the operating system
● The operands times, counters, markers

System variables
A variable that exists without any input from the programmer of a → part program. It is
defined by a data type and the variable name preceded by the character $. See → User-
defined variable.

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Tapping without compensating chuck

This function allows threads to be tapped without a compensating chuck. By using the
interpolating method of the spindle as a rotary axis and the drilling axis, threads can be cut to
a precise final drilling depth, e.g. for blind hole threads (requirement: spindles in axis
operation).

Text editor
See → Editor

TOA area
The TOA area includes all tool and magazine data. By default, this area coincides with the
→ channel area with regard to the reach of the data. However, machine data can be used to
specify that multiple channels share one → TOA unit so that common tool management data
is then available to these channels.

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).

Tool
Active part on the machine tool that implements machining (e.g. turning tool, milling tool, drill,
LASER beam, etc.).

Tool nose radius compensation

Contour programming assumes that the tool is pointed. Because this is not actually the case
in practice, the curvature radius of the tool used must be communicated to the control which
then takes it into account. The curvature center is maintained equidistantly around the
contour, offset by the curvature radius.

Tool offset
Consideration of the tool dimensions in calculating the path.

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Tool radius compensation

To directly program a desired → workpiece contour, the control must traverse an equistant
path to the programmed contour taking into account the radius of the tool that is being used
(G41/G42).

Transformation
Additive or absolute zero offset of an axis.

Traversing range
The maximum permissible travel range for linear axes is ± 9 decades. The absolute value
depends on the selected input and position control resolution and the unit of measurement
(inch or metric).

User memory
All programs and data, such as part programs, subroutines, comments, tool offsets, and zero
offsets/frames, as well as channel and program user data, can be stored in the shared CNC
user memory.

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.
● Data blocks
These blocks contain constants and variables for the STEP 7 program.

User-defined variable
Users can declare their own variables for any purpose in the → part program or data block
(global user data). A definition contains a data type specification and the variable name. See
→ System variable.

Variable definition
A variable definition includes the specification of a data type and a variable name. The
variable names can be used to access the value of the variables.

Velocity control
In order to achieve an acceptable traverse rate in the case of very slight motions per block,
an anticipatory evaluation over several blocks (→ Look Ahead) can be specified.

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WinSCP
WinSCP is a freely available open source program for Windows for the transfer of files.

Working area
Three-dimensional zone into which the tool tip can be moved on account of the physical
design of the machine tool. See → Protection zone.

Working area limitation

With the aid of the working area limitation, the traversing range of the axes can be further
restricted in addition to the limit switches. One value pair per axis may be used to describe
the protected working area.

Working memory
RAM is a work memory in the → CPU that the processor accesses when processing the
application program.

Workpiece
Part to be made/machined by the machine tool.

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.

Workpiece zero
The workpiece zero is the starting point for the → workpiece coordinate system. It is defined
in terms of distances to the → machine zero.

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Zero offset
Specifies a new reference point for a coordinate system through reference to an existing
zero point and a → frame.
1. Settable
SINUMERIK 840D: A configurable number of settable zero offsets are available for each
CNC axis. The offsets - which are selected by means of G functions - take effect
alternately.
2. External
In addition to all the offsets which define the position of the workpiece zero, an external
zero offset can be overridden by means of the handwheel (DRF offset) or from the PLC.
3. Programmable
Zero offsets can be programmed for all path and positioning axes using the TRANS
statement.

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ANG1, 244
ANG2, 244, 247
$ Angle
Contour angle, 242, 244, 247
$AA_ACC, 146
AP, 198, 223
$AA_OFF, 398
AP, 202
$AC_TOFF, 93
AP, 207
$AC_TOFFL, 93
AP, 210
$AC_TOFFR, 93
AP, 232
$AC_WORKAREA_CS_LIMIT_MINUS, 414
Approach and retract paths, 297
$AC_WORKAREA_CS_LIMIT_PLUS, 414
Approach and retraction velocities, 319
$AC_WORKAREA_CS_MINUS_ENABLE, 414
Approach point/angle, 299
$AC_WORKAREA_CS_PLUS_ENABLE, 414
Approaching a fixed point, 417
$P_GWPS, 109
AR, 210, 220, 232, 235
$P_TOFF, 93
Arithmetic function, 563
$P_TOFFL, 93
Arithmetic operator, 563
$P_TOFFR, 93
AROT, 357, 369
$TC_TPG1/...8/...9, 108
AROTS, 379
ASCALE, 357, 380
ATRANS, 357, 360, 366
A
Auxiliary function output
A=..., 174 High-speed, 401
Absolute dimensions, 19 In continuous-path mode, 402
AC, 127, 165, 220 Auxiliary function outputs, 399
ACC, 144 Axial DRF deselection, 397
Acceleration Axis types
Mode, 425 Channel axes, 441
ACCLIMA, 428 Machine axes, 441
ACN, 127, 174 Main spindle, 440
ACP, 127, 174 Path axes, 441
Address, 39 Positioning axes, 442
Extended address, 453 Special axes, 440
modally effective, 452 Synchronized axes, 443
non-modal, 452
Value assignment, 44
with axial extension, 452 B
Address letters, 510
B=..., 174
Addresses, 450
Basic coordinate system (BCS), 31
Fixed addresses, 511
Basic offset, 33
ADIS, 343
Basic zero system, 33
ADISPOS, 343
Binary constants, 457
ALF, 272, 277
Blank form, 297
AMIRROR, 357
Block, 39
AMIRROR, 384
Components, 39
ANG, 242, 247, 461
End, 43

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Length, 43 Compensation mode

Number, 42 Deactivating (G40), 300
Order of the statements, 43 Deactivating (G40, KONT), 303
Skip, 46 Compensation motion
Skip:, 47 For collision detection, 329
Structure, 39 Compensation plane, 334
Blocking point, 25 Constant
Bottleneck detection, 330 Grinding wheel peripheral speed, 107
BRISK, 425 Constant cutting rate
BRISKA, 425 Activate, 104
BZS, 33 Axis replacement of assigned channel axis, 105
Preserve, 105
Upper speed limitation, 104
C Constants, 456
Binary constants, 457
C=..., 174
Hexadecimal constants, 456
CALCPOSI, 412, 557
Integer constants, 456
Cartesian coordinates, 15
Continuous-path mode, 343, 346
CDOF, 328
For positioning axes, 350
CDOF2, 328
In rapid traverse G0, 353
CDON, 328
Look ahead, 352
CFC, 146, 234
With programmable transitional grinding, 347
CFIN, 146
Contour
CFTCP, 146
Accuracy, programmable, 433
Chamfer, 278
Approach/leave, 297
Chamfer the contour corner, 278
Element, 191
Channel axes, 441
Point, 297
Character set, 51
Contour calculator, 241
CHF, 278
Contour definition programming, 241
CHR, 244, 247, 278
Contour definitions
CIP, 210, 225
3 straight lines, 247
Circular interpolation
Straight line with angle, 242
Helical interpolation, 232
Two straight lines, 244
Indication of working plane, 217
Coordinate system
Circular-path programming
Workpiece, 35
With center and end points, 210, 214
Coordinate systems, 13
With interpolation and end points, 210, 225
Coordinate systems, 27
With opening angle and center point, 210, 220
Coordinate systems and workpiece machining, 448
With polar angle and polar radius, 210
Coordinate transformations (frames), 35
With polar coordinates, 223
Coordinates
With radius and end point, 210, 218
Cartesian, 15, 193
With tangential transition, 210
Cylindrical, 199
Clamping torque, 422
Polar, 18, 198
COARSEA, 127
Corner behavior
Collision detection, 328
Intersection, 309
Collisions, 300
Transition circle, 307
Command, 39
Corner rounding
Command axes, 443
Extensions, 348
Comments, 45
On the contour, 344
Compensation
With contour tolerance in G642 and G643, 349
Tool length, 72
With G641, 348
Tool radius, 73
with G642, 349
Compensation memory, 74
With G643, 349

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With greatest possible dynamic response in Direction of rotation, 29

G644, 350 Directional reversal, 306
CORROF, 396, 398 DISC, 305
CPRECOF, 433 DISC=..., 307
CPRECON, 433 DISCL, 310
CR, 210, 218, 235 DISR, 310
CROTS, 379 DITE, 261
CT, 210, 228 DITS, 261
CUT2D, 331 DRFOF, 396
CUT2DF, 331 Drill, 79
CUTCONOF, 335 DRIVE, 425
CUTCONON, 335 DRIVEA, 425
Cutting edge Dwell time, 434
Center point, 74 DYNFINISH, 430
Position, 74 DYNNORM, 430
Radius, 74 DYNPOS, 430
Cutting edge number, 86 DYNROUGH, 430
Cutting rate DYNSEMIFIN, 430
Constant, 100
Cylinder thread, 258
Cylindrical coordinates, 199 E
Effectiveness
modal, 452
D
Non-modal, 452
D number, 84 End of block LF, 52
D..., 84 Exact stop, 339
D0, 84 Extended address, 453
DAC, 182
Data types, 564
DC, 127, 174 F
Deselect frame, 395
F, 434
DIAM90, 180
F..., 207, 264
DIAM90A, 182
FA, 120, 134
DIAMCHAN, 182
Face thread, 259
DIAMCHANA, 182
FAD, 310
Diameter programming, 180
FB, 152
DIAMOF, 180
FD, 140
DIAMOFA, 182
FDA, 140
DIAMON, 180
Feed, 111
DIAMONA, 182
for path axes, F, 115
DIC, 182
for positioning axes, 134
DILF, 272
for synchronized axes, F, 116
Dimensions, 165
FPRAON, FPRAOFF, 137
For rotary axes and spindles, 174
Metric/inch units of measurement, 117
In inches, 177
Override, 142
In millimeters, 177
Traverse rotary axes with path velocity F, 119
In the diameter, 180
Unit of measurement for rotary and linear axes, 118
In the radius, 180
Unit of measurement for synchronized axes with
Dimensions in inches, 177
limit speed FL, 118
Dimensions in millimeters, 177
with handwheel override, FD, FDA, 140
DIN 66025, 39
Feedrate, 207, 434
DIN 66217, 28
FPRAON, FPRAOFF, 134

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G95 FPR(…), 136 G110, 195

Metric/inch units of measurement, 136 G111, 195
Modal, 279 G112, 195
Optimization example, 148 G140, 310
Optimization for curved path sections, CFTCP, G141, 310
CFC, CFIN, 147 G142, 310
Programmed, 279 G143, 310
Feedrate non-modal, 279 G147, 310
Feedrate override, percentage, OVR,OVRA, 138 G148, 310
Feedrate values in one block, 149 G153, 155, 395
FFWOF, 432 G17, 161, 292, 333
FFWON, 432 G18, 161, 292
FGREF, 111 G19, 161, 292, 333
FGROUP, 111 G2, 198, 210, 214, 218, 220, 223, 232
FINEA, 127 G247, 310
Fixed stop, 419 G248, 310
Clamping torque, 422 G25, 109, 408
Monitoring, 422 G26, 109, 408
FL, 111 G3, 198, 210, 214, 218, 220, 223, 232
FMA, 476 G33, 252
FP, 417 G331, 266
FPR, 134 G332, 266
FPRAOF, 134 G34, 264
FPRAON, 134 G340, 310
Frame generation according to tool orientation, G341, 310
TOFRAME, TOROT, PAROT, 390 G347, 310
Frame instructions G348, 310
Programmable Mirroring, 384 G35, 264
Programmable zero offset, 362, 367 G4, 434
Rotation, programmable, 369 G40, 285, 300
Scale factor, programmable, 381 G41, 84, 285, 299
Settable and programmable statements, 358 G42, 84, 285, 299
Substituting instructions, 359 G450, 305
Frame rotation in tool direction, 391 G451, 305
Frame rotation in working direction G460, 323
G18, 392 G461, 323
G18 or G19, 392, 393 G462, 323
Frame statements G500, 155
Additive instructions, 357 G505 ...G599, 155, 160
Frame system, 355 G53, 155, 395
Frames, 35 G54, 155
FRC, 278, 475, 477 G55, 155
FRCM, 278, 477 G56, 155
FXS, 419 G57, 155
FXST, 419 G58, 366
FXSW, 419 G59, 366
G60, 339
G601, 339, 350
G G602, 339
G603, 339
G function list, 520
G63, 270
G0, 198, 202, 353
G64, 343
G1, 198, 207
G641, 343

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 Index

G642, 343 Incremental dimension, 20

G643, 343 Incremental dimensions, 20, 168
G644, 343 Infeed movement, 307
G70, 177 Internal preprocessing stop, 123, 436
G700, 177 Interpolation parameter IP, 452
G71, 177 INVCCW, 235
G710, 177 INVCW, 235
G74, 416 Involute, 235
G75, 417 IP, 452
G9, 339 IPOBRKA, 127
G90, 165 IPOENDA, 127
G91, 168
G93, 111
G94, 111 J
G95, 111
J, 214
G96, 100
J, 266
G961, 100
J..., 264
G962, 100
Jerk limitation, 425, 428
G97, 100
JERKLIMA, 428
G971, 100
G972, 100
G973, 100
K
Geometry axes, 31, 439
Switchable, 439 K, 214
Grinding tools, 80 K, 210
Grinding wheel peripheral speed, 107 K, 232
Grinding wheel peripheral speed, constant, 107 K, 266
GWPS, 80, 107, 108, 109 K..., 264
GWPSOF, 107 Kinematic transformation, 31
GWPSON, 107 KONT, 297, 305
KONTC, 297
KONTT, 297
H
Handwheel jogging
L
with path default, 142
with velocity overlay, 143 Left-hand thread, 254
Handwheel override, 140 Length of cutting edge
Helical interpolation relevant, 337
Programming the end point, 234 LF, 52
Helix interpolation, 232 LFOF, 272
Hexadecimal constants, 456 LFON, 272
LFPOS, 274, 276
LFTXT, 274, 276
I LFWP, 274, 276
LIFTFAST, 272, 274
I, 266
LIMS, 100
I..., 264
LINE FEED, 43
IC, 127, 168
Linear interpolation, 205
Identifier, 41, 454
List
for character string, 51
of preparatory functions (G functions), 520
for special numerical values, 51
Logic operator, 564
for system variables, 51
Look ahead, 352
Variable identifiers, 455

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Index

M Non-modal, 42
Non-modal feedrate, 279
M functions, 403
NORM, 297, 299, 303
M..., 403
M0, 403
M1, 95, 403
O
M17, 403
M19, 126 OFFN, 285
M2, 403 Offset
M3, 95, 125, 403 Tool length, 88
M30, 403 Tool radius, 88
M4, 95, 125, 403 Operator
M40, 403 Logic operator, 564
M41, 125, 403 Relational, 564
M42, 403 Optional stop, 406
M43, 403 ORIPATH, 491
M44, 403 ORIPATHS, 492
M45, 125, 403 Overview
M5, 95, 125, 403 Types of feedrate, 111
M6, 63, 403 OVR, 138
M7, 405 OVRA, 138
M70, 126 OVRRAP, 138
Machine axes, 441
Machine coordinate system, 27
Machine zero, 25 P
Main axes, 439
PAROT, 390
Main spindle, 440
PAROTOF, 390
Master spindle, 440
Path action, depending on DISC values, 308
MCS, 27
Path axes
MD10652, 241
traverse with handwheel override, 141
MD10654, 241
Path axes, 441
Messages, 407
Path tangent, 301
Milling tools, 77
PLC axes, 443, 446
MIRROR, 357
PM, 312
MIRROR, 384
Polar angle, 18, 199
Modal, 42
Polar coordinates, 18, 198
Modal feedrate, 279
Polar radius, 18, 199
Modal rounding, 278
Pole, 195
Monitoring
POLF, 274
Fixed stop, 420
POLFMASK, 274
MSG, 343, 407
POLFMLIN, 274
Multiple feedrate values in one block, 149
POS, 120
POSA, 120
Position-controlled spindle operation, 124
N
Position-controlled spindles, position
Names, 37 Position a spindle from standstill, 133
NC high-level language, 41 Position spindle from rotation, 125
NC program Positioning axes, 442
Creating, 50 traverse, 120
NC programming POSP, 120
Character set, 51 PR, 312
Non-cutting tool path, 309 Preprocessing stop, 123
Non-linear interpolation, 205 Internal, 436

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Program RPL, 369

End, 42, 406 RTLIOF, 202
Header, 53 RTLION, 202
Name, 37 Run-in and run-out paths, programmable, 261
Programmable frame rotations with solid angles, 379
Programmable mirroring, MIRROR, AMIRROR, 384
Programmable scaling factor, SCALE, ASCALE, 380 S
Programmable zero offset
S, 95, 107, 434
G58, G59, 366
S1, 95, 107, 109
TRANS, ATRANS, 360
S2, 95, 96, 109
Programmed feedrate, 279
SCALE, 357, 380
Programmed rotation in the plane, 373
SCC, 100
Programmed stop, 406
SD42440, 169
Programming commands
SD42442, 169
List, 459, 509
SD42940, 91
Programming the end point, 317
SD42950, 91
Punch tape format, 38
SETMS, 95
PUTFTOC, 108
Settable block change time with G0, 206
PUTFTOCF, 108
SF, 253, 255
Skip levels, 47
Slotting saw, 83
Q
Smooth approach and retraction, 310
QU, 401 SOFT, 425
SOFTA, 425
SPCOF, 124
R SPCON, 124
Special axes, 440
RAC, 182
Special characters, 51
Radius programming, 180
Special tools, 83
Rapid traverse motion, 202
SPI, 134
Reading positions, 322
SPIF1, 501
Reference point, 25
SPIF2, 501
Reference point approach, 416
Spindle, 95
Reference points, 25
Define master spindle, SETMS(n), 99
Relational operator, 564
M functions, 406
Retraction direction, 274
Master spindle with work spindle, 97
Retraction path, 274
Speed, direction of rotation and stop, 125
Retraction velocity, 277
Spindle rotation directions, 95
RIC, 182
Spindle speed before/after axis movements, 98
Right-hand thread, 254
Spindle speed S, 96
RND, 247, 278
Spindle speed, 434
RNDM, 278
Spindle speed limitation, 109, 150, 152
ROT, 357, 369
Spindles
Rotation, programmable
Position-controlled spindle operation, 124
Direction of rotation, 375
Positioning is axis operation, 125
in space, 374
Working with multiple spindles, 98
Plane change, 373
SPOS, 126
ROT, AROT, 369
SPOSA, 126
ROTS, 379
SR, 502
Round the contour corner, 278
SRA, 502
Rounding, 278
ST, 502
Modal, 278
STA, 502
RP, 198, 202, 207, 210, 223, 232

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Index

Start point offset, 253 CUT2D, CUT2DF with contour tools, 332
Starting point, 25, 191 Cutting-edge selection with contour tools, 332
Statement, 39 Tool Offset
Statements Offset, 88
List, 459, 509 Tool offsets
Stop Compensation at outside corners, 305
At the end of the cycle, 406 Smooth approach and retraction (SAR), 310
Optional, 406 Tool radius compensation, 285
Programmed, 406 Change of the direction of compensation, 294
Straight lines Changing the offset number D, 295
Interpolation, 207 Corner behavior, 307
SUPA, 155, 395 Corner behavior, intersection, 309
Synchronized axes, 443 Corner behavior, selectable transitions, 307
SZS, 34 Corner behavior, transition circle, 307
CUT2D, 333
CUT2DF, 334
T Toolholder reference point, 25
Tools with a relevant tool point direction, 337
T..., 63
TOROT, 390
T=..., 62
TOROTOF, 390
T0, 62, 63
TOROTX, 390
Tapered thread, 260
TOROTY, 390
Tapping
TOROTZ, 390
with compensating chuck, 270
TRAFOOF, 416
Without compensating chuck, 266
TRANS, 357, 360, 366
Target point, 191
Transition
Technology G group, 430
circle, 307
Thread
ellipsis/parabola/hyperbola, 308
Multiple, 253
Radius, 306
Thread chain, 254
Transition circle, 330
Thread cutting, 252, 264, 272
Transition current/next block, 302
Thread lead, 264
Transverse axis, 180, 189
Three-finger rule, 28
Travel command, 191
TOFF, 88
Traverse path axes as positioning axes with G0, 205
TOFFL, 88
TURN, 232
TOFFR, 88
Turning functions
TOFRAME, 390
Chamfer, rounding, 279
TOFRAMEX, 390
Turning tools, 81
TOFRAMEY, 390
TOFRAMEZ, 390
Tool
V
Compensation memory, 74
Cutting edge, 84 Value assignment, 44
Group, 76 Variable identifiers, 455
Length compensation, 72 VELOLIMA, 428
Radius compensation, 73
Tip, 74
Type, 76 W
Type number, 76
WAITMC, 120
Tool change point, 300
WAITP, 120
Tool edge reference point, 337
WAITS, 127, 132
Tool offset
WALCS0, 413
CUT2D, CUT2DF, 331
WALCS1-10, 413

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610 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0
 Index

WALIMOF, 408
WALIMON, 408
WCS, 35
Working area limitation
in BCS, 408
in WCS/SZS, 413
Reference points on the tool, 412
working area limitation, 409
Working plane, 23, 161
Workpiece
Contour, 192
Workpiece coordinate system, 35
Align on workpiece, 391
Workpiece zero, 25

X
X..., 193
X2, 242
X3, 244

Y
Y..., 193

Z
Z..., 193
Z1, 244, 247
Z2, 242, 244, 247
Z3, 247
Z4, 247
Zero frame, 157
Zero offset
Offset values, 159
Settable, 34
variable, 155
Zero points, 25
For turning, 188
Zero system
Settable, 34

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Index

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612 Programming Manual, 01/2008, 6FC5398-1BP10-3BA0